• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.3
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• pp.246-252
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• 2020

Safety accidents have been reported due to falling accumulated snow from cables of cable-supported bridges. In addition to the direct damage caused by falling snow, secondary damage, such as traffic accidents, can occur. Various methods have been proposed to prevent these accidents, but there are still problems in safety and practicality. In this study, a cable robot type was selected as one of the active methods for removing accumulated snow on cables. An attempt was made to increase the climbing ability of the robot to improve the efficiency of snow removal. In addition, the available range of cable diameter for the robot can be adjusted flexibly to be applied to cables used in the field. A high-resolution camera was also installed to check the surface condition of the cable in real time to increase the utility, and be used as a cable inspection robot. A three-axis accelerometer and a tension conversion algorithm were added to measure the tension force of cables. To verify the performance, indoor and field experiments were conducted, and future improvements for the inspection robot were proposed.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2006.06a
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• pp.387-395
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• 2006

홈 네트워크는 유비쿼터스의 여러 응용분야 중 활발하게 연구 구현되고 있는 분야 중의 하나로, 최근 아파트 건설업체, 가전기기 업체, 통신서비스 업체들이 지능성을 갖춘 스마트 홈을 목적으로 다양한 시험제품과 솔루션을 출시 흑은 제시하면서 이를 자사의 중요한 마케팅전략으로 활용하고 있다. 스마트 홈 네트워크를 구성하는 다양한 스마트 홈 기기의 제품 경쟁력은 제품이 얼마나 지능성을 갖추어 사용자에게 편리성과 유용성을 제공할 수 있는가의 여부가 중요한 관건이 되고 있다. 따라서 지능형 홈 기기의 지능에 대한 측정기준 마련이 필요한 시점이다. 본 연구에서는 스마트 홈 네트워크를 구성하는 여러 요소 중에서 정보가전기기를 지능성 측정 대상으로 하여 지능등급 부여모델을 개발하고자 한다. 지능형 홈 기기의 지능을 측정하기 위하여 로봇분야의 다양한 문헌 고찰을 토대로 지능성 측정에 필요한 핵심 구성요소를 도출 및 재 정의하여 등급모델을 설계하였다. 특히 설계된 등급부여모델의 실질적 이용을 위해서는 평가방식에 있어서 계량화 절차가 요구된다. 따라서 평가모델의 특성상 다차원적인 지능성의 속성을 총합적으로 나타내기 위하여 퍼지이론(Fuzzy Theory)을 사용하였으며, 이를 정규화하기 위해 퍼지적분(Fuzzy Integral)을 이용하였다. 산출된 적분값을 다시 비퍼지화하여 지능성 등급을 부여하는 모델을 개발하였다. 제시된 지능성 등급부여 모델은 스마트 홈 네트워크 산업의 발전을 촉진하는 계기가 될 수 있으리라 기대한다.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.1
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• pp.119-124
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• 2022

Successful underwater localization requires a large-scale, parallel computing environment that can be mounted on various underwater robots. Accordingly, we propose a design method for an artificial intelligence computing platform for underwater localization. The proposed platform consists of a total of four hardware modules. Transponder and hydrophone modules transmit and receive sound waves, and the FPGA module rapidly pre-processes the transmitted and received sound wave signals in parallel. Jetson module processes artificial intelligence based algorithms. We performed a sound wave transmission/reception experiment for underwater localization according to distance in an actual underwater environment. As a result, the designed platform was verified.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.6
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• pp.645-651
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• 2012

In this paper, we propose a new method for stabilizing the image captured from a camera mounted on a buoy robot. In this study, in order to solve the problem of cumulative errors and noise produced by a general gyro sensor measuring the orientation angle of the buoy robot, we propose new method for stabilizing the image. In this method, image processing techniques are combined with a newly designed target mounting mechanism that adapts to wave fluctuations. New target extraction and angle estimation techniques are introduced, along with the new mounting mechanism used for the camera and the target, which produce a stabilized image even if the buoy robot is on fluctuating waves.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.10
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• pp.1920-1926
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• 2006

