• Composites Research
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• v.33 no.2
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• pp.50-54
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• 2020

Soft robotics and wearable devices require large motions and flexibility. In this regard, there is a demand for developing stretchable strain sensors which can be attached to the soft robots and wearable devices. In this work, we fabricated stretchable and electrically conductive composite fibers by combining polyurethane (PU) and silver nanoflowers (AgNFs). The PU/AgNF composite fibers showed the change of the resistance as a function of the applied strain, demonstrating the potential for stretchable strain sensors in soft robotics and wearable devices. The mechanical and electrical characteristics of the composite fibers were measured and analyzed to use the composite fibers for stretchable strain sensors.

• Journal of Korea Technology Innovation Society
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• v.7 no.2
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• pp.223-255
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• 2004

이 논문은 Carlsson and Stanklewicz(1991)가 창안한 기술시스템(technological systems)의 개념을 한국과 스웨덴의 산업용로봇에 적용하여, 양자를 비교 분석하고자 하였다. 먼저 기술시스템의 개념을 재구축하고, 동태적인 측면에서 시스템의 진화과정을 보강한 다음, 한국과 스웨덴의 산업용로봇에 대한 기존 연구를 활용하여 양 기술시스템의 중요한 특징들을 비교하고 그 성과를 측정하였다. 한국과 스웨덴에 있어서 산업용로봇 기술시스템의 진화과정은 공히 미국, 일본 등 기술선도국을 모방하는 입장에 있었음에도 불구하고 '학습기간'이 20여 년 이상 소요됨을 보여주었다. 뿐만 아니라 양 시스템의 진화과정. 특히 태동기(embryo stage)에 있어서 정부의 역할이 매우 컸던 것으로 분석되었다. 그러나 기술시스템의 구성요소인 산업네트워크, 기술하부구조, 그리고 제도적하부구조 면에서 강약점 및 특징의 차이가 있음을 발견하였다. 기술시스템의 동태적 성과면에서는 한국의 경우가 스웨덴의 경우보다 상대적으로 더 우월한 것으로 평가되었다. 이는 스웨덴 시스템에서는 초기에 우위를 누렸던 기계, 전기, 그리고 메카트로닉스 기술의 우위와 사용자 능력이 점차 약화되어온 반면에 한국의 시스템은 기술하부구조 등이 취약하였지만 해외시스템과의 연계, 재벌 내에서의 기업간 연계, 산학연 협동, 그리고 지역내 연계 등 시스템내의 연계성이 기술적으로 취약한 부분을 보전해 주었기 때문인 것으로 분석되었다. 따라서 어느 한 기술시스템이 자생적으로 생명력을 이어가기 위해서는 시스템 구성요소의 개별적 형성 및 발전보다는 구성요소간 그리고 시스템내의 다양한 활동주체들의 상호작용과 연계성이 중요함을 강조하였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.4
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• pp.781-790
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• 2008

In order to improve on the divergence by noise convariance in the Kalman filter position estimation, we propose a method of position estimating through compensating the autonomous mobile robot's noise. Proposed method is the modified Kalman filter using neural network. It is prevented the divergence by the estimation of measurement noise covariance and system noise covariance. In order to verify the effectiveness of the proposed method, we performed simulations and experiments for position estimation. The results show that convergence and position error is reduced than the Kalman filter method.

• Proceedings of the Korean Society of Computer Information Conference
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• 2021.07a
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• pp.489-490
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• 2021

본 연구에서는 해양사고 처리 중 발생하는 인명사고 발생률을 감소시키고, 효율적으로 양식장을 관리하는 것을 전제로 카메라와 센서를 다기능 해양탐사 로봇에 적용하고자 한다. 현재의 양식장 관리 시스템은 수온 체크만 할 수 있게 되어있다. 이러한 시스템은 양식어에게 적합한 환경을 제공해주기 쉽지 않다. 본 논문은 이러한 문제점들을 개선하기 위해 기존의 해양 처리시스템과 양식 시스템 대신 카메라와 수온 센서, pH 농도 센서, 초음파 거리 센서, DC 모터, 블루투스 모듈을 적용한 다기능 해양탐사 로봇 기술을 제안한다. 기존의 시스템과는 다르게 안전하고 효율적으로 환경을 분석하고, 제어할 수 있다.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.307-313
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• 2012

This paper proposes a hand-eye laser range finder (LRF) based welding plane recognition method for autonomous robotic welding. The robot welding is the process of joining a metal piece and the welding plane along the welding path predefined by the shape of the metal piece. Thus, for successful robotic welding, the position and direction of the welding plane should be exactly detected. If the detected position and direction of the plane is not accurate, the autonomous robotic welding should fail. For precise recognition of the welding plane, a line on the plane is detected by the LRF. For obtaining the line on the plane, the Hough transform is applied to the obtained data from the LRF. Since the Hough transform is based on the voting method, the sensor noise can be reduced. Two lines on the plane are obtained before and after rotation of the robot joint, and then the direction of the plane is calculated by the cross product of two direction vectors of two lines. For verifying the feasibility of the proposed method, the simulation with the robot simulator, RoboticsLab developed by Simlab Co. Ltd., is carried out.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.1C
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• pp.26-35
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• 2006

