• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.9
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• pp.92-97
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• 2022

In this paper, as a research on autonomous steering for agriculture, a sensor module for furrow recognition was developed through a low-cost distance sensor combination. The developed sensor module was applied to the vehicle, and when driving in a furrow curve, the autonomous steering success rate was 100% at a curvature of 20 m or more, and 70% at a curvature of 15 m or less. The self-steering success rate according to the ground condition showed a 100% success rate regardless of soil, weeds, or mulching film.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.9
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• pp.70-75
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• 2021

We developed a platform that was capable of autonomous steering in a furrow environment. It was developed to autonomously control steering by recognizing the furrow using a laser distance, three-axis tilt, and temperature sensor. The performance evaluation indicated that the autonomous steering success rate was 99.17%, and it was possible to climb up to 5° on the slope. The usage time was approximately 40 h, and the maximum speed was 6.7 km/h.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.10
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• pp.80-87
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• 2021

Our study introduces an improved modular agricultural platform to provide convenience to agricultural workers. We upgrade the platform design in three parts, namely, by adding a 458 pattern tire, electricity control, and four-wheel steering function, to improve the platform performance. Results showed that the upgrades enhanced the platform performance and reduced its overall weight as compared with the existing platform. To demonstrate the performance of our improved platform, we conducted five types of experiments with respect to the climbing angle, variable width, attitude control, speed, and obstacle passing.

• KIPS Transactions on Computer and Communication Systems
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• v.10 no.1
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• pp.7-14
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• 2021

In jewelry industry, the proportion of labor costs is high. Also, the production time and quality of products are highly varied depending on the workers' capabilities. Therefore, there is a demand from the jewelry industry for automation. The ear pin insertion automation system is the robot automatically inserts the ear pins into the silicone mold, and this automated system require accurate and fast hole detection method. In this paper, we propose optimal binarization method and a template matching method that can be applied in the ear pin insertion automation system. Through the performance test, it was shown that the applied method has an accuracy of 98.5% and 0.5 seconds faster processing speed than the Otsu binarization method. So, this automation system can contribute to cost reduction, work time reduction, and productivity improvement.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.8
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• pp.9-18
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• 2022

As the COVID-19 continues, the demand for robotic technology that can be applied in face-to-face tasks such as delivery and transportation, is increasing. Although these technologies have been developed and applied in various industries, the robots can only be operated in a tidy indoor environment and have limitations in terms of payload. To overcome these problems, we developed a 2 degree of freedom(DOF) environmental adaptive robot leg with a double 1-DOF counterbalance mechanism (CBM) based on wire roller. The double 1-DOF CBM is applied to the two revolute joints of the proposed robot leg to compensate for the weight of the mobile robot platform and part of the payload. In addition, the link of the robot leg is designed in a parallelogram structure based on a belt pulley to enable efficient control of the mobile platform. In this study, we propose the principle and structure of the CBM that is suitable for the robot leg, and design of the counterbalance robot leg module for the environment-adaptive control. Further, we verify the performance of the proposed counterbalance robot leg by using dynamic simulations and experiments.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.9
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• pp.98-104
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• 2022

Because a robot actuator is directly affected by the external force of the robot and accounts for the largest portion of the robot system weight, developing an optimized actuator suitable for each characteristic of the robot system is essential. Although there have been many developments and studies related to robot actuators in various industrial fields, lightweight and compact actuator designs that can control force are still lacking. In this study, a novel actuator module was developed, and its performance was verified experimentally. The structure and control of various robot systems can be optimized by utilizing the proposed actuator. It can be used for various tasks by sensing external force and through feedback control.

