• Proceedings of the Korea Information Processing Society Conference
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• 2015.04a
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• pp.1071-1074
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• 2015

본 논문은 진공을 이용한 흡착방식과 바퀴형 이동방식을 이용하고 환경 탐지용 센서를 부착한 벽면 이동형 로봇의 물리적 해석을 통한 이동 성능 개선에 관한 연구로서, 대형 구조물의 안전 검사 및 위험한 시설물의 보수 작업등을 보조하기 위한 목적이 있다. 로봇의 무게에 따른 중력을 견딜 수 있는 강력한 진공흡착방식과 고성능 모터 제어에 의한 바퀴 이동방식을 혼합하고 효율적으로 평형을 유지 또는 제어하기 위하여 로봇에 미치는 다양한 힘과 모멘트를 분석하고 수식화 하였으며 기존의 수직이동 속도를 개선하기 위한 로봇의 물리적 변수를 추출하여 변수와 이동력간의 관계를 고찰하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.6
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• pp.698-703
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• 2006

This paper proposes an approach to search for the odor source using an autonomous mobile robot equipped with vision and odor sensors. The robot is initially navigating around the specific area with vision system until it looks for an object in the camera image. The robot approaches the object found in the field of view and checks it with the odor sensors if it is releasing odor. If so, the odor is classified and localized with the classification algorithm based on neural network The AMOR(Autonomous Mobile Olfactory Robot) was built up and used for the experiments. Experimental results on the classification and localization of odor sources show the validity of the proposed algorithm.

• Magazine of the Korea Institute for Structural Maintenance and Inspection
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• v.17 no.1
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• pp.48-59
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• 2013

응력파의 기반한 비파괴 검사법은 비교적 실험 절차 및 실험에 필요한 장비가 단순하고, 인체에 해가 없으며, 비용이 저렴한 특성을 갖고있다. 따라서 건축/토목 구조물의 비파괴 검사에 매우 효과적인 방법으로 알려져 있다. 하지만 기존의 가속도계, 변위계, 지오폰과 같은 부착 센서를 사용할 경우 표면 처리, 센서의 부착 및 이동에 따른 추가적인 시간이 소요되고, 센서와 구조물의 불완전한 커플링으로 인한 측정 결과의 신뢰성 및 일관성을 유지하지 어렵다는 문제를 발생시킨다. 최근 이러한 문제의 해결책으로 Air-coupled sensor (ACS)의 사용이 각광받고 있으며, 여러 연구자들에 의해 ACS의 가능성 및 실용성이 증명되고 있다. 기존의 접촉센서와 비교하여 ACS를 사용했을 때 얻을 수 있는 가장 큰 장점은 센서의 커플링 문제를 근본적으로 해결하여 신뢰도가 높고 일관적인 측정이 가능하고, 대형 건축/토목 구조물의 표면을 음향스캔하여 결과를 신속하게 처리하여 실시간으로 시각화 할 수 있다는 점이다. 이론적으로 ACS를 이용하여 측정하는 물리값은 콘크리트 내부에서 발생된 응력파의 일부가 공기중으로 전파된 누설파 (Leaky wave)이다. 콘크리트 비파괴 검사에 주로 사용하는 100 kHz이하의 저주파를 측정할 경우 일반적으로 콘텐서마이크가 ACS로 사용될 수 있다. 기존 연구자들은 실험 및 이론적 연구를 통하여 응력파에 기반한 비파괴 방법에서 ACS가 기존의 접촉 센서를 대체할 수 있다는 점을 보여주고 있다. 현재 미국에서는 연방 도로청 (FHWA) 및 국가표준기술연구소 (NIST)의 연구비 지원으로 ACS의 실용성을 높이기 위하여 최적화된 음향반사판의 설계를 통한 ACS 의 민감도를 높이기 위한 연구, 다채널 센서 배열 및 데이터 통합을 위한 새로운 알로리즘 개발, 자동화 및 로봇 기술과 융합과 같은 연구가 활발히 진행되고 있다. 멀지 않은 미래에는 ACS를 장착한 무인 로봇이 다양한 종류의 건축/토목 구조물의 건전도를 평가하기 위하여 종횡무진 활약하는 모습을 현실 속에서 볼 수 있을 것이라 기대한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.332-340
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• 2013

This paper reports a programming toolkit for implementing localization and navigation of a mobile robot both in real world and simulation. Many of the previous function libraries are difficult to use because of their complexity or lack of usability. The proposed toolkit consist of functions for dead reckoning, motion model, measurement model, and operations on directions or heading angles. The dead reckoning and motion model deals with differential drive robot and bicycle type robot driven by front wheel or rear wheel. The functions can be used for navigation in both real environment and simulation. To prove the feasibility of the toolkit, simulation results are shown along with the results in real environment. It is expected the proposed toolkit is used for test of algorithms for mobile robot navigation such as localization, map building, and obstacle avoidance.