In this paper, an automatic mobile robot system for a intelligent path planning using the detection scheme of the spatial coordinates based on stereo camera is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity map obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation. From some experiments on robot driving with 240 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the mobile robot and the objects, and relative distance between the other objects is found to be very low value of $2.19\%$ and $1.52\%$ on average, respectably.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.6
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• pp.744-750
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• 2015

In this paper, development of mobile robot for the inspection of hull surface was mentioned. In the sea, it is difficult to proceed with the visual inspection of hull side and thus mobile robot for checking the status could be run with strap-on its surface. To do this, permanent magnet module to generate magnetic force between hull surface and mobile robot, and structure to minimize variance of the force under curvature circumstance were considered on the design. Based on the design, mobile robot with four NdFeB, four driving wheels and image aquisition module was applied. Load experiment to check the adhesive force, slip test during stop state and driving test to measure driving speed were executed. From the experiments 13 Kgf adhesive force was obtained and slip was not happened until 8 Kgf load on the inclined plate. Driving speed of mobile robot was measured at 0.82 m/s corresponding to 6.5 ampere. We confirmed the effectiveness of developed mobile robot by experiments to check its characteristics.

• Journal of the Korea Knowledge Information Technology Society
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• v.13 no.3
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• pp.327-339
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• 2018

This study is on the elderly people's use and experience of pet robots (companion robots). Applying companion robots for the elderly's daily lives can enhance their quality of life. Leisure is main activity of the elderly who are out of work. Therefore, the quality and diversity of leisure can affect the quality of their life. Companion Robots could provide them with more advanced and interesting experiences. Around the world, population aging becomes one of the most important trends in each country. The social and economic burden of aging is serious challenge on sustainability of the world, including S. Korea. The authors examine use of Companion Robots for elderly (from 50 years old to 90 years old). In this experiment, the authors study and measure many factors including system quality, interface quality, displeasure, enjoyment, willingness to reuse, perception on new technology. In regression analysis, intimacy(t=-2.006, p<.05) is significant factor on displeasure of Companion Robot. In another regression, displeasure of Companion Robot (independent variable) is significant factor on enjoyment(t=-3.327, p<.01) and willingness to reuse(t=-2.636, p<.01). Therefore, when elderly one feels less displeasure of Companion Robot, he/she feels more enjoyment and willingness to reuse. As a result, the elderly who don't familiar to new technology could improve quality of life and leisure activity by using companion robot.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.203-204
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• 2008

한의학 진단의 중요 요소인 맥진을 자동화한 맥진기에서뿐만 아니라 비관혈적 심혈관 기능 평가를 위해서 요골동맥 맥파 측정이 널리 활용되고 있다. 요골동맥 맥파는 피험자의 생리적, 병리적 원인을 통제하더라도 가압력이 변함에 따라 형태가 달라지며, 어느 시점 맥파를 피험자의 상태를 대표하는 맥파로 해야 할지에 대한 명확한 기준이 없어 맥압이 최대가 되는 시점의 맥파를 사용하고 있다. 그러나, 맥파가 측정되는 가압력 범위뿐만 아니라 맥압이 최대가 되는 시점이 피험자마다 다르기 때문에 정확한 대표 맥파를 획득하기 위해서는 보다 가압력 단계를 늘려야 하며, 결과적으로 측정시간이 보다 길어지게 될 것이다. 본 논문에서는 최소한의 가압단계로도 보다 정확히 대표 맥파를 획득할 수 있는 방법을 개발할 수 있도록, 정밀 제어가 가능한 가압 로봇 축, 가압에 의해 눌리는 피부이동 거리 측정을 위한 레이저 센서, 가압에 따른 피부 반발력과 맥파를 측정할 수 있는 압력 센서로 구성된 테스트 지그를 개발하였다. 이를 통해 모터 이동 스텝 수에 따른 피부 이동 거리 특성, 피부 이동 거리에 따른 맥파 변화 특성 등을 관찰할 수 있었으며, 향후 효과적인 대표 맥파 획득 방법을 개발할 수 있을 것으로 기대한다.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.563-569
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• 2014

This article focuses on a hemispherical resonator gyro driven by the Coriolis effect. A hemispherical shell, called a resonator, is maintained in the resonance state by amplitude control and phase locking control. Parametric excitation has been used to control the amplitude. For rate measurement mode or FTR mode, nodal points have been kept to an amplitude of zero. Angular rate measurement has been demonstrated by rotating a resonator. Frequency mismatch between two stiffness principal axes is a major cause of low performance: vibrating pattern drift and reduced control effectiveness. This mismatch has been reduced significantly by the addition of small mass. A negative spring effect, which lowers resonance frequencies, has been verified experimentally.