고주파 스피터 방법으로 제조된 SnO2감지막 위에 에어로졸 화염 증착법으로 알루미나 표면 보호층을 증착하여 SnO2박막 가스 센서의 감지 특성에 미치는 영향에 대햐여 조사하였고, 표면 보호층에 귀금속 Pt를 도핑하여 Pt의 함량이 CO 및 CH(sub)4 가스들의 선택성에 미치는 영향에 대하여 조사하였다. SnO2박막은 R.F power 50 W, 공정 압력 4 mtorr, 기판온도 200˚C에서 30분간 0.3μm 두께로 Pt 전극 위에 제조하였고, 질산알루미늄(Al(NO3).9H2O) 용액을 희석하여 에어로졸 화염증착법으로 알루미나 표면 보호층을 만든후 600˚C에서 6시간동안 산소분위기에서 열처리하였다. 알루미나 표면 보호층이 증착된 SnO2가스 센서소자의 경우 보호층이 없는 가스 센서와 비교하여 CO 가스에 대한 감도는 매우 감소하였으나 CH4가스에 대한 감도 특성은 순수한 SnO2센서 소자와 비슷하였다. 결과적으로 보호층을 이용하여 CH4가스에 대한 상대적인 선택성 증가를 이룰 수 있었다. 특히 표면 보호층에 Pt가 첨가된 센서 소자의 경우 CO 가스에 대해서는 낮은 감도 특성을 나타내었으나 CH4에 대한 감도는 매우 증가하여 CH4가스의 선택성을 더욱 증대시킬 수 있었다. CH4가스 선택성 향상에 미치는 알루미나 표면 보호층과 Pt의 역할에 대하여 고찰해 보았다.

이 연구의 목적은 대형 구조불의 상설 감지를 위한 감지기의 최적 위치의 얄고리츰윷 개발하는데에 있다. 구조물 의 진동을 이용한 감지 시 스템은 장기적 으로 계 속해서 구조물을 자동으로 감지하는데에 좋은 방법 증의 하나이다. 하지만 구조물의 진동융 정확히 계측하기 위해서 는 감지기의 위치나 감지기의 숫자에 콘 영향을 받는데， 이와 같은 일은 대형 구조물에 있어서 쉽지가 않다. 최적의 감지기 위치와 최소의 감지기로 가장 정확한 데이터를 획득하기 위하여 최적합한 감지기의 위치를 위한 알고려즘이 개발되어 수치 적 그리고 실험적으로 유용성 을 보인다. EOT가 개발되어 모형 교량에 적용하여 EIM과 비교 분석된다 이 들의 비교를 똥하여， 이 연구에서 제안되어진 EOT가 적 은 수의 감지기로 좋은 걸과를 보여， 상설감지의 복적에 적합함을 보여 준다.

박막 형 가스 센서의 막 두께가 가스 감지 특성에 미치는 영향을 단순화된 모델로부터 수식으로 유도하여 해석하였고, 그것을 SnO2와 CuO-SnO2 박막의 h2S 감응 특성에 대한 실험 결과에 적용하였다. 유도된 수식으로부터 박막 가스 센서의 가스 감지 특성은 가스의 박막 안으로의 확산성에 크게 의존하며, 그 가스 확산성은 박막의 두께, 가스의 센서 재료의 반응성, 작동 온도 등에 의해서 결정됨을 알 수 있었다. 또한 이 수식은 CuO-SnO2 박막의 h2S 감응 특성에 대한 실험 결과와 비교적 잘 일치하였고, CuO-SnO2 박막과 SnO2 박막의 서로 판이한 h2S 감응 특성에 대한 설명에 적용되었다. 이로부터, 일반적인 산화물 반도체식 가스 센서의 가스 감지 특성이 가스 확산성에 의해서 어떻게 지배되는가를 구체적으로 제안하였다.