• Journal of Digital Convergence
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• v.19 no.2
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• pp.509-514
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• 2021

The pandemic of COVID-19 is driving the demand for non-face-to-face diagnosis, observation, and treatment in the healthcare environment, which has led to increased interest in helathcare robots. The authors intend to predict the direction in which the quarantine healthcare robots should be utilized in the post-corona era through analysis of national agency reports, on-offline press reports, and domestic and foreign robot company press releases. The COVID-19 pandemic has raised interest in medical robots. And there is a need to apply healthcare robots that can perform tasks such as disinfection, logistics transfer, screening tests, monitoring of patients, remote medical treatment support for isolated patients, and video calls with family members. Therefore, it is considered that future correct development and application of healthcare robots and empirical research to verify them should be continued based on sufficient consideration for various problems associated with the practical application of robots.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.8 no.3
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• pp.71-79
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• 2008

In this paper the glass inspection system for the thickness and flatness is implemented. Laser sensors and robot arms required for glass measurements is tested on the performance assesment. Three kinds of laser sensors are used and analysed, and 3-axis robot arm with the ball-screwed type is implemented. Thus the methods of glass measurement is discussed and the difficulties are solved to propose the solutions. To minimize the errors of glass measurement the system is improved as considered device errors.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.10
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• pp.774-781
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• 2003

The important factors that cause position error in X-Y robot are inertial force, frictions and spring distortion in screw or coupling. We have to estimate these factors precisely to correct position errors, Which is very difficult. In this paper, we makes systems to inspect metal stencil which is used to print solder paste on pads of SMD of PCB with low precision X-Y robot and vision system. To correct position error that is caused by low precision X-Y robot, we defines position error vector that is formed with position of objects that exist in reference and camera image. We apply MHT(Modified Hough Transformation) for the aim of determining the dominant position error vector. We modify reference image using extracted dominant position error vector and obtain reference image that is the same with camera image. Effectiveness and performance of this method are verified by simulation and experiment.

• The Journal of Korea Robotics Society
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• v.5 no.1
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• pp.77-84
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• 2010

This paper proposes a bridge inspection system using a robot to manage the safety status of bridges. A conventional bridge inspection has a lot of problems because inspection is conducted manually by human. As an alternative, we are to develop a robot system having machine vision and this robot system is mounted on an end linkage of specially designed car having seven DOF (Degrees Of Freedom) to inspect cracks beneath bridge. This system is able to check a status of the bridge and record its changes every other year. As a result, the developed robot system offers us the inspection result of quality and reliability about the bridge inspection status. Also, we have tested the effectiveness of the suggested system through outdoor experiments.

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.161-167
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• 2007

It is dangerous that an inspector overhauls defects and condition of the inner parts of an oil tanker because of many harmful gases, complex structures, and etc. However, these inspections are necessary to many oil tankers over old years. In this study, we proposed the design of mobile robot for inspection of CAS in oil tanker. The developed CAS inspection mobile robot has four modules, a measurement module of oil tanker's thickness, a corrosion inspection module, a climbing module of the surface on a wall, and a monitoring module. In order to get over at a check position, the driving control algorithm was developed. Magnetic wheels are used to move on the surface of a wall. This study constructed a communication network and the monitoring program to operate the developed mobile robot from remote sites. In order to evaluate the inspection ability, the experiments about performance of CAS inspection using the developed mobile robot have been carried out.

• Proceedings of The KACE
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• 2018.08a
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• pp.95-97
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• 2018

본 연구에서는 비 정보과 교사를 위한 로봇활용 SW 교사 연수 프로그램을 개발하였고, 비 정보과 중등 교사들을 대상으로 적용하여, 대상자들의 정보 교수효능감을 측정하였다. 그 결과, 사전에 비해 사후의 검사 결과가 통계적으로 유의미하게 상승하였으며, 따라서 본 연구에서 개발한 비 정보과 교사를 위한 로봇활용 SW 교사 연수 프로그램은 교사들의 정보 교수 효능감에 긍정적인 영향을 미쳤다는 것을 입증하였다.