• Proceedings of the Korea Information Processing Society Conference
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• 2020.05a
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• pp.330-333
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• 2020

장신구 산업은 인건비의 비중이 높고 노동자의 역량에 따라 제품의 제작 작업 시간 및 품질의 편차가 심하다. 이에 산업계의 수요에 맞추어 실리콘 금형 표면 지름 0.75mm 홀에 이어핀을 삽입하는 공정을 자동화하기 위하여 삽입 자동화 시스템이 개발되고 있다. 본 논문에서는 이어핀 삽입 자동화시스템에서 적용할 수 있는 템플릿 매칭 방법과 관심 영역 레이블링을 통한 홀 판별 방법을 제안한다. 제안한 방법의 안정성을 확보하기 위하여 실험을 통해 최적의 매칭 방법과 이진화 기법을 적용하였으며 이어핀 홀의 좌표를 확보하여 X-Y 정밀 이송 시스템에 적용할 수 있다.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.12
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• pp.30-35
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• 2021

In this study, we developed an automatic module changer for agricultural implements for using in unmanned agricultural robots. An automatic module changer is attached by lowering from the top to bottom of the implements and fixing the four fastener bars attached to the implements in combination. The lift function was implemented using seesaw-type structures to keep the engagement point constant when the automatic module changer climbs and descends, and the switching function of the automatic module changer was implemented using the link device in the cam structure. We developed an algorithm to check the presence of attachment and opening/closing of the workpiece using limit switches and verified the performance through combination assessment and weight lift test to assess whether the combination was within the error range.

• Proceedings of the Korea Information Processing Society Conference
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• 2010.11a
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• pp.1281-1284
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• 2010

오늘날 인터넷 기술의 발전과 대중화와 함께 다양한 악성코드가 빠르게 제작, 유포되고 있다. 최근 빠르게 증가하는 악성코드를 신속하게 대응하기 위해 자동화된 분석 기법에 대한 연구가 활발히 진행되고 있다. 자동화된 악성코드 분석 결과로 생성되는 데이터는 안티바이러스 업체나 관련 기관 등에서 알려지지 않은 악성코드에 대응할 수 있는 시그니처를 생성하는데 활용된다. 따라서 저장되는 악성코드 분석 결과는 악성코드 사이의 행위와 특성 관계가 고려되어 저장되어야 한다. 즉, 자동화된 악성코드 분석 결과를 효율적으로 저장할 수 있는 DB 설계가 필요하다. 본 논문에서는 악성코드의 대부분을 차지하는 PE를 대상으로 자동화된 악성코드 분석 결과를 효율적으로 저장할 수 있는 DB 설계를 제안하고자 한다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2020.07a
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• pp.329-330
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• 2020

본 논문에서는 Azure 클라우드 플랫폼의 가상서버 호스팅을 이용해 데이터 수집 환경을 구축하고, Azure에서 제공하는 자동화된 기계학습(Automated Machine Learning, AutoML)을 기반으로 데이터 분석 방법에 관한 연구를 수행했다. 가상 서버 호스팅 환경에 LAMP(Linux, Apache, MySQL, PHP)를 설치하여 데이터 수집환경을 구축했으며, 수집된 데이터를 Azure AutoML에 적용하여 자동화된 기계학습을 수행했다. Azure AutoML은 소모적이고 반복적인 기계학습 모델 개발을 자동화하는 프로세스로써 기계학습 솔루션 구현하는데 시간과 자원(Resource)를 절약할 수 있다. 특히, AutoML은 수집된 데이터를 분류와 회귀 및 예측하는데 있어서 학습점수(Training Score)를 기반으로 보유한 데이터에 가장 적합한 기계학습 모델의 순위를 제공한다. 이는 데이터 분석에 필요한 기계학습 모델을 개발하는데 있어서 개발 초기 단계부터 코드를 설계하지 않아도 되며, 전체 기계학습 시스템을 개발 및 구현하기 전에 모델의 구성과 시스템을 설계해볼 수 있기 때문에 매우 효율적으로 활용될 수 있다. 본 논문에서는 NPU(Neural Processing Unit) 학습에 필요한 데이터 수집 환경에 관한 연구를 수행했으며, Azure AutoML을 기반으로 데이터 분류와 회귀 등 가장 효율적인 알고리즘 선정에 관한 연구를 수행했다.