The assesment of the safety of ship's transit in a curved narrow channl consists of the maneuvering safety determined by the chance of running aground, the maneuvering difficulty determined by shop's workload, and shiphandler's subjective evaluation. In this study to examine the correlation between shiphandler's subjectice evaluation and the maneuvering risk, the real-time and full-mission shiphandling simulator in the Korean Marine Training & Research Institutes(KMTRI) was utilized. In the conning bridge of the shiphandling simulator, 50 experienced masters conducted masters conducted the modeled vessel of 60,000 deadweight tonnage along the designed channel under 3 different envrinmental conditions. The findings were as follows: (1) The frequencies of stress levels, work difficulties, vessel controllability and overall workload of shiphandlers are similar irrespective of environmental conditions and they are able to be represented as shiphandler's subjective evaluation. (2) It is possible to assess and analyze theoretically the correlation between the shiphandler's subjective ecaluation and maneuvering risk each environmental cindition by quantifying the data obtioned from the tests. The results are as follows: ① As the degree of maneuvering risk increases, the shiphandler's subjective evaluation increases sharply near the curvature area of the desgined channel. ② In the area of the curvature of the designed channel, maneuvering risk increases sharply with the danger of running aground under the environmental condition of current and wind comung from the stem.

The assesment of the safety of ship's transit in a curved narrow channel consists of the maneuvering safety determined by the chance of running aground, the maneuvering difficulty determined by ship's workload, and shiphandler's subjective evaluation. In this study to examine the correlation between shiphandler's subjective evaluation and the maneuvering risk, the real-time and full-mission shiphandling simulator in the Korea Marine Training & Research Institutes(KMTRI) was utilized. On the conning bridge of the shiphandling simulator, 50 experienced masters conducted the modeled vessel of 60,000 deadweight tonnage along the designed channel under 3 different environmental conditions. The findings were as follows : (1) The frequencies of stress levels, work difficulties, vessel controllability and overall workload of shiphandlers are similar irrespective of environmental conditions and they are able to be represented as shiphandler's subjective evaluation. (2) It s possible to assess and analyze theoretically the correlation between the shiphandler's subjective evaluation and maneuvering risk under each environmental condition by quantifying the data obtained from the test. The results are as follows : ① As the degree of maneuvering risk increases, the shiphandler's subjective evaluation increases sharply near the curvature area of the designed channel. ② In the area of the curvature of the designed channel, maneuvering risk sincreases sharply with the danger of running aground under the environmental condition of current and wind coming from the stern.

YBa2Cu3O7-x결정입계 접합을 이용한 마이크로파 감지소자 YBa2Cu3O7-x초전도체 박막을 화학증착법을 이용하여 LaAIO3단결정 위에 증착하여 임계온도 90K이상 임계전류밀도 105/A cm2(77K) 이상의 우수한 박막을 제작하였다. 이를 포토작업과 이온밀링을 실시하여 수 마이크로미터 크기의 브릿지 형태로 만든 후 이들의 전류전압 특성을 조사하였다. 브릿지에 입사된 마이크로파의 크기에 따라 브릿지 간의 임계전류값의 저하가 관찰되었으며 동시에 샤피로스텝을 관찰할 수 있었다.

This paper studied the collision detection of robot manipulators for safe collaboration in human-robot interaction. Based on sensor-based collision detection, external torque is detached from subtracting robot dynamics. To detect collision using joint torque sensor data, a comparative study was conducted using data-based machine learning algorithm. Data was collected from the actual 3 degree-of-freedom (DOF) robot manipulator, and the data was labeled by threshold and handwork. Using support vector machine (SVM), decision tree and k-nearest neighbors KNN method, we derive the optimal parameters of each algorithm and compare the collision classification performance. The simulation results are analyzed for each method, and we confirmed that by an optimal collision status detection model with high prediction accuracy.

