• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.245-245
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• 2000

후각기는 후각신경과 삼차신경의 기능을 객관적이고 정량적으로 검사할 수 있는 기기로, 객관적으로 인정받을 수 있는 후각기의 제작에는 많은 어려움이 있기 때문에, 현재까지 후각신경과 삼차신경의 기능을 정확하게 측정할 수 있는 방법이 없었다. 그러나, 산업이 발달하고 공해가 더욱 심해질수록 후각의 변화가 생기고, 비강 내 질환이나, 공해물질 등에 의해 삼차신경이 민감한 반응을 일으키므로, 앞으로는 이 신경들의 측정이 중요할 것으로 여겨진다. 또한 각종 산업분야에서 이제까지 사람의 미각이나 후각에 의존하여 제품을 생산해오던 방법을 변화시켜 객관적인 수치를 이용하여 제품을 생산할 수 있다. 따라서 이번 연구에서는 사람이나 동물에게 다양한 후각물질을 원하는 정확한 농도로 투여하는 기기로, 온도와 습도를 사람의 신체 조건과 동일한 공기와 혼할하여 원하는 정확한 농도(ppm)의 후각 자극을 만들어 mass flow controller와 solenoid valve를 이용하여 square-shape의 자극모양이 되도록 한 후, 피검자에게 자극하여 전기생리학적 반응을 얻는 기기를 개발하였다.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.12
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• pp.80-88
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• 2003

We propose a new technique to design an unmaned integrating control system based-on Windows XP version off-Line Programming System which can simulate a dynamic model of robot manipulator in three dimensions graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off$.$line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for three dimensions graphics.

• Journal of Industrial Technology
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• v.27 no.A
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• pp.211-218
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• 2007

As demands for interaction of humans and robots are increasing, robots are expected to be equipped with intelligibility which humans have. Especially, for natural communication, hearing capabilities are so essential that speech recognition technology for robot is getting more important. In this paper, we implement a speech recognizer suitable for robot applications. One of the major problem in robot speech recognition is poor speech quality captured when a speaker talks distant from the microphone a robot is mounted with. To cope with this problem, we used wireless transmission of commands recognized by the speech recognizer implemented using TMS320VC5510 DSK. In addition, as for implementation, since TMS320VC5510 DSP is a fixed-point device, we represent efficient realization of HMM algorithm using fixed-point arithmetic.

• Journal of Industrial Technology
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• v.20 no.B
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• pp.195-200
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• 2000

This paper describes the path planning method in an unknown environment for an autonomous mobile robot equipped with CCD(Charge-Coupled Device) camera. The mobile robot moves along the guideline. The CCD camera is used for the detection of the existence of a guideline. The wavelet transform is used to find the edge of guideline. It is possible for us to do image processing more easily and rapidly by using wavelet transform. We make a fuzzy control rule using image data as an input then determined the position and the navigation of the mobile robot. The center value of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy controller output. Some actual experiments show that the mobile robot effectively moves to target position by means of the applied fuzzy control.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.875-878
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• 2004

The noise and vibration diagnostic of the industrial robot reducer is ultimately the purpose. We evaluated a noise and vibration tendency of the industrial robot reducer to be made in the outside (RV reducer) through the experiment. Also, we compared the RV reducer to the industrial robot reducer (RD reducer) in the domestic. We measured the noise level with the sound level meter and analyzed the vibration tendency with the waterfall plot. Through the comparison of RV reducer and RD reducer diagnose the industrial robot reducer. We guessed the improvement direction of RD reducer. (The domestic's industrial robot reducer).

• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.05b
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• pp.77-79
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• 2011

As residents and building owners demand maintenance that is required to achieve sustainable building performance, efficient building management methods are required. Even though the demand for maintenance systems is increasing, current maintenance work for high-rise buildings mostly uses conventional ropes and gondolas that pose a high risk of accidents and exhibit poor performance and efficiency. Thus, there is an urgent need to develop an automation robot system that can reduce accidents and improve the maintenance efficiency of the conventional high-rise building façade maintenance system. As a preceding work for the development of an automation robot system, this study classified and analyzed the work processes of actual construction sites and proposed basic techniques for the work mechanisms of the robot system by investigating the motions of cleaning workers.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.5
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• pp.396-401
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• 2016

Owing to developments in the internet of things, many products have developed and various researches have processed. Smart home systems in Internet of things area are receiving attention from many people than the other areas. Autonomous mobile robots perform various parts in many industries. In this paper, a smart housekeeping robot was implemented using internet of things and an autonomous mobile robot. In order to make a smart housekeeping robot, Raspberry Pi, wireless USB camera, and uBrain robot of Huins Corp. is used. To control the robot, cell-phone connected with IP of Raspberry Pi, and then Raspberry Pi connected with uBrain robot using Bluetooth. a smart housekeeping robot was controlled using commands of a cell-phone application. If some user wants to move a robot automatically, we implemented that a robot can be chosen an autonomous driving mode from the user. In addition, we checked a realtime video using a cell-phone and computer. This smart housekeeping robot can help user check their own homes in real time.

• TTA Journal
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• s.149
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• pp.20-21
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• 2013

최근 3D 프린팅 기술이 부상하고 있다. 영화에 등장하는 로봇에서부터 산업기기, 심지어 인공 장기까지 3D 프린터로 찍어낼 수 있는 세상이다. 세계경제포럼(World Economic Forum)에서는 3D 프린팅을 올해의 10대 유망기술 중 하나로 선정했고, 미국의 버락 오바마 대통령은 올해 초 국정연설에서 3D 프린팅 기술을 가리켜 '제3의 산업혁명'이라 언급해 이슈가 됐다. 3D 프린팅 기술이 무엇이기에 어떻게 주목을 받는 것일까? 과연 제3차 산업혁명으로 일컬어질 만큼의 잠재력을 가진 기술일까?

• Journal of Korea Society of Industrial Information Systems
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• v.3 no.1
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• pp.183-191
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• 1998

다양한 산업분야의 생산공장에서 주로 활용되고 있는 6축 수직다관절로보트는 대부분 단순반복운동을 하고 있다. 단순반복중 point-to-point제어보다 품질을 요하는 tracking-to-trajectory 제어를 위한 분산학습제어에 대하여 연구하고자 한다. 관련 학습제어기법으로는 선형누적형기법과 간접적응기법이 있다. 두기법의 차이는 시스템 정보의 유무이며, 시스템의 주어진 상황에 따라 두 기법중 하나를 선택할 수 있다. 간접적응형 기법은 zero tracking error를 보장받기 위해서 보다 많은 반복을 요하는 경비를 부담하여야 한다.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1998.03a
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• pp.125-128
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• 1998

다양한 산업분야의 생산공장에서 주로 활용되고 있는 6축 수직다관절보트은 대부분 단순반복운동을 하고 있다. 단순반복중 point-to-point제어보다 품질을 요하는 tracking -to-trajectory제어를 위한 분산학습제어에 대하여 연구하고자 한다. 관련 학습제어기법으로는 선형누적기법과 간접적응기법이 있다. 두 기법의 차이는 시스템의 정보의 유무이며 시스템의 주어진상황에 따라 두 기법중 하나를 선택할 수 있다. 간접적응형 기법은 zero tracking error를 보장받기 위해서 보다 많은 반복을 요하는 경비를 부담하여야 한다.