• Geophysics and Geophysical Exploration
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• v.12 no.4
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• pp.355-360
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• 2009

This paper presents mobile robot based down-scale mineral resources exploration test system for the USN (Ubiquitous Sensor Network) based exploration. The system emulates the actual exploration environment. Underneath the metal free test plate, a metal object is attached. A magneto-meter mounted mobile robot runs around on the plate to find the metal. The measured magneto-meter values are transferred to the host PC via wireless network. The system enables to improve the reliability of simulation as well as to help efficient exploration system design. Metal-detecting experiments were carried out to illustrate the efficiency of the proposed system.

• Korean Journal of Agricultural Science
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• v.23 no.2
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• pp.227-232
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• 1996

It is a tedious job to handle seedling trays in a green house with human hands because of their fluctuation when they are moving. A robotic gripper for handling a seedling tray has been developed., which has two fingers consisting of the vertical and horizontal bars. The maximum deflections at the center of the seedling trays were measured with various lengths of the horizontal bars. The length of 250 mm was revealed to be optimal one, resulting less than 15 mm deflection with a $540{\times}270mm$ seedling tray, which was acceptable for a practical use. For this study a LM system was adopted to move the fingers. To validate this system the robotic gripper was installed on a Cartesian robotic manipulator and their performance was tested several times with great success. The robotic manipulator used in this study was a general one, so a special one for this robotic gripper needs to be developed in future.

• Journal of Internet Computing and Services
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• v.10 no.6
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• pp.27-36
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• 2009

PSTN (public switched telephone network) provides voice communication service, whereas IP network provides data oriented service, and we can use IP network for multimedia transport service (e.g. voice over IP service) with economic price. In this paper, we propose RoIP (robot on IP) service scenario, signaling call flow, and implementation to provide home automation and monitoring service for remote site users. In our scheme, we used a extended SIP (session initiation protocol) for signaling protocol between remote site users and home robots. For our bearer transport control, we implemented H.263 video codec over RTP (real-time transport protocol) and additionally DTMF (dual tone multi-frequency) transport for robot actuator control. We implemented our scheme on home robots and experimented with KTF operator network, and it shows good communication quality (average MOS = 9.15) and flexible robot controls.

• Composites Research
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• v.36 no.5
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• pp.321-328
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• 2023

This study developed the in-situ stamp-forming process using the multi-axis robotic arm to fabricate thermal composite parts. Optimal fabrication parameters with the multi-axis robotic arm were determined using finite element analysis and these parameters were further refined through the practical manufacturing process. A comparison between the manufactured parts and finite element analysis results was conducted regarding thickness uniformity and wrinkle distribution to confirm the validity of the finite element analysis. Additionally, to evaluate the formability of the manufactured composite parts, measurements of crystallinity and porosity were taken. Consequently, this study establishes the feasibility of the In-situ stamp-forming consolidation using a robotic arm and verifies the potential for producing composite parts through this process.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.8
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• pp.771-782
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• 2017

This paper describes the development of a wearable robot to assist ankle power for the elderly. Previously developed wearable robots have generally used motors and gears to assist muscle power during walking. However, the combination of motor and reduction gear is heavy and has limitations on the simultaneous control of stiffness and torque due to the friction of the gear reducer unlike human muscles. Therefore, in this study, Mckibben pneumatic muscle, which is lighter, safer, and more powerful than an electric motor with gear, was used to assist ankle joint. Antagonistic actuation using a pair of pneumatic muscles assisted the power of the soleus muscles and tibialis anterior muscles used for the pitching motion of the ankle joint, and the model parameters of the antagonistic actuator were experimentally derived using a muscle test platform. To recognize the wearer's walking intention, foot load and ankle torque were calculated by measuring the pressure and the center of pressure of the foot using force and linear displacement sensors, and the stiffness and the torque of the pneumatic muscle joint were then controlled by the calculated ankle torque and foot load. Finally, the performance of the developed ankle power assistive robot was experimentally verified by measuring EMG signals during walking experiments on a treadmill.

• Journal of Korea Multimedia Society
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• v.16 no.2
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• pp.213-225
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• 2013

This paper proposes a design method of ball-plate robot controller using single camera and two motors to balance the ball on plate and reduce steady state control error. To design the ball-plate system, it is necessary to observe state of the ball and maintain balance of the plate. The state of the ball is tracked by using the CAMShift algorithm and position error of the ball is compensated by the Kalman filter. Balance of the plate is controlled by driving two motors and we used DC motors which has smaller measurement error. Due to surface condition of the plate or tracking error of ball's position, there are small errors remained. These errors are accumulated and disturb maintaining balance of the ball. To handle the problem, we propose a controller supplemented with an integrator.

• KIPS Transactions on Software and Data Engineering
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• v.2 no.6
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• pp.395-402
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• 2013

We propose an accelerometer-based gesture recognition method for smartphone users. In our method, similarities between a new time series accelerometer data and each gesture exemplar are computed with DTW algorithm, and then the best matching gesture is determined based on k-NN algorithm. In order to investigate the performance of our method, we implemented a gesture recognition program working on an Android smartphone and a gesture-based teleoperating robot system. Through a set of user-mixed and user-independent experiments, we showed that the proposed method and implementation have high performance and scalability.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.1
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• pp.1-9
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• 2000

In this paper, we design a robust output feedback controller for robot manipulators with bounded parametric uncertainties using high-gain observer. The proposed control scheme with integral action improves tracking error due to limit of the robust feedback gains. High-gain observer is used to solve the noise problem with the joint velocity measurement. This controller avoids the limitation on the variation of unknown parameters and guarantees the uniformly ultimate boundedness of the closed-loop system. The performance of the proposed method is demonstrated by simulation on a 2-link manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.682-688
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• 2000

To improve the performance of a flexible robot arm one of the important things is the vibration displacement measurement of a flexible arm. Many types of sensors have been used to measure it, The most popular has been strain gauges which measures the deflection of the beam,. Photo sensors have also been for detecting beam displacement and accelerometers are often used to measure the beam vibration. But the vibration displacement can be obtained indirectly from these sensors. In this article a vision sensor is used as a displacement sensor to measure the vibration displacement of a flexible robot arm. Several schemes are proposed to reduce the image processing time and increase its accuracy. From the experimental results it is seen that the vision sensor can be an alternative sensor for measuring the vibration displacement and has a potential for on-line tip position control of flexible robot systems.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.840-845
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• 2010

This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.