Some animals have special sensing functions in order to find foods, home and mates. Instead of passively sensing, they discharge signals and then extract necessary information from the response. More importantly, they utilize the gradients of the sensed signal in order to find the destination or objects. In this paper this special strategy is formulated mathematically, i.e., the perturbation and the correlation based gradient estimation is developed. A stereo sensor system using temperature sensors mounted on motors is developed for verification. The proposed method can estimate the gradient of the measured value accurately. Using this method, the direction in the maximum measured value can be estimated accurately, and the position of the heat source can be estimated from the intersection of the directions estimated from both sensors.

최근 건설분야에서도 스마트(Smart)라는 개념을 도입한 재료 및 구조방식의 개발에 관한 관심이 고조되고 있다. 특히 기존 콘크리트와 같은 시멘트 복합체에 다양한 전도물질을 혼입하여 외력의 작용시 유발되는 변형을 시멘트 복합체의 저항변화로 평가하는 자기 감지형 건설재료 개발 연구가 활발히 진행되고 있다. 통상적으로 시멘트 복합체는 인장변형에 대한 저항능력이 낮기 때문에 주로 압축변형과 전기적인 저항특성의 상관성을 평가하는 연구 즉, 압축변형 감지능력을 갖는 시멘트 복합체 개발에 관한 연구가 대부분이었다. 본 연구에서는 직접인장하에서 0.5% 인장변형시까지 자기 감지능력을 갖는 변형 경화형 시멘트 복합체(SHCC)를 개발하고 또한 철근의 보강이 SHCC의 자기 감지능력에 끼치는 영향을 평가한다.

In the present work, an experiment using the active infrared thermography (IRT) technique in the laboratory is conducted on a carbon fiber-reinforced polymer (CFRP) that is applied on a concrete specimen surface. The main goal is to detect debonding located between CFRP sheets as well as between the CFRP sheet and the concrete surface. In addition, the effect of the debonding depth is also studied.

A damage case of parallel strand cable anchorage was introduced, in which 7 strands were slipped from each wedge at the anchorage of the cable stayed bridge in service. Also, a cable damage detection scheme was proposed on the basis of tension force measurement and model updating method by least square estimation to minimize tension variation. The proposed scheme has been verified from analytical simulations and the actual damage case. The damaged cable leading to tension variation more than noise level of cable force measurement was successfully detected with 7~8 strands damage indication of 2% error in the actual strand slippage case.

This study was conducted to evaluate the effect of self-sensing performance on strain-hardening cement composite containing CNT by curing age. The mixing amount of CNT was set at 1.0%, and SHCC fibers were mixed with PE 1.0% and steel fiber 0.5%. The electrical resistance measurement for the tensile strain sensing performance was based on AC method and 4 probe methods. Test results indicated that electrical sensitivity of SHCC decreased with an increase in curing age.

In this research, Sensing Performance in Tensile Strain of Strain-Hardening Cement Composites by Containing of Carbon nanotube have been studied. The ultimate strength and strain were improved with increasing in amounts of CNT, and fractional change in resistivity were improved when same tensile strain. and %LE were decreased with increasing in amounts of CNT.

This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.

Recently, accidents caused by the aging of structures are occurring frequently in the world. As a result, maintenance and accident prevention of structures are required. In this study, for the purpose of addressing these issues to solve these problems, we developed a non - destructive inspection technique using thermal imaging and planned damage detection process. we set up a scenario to detect the invisible excursions, cracks, and internal damage by sensing and analyzing the thermal energy radiated by the stainless steel test piece (STS304) with infrared thermal imaging equipment.

The present study aims to propose a corrosion detection method using a optical fiber sensor coated with a thin iron film. To evaluate the detection accuracy using the proposed method, 2 typed iron film with thicknesses of 100, 200 nm were used to monitor the reflectivity from corroded iron film via light source injection and the measurement was conducted in air, salt water, mortar packed conditions. As a result, it was found that the thickness of iron film is more sensitive to change in the reflectivity than the variation of exposure conditions