With social interest, there hie been a lot of research on the Service Robot but now we are faced with the limitation of single platform. The alternative plan is the Ubiquitous-based Service Robot connected with a Ubiquitous network to overcome this limitation. Systems using RFID(Radio frequency Identification) and supersonic waves appeared for functions such as recognition of surroundings through Ubiquitous Sensor Networks. This was applied to the real robot and we have got good results. However, this has several limitations to applying to low power-based Sensor Network For example, if RFID uses a passive Sensor, the rate of recognition with the distance is limited. In case of supersonic waves, high power is required to drive them. Therefore, we intend to develop RSSI position recognition system on the basis of embodying a Sensor Network Module in this thesis. This RSSI position recognition system only measures RSSI of signals from each sensor nod. then converts them into distances and calculates the position. As a result, we can still use low power-based Sensor Network and overcome the limitation according to distance as planning Ad-Hoc Network.

• Journal of Biomedical Engineering Research
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• v.38 no.3
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• pp.129-136
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• 2017

The exoskeleton robot is a technology developed to be used in various fields such as military, industry and medical treatment. The exoskeleton robot works by sensing the movement of the wearer. By recognizing the wearer's daily activities, the exoskeleton robot can assist the wearer quickly and efficiently utilize the system. In this study, LDA, QDA, and kNN are used to classify gait types through kinetic data obtained from subjects. Walking was selected from general walking and stair walking which are mainly performed in daily life. Seven IMUs sensors were attached to the subject at the predetermined positions to measure kinematic factors. As a result, LDA was classified as 78.42%, QDA as 86.16%, and kNN as 87.10% ~ 94.49% according to the value of k.

• The Journal of Korean Institute for Practical Engineering Education
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• v.3 no.1
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• pp.143-148
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• 2011

In this study, the damage to the bridge structure such as the crack and water leakage was assessed due to the increase of the vehicle load and traffic on the roads. In order to make this into the database, as a part of the automation system development for the bridge maintenance, the students themselves designed and developed their own inspection robotic system based on the idea of robots currently being developed overseas. Its field testing was conducted and its applicability assessed. During the design and fabrication, its connection to the details of the unit course taken in the undergraduate level was focused. In terms of new product development, the field application was possible due to the support of the academic-industrial cooperation firms. Furthermore, through the survey of the students, the improvements in the practical skills of the students who participated in this development process was affirmed.

• Journal of the Institute of Convergence Signal Processing
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• v.10 no.3
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• pp.198-206
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• 2009

This paper presents the reduction of the positional uncertainty of an ultrasonic sensor ring with overlapped beam pattern for the efficient obstacle detection of a mobile robot. Basically, it is assumed that a relatively small number of inexpensive low directivity ultrasonic sensors are installed at regular spacings along the side of a circular mobile robot with their beams overlapped. First, for both single and double obstacles, we show that the positional uncertainty inherent to an ultrasonic sensor can be reduced using the overlapped beam pattern, and also quantify the relative improvement in positional uncertainty. Second, given measured distance data from one or two ultrasonic sensors, we devise the geometric method to determine the position of an obstacle with respect to the center of a mobile robot. Third, we examine and compare existing ultrasonic sensor models, including Gaussian distribution, parabolic distribution, uniform distribution, and impulse, and then build the sensor model of overlapped ultrasonic sensors, adequate for obstacle detection in terms of positional uncertainty and computational requirement. Finally, through experiments using our prototype ultrasonic sensor ring, the validity of overlapped beam pattern for reduced positional uncertainty and efficient obstacle detection is demonstrated.

• The Transactions of the Korea Information Processing Society
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• v.7 no.11S
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• pp.3732-3838
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• 2000

As the Internet sites and users have rapidly been increased, the development for search engines has also been accelerated to satisfy users' expectations. As the result, not only the action of collecting documents through many search engines gave hosts workload, but also regular updating all the information is needed since information is newly added. With the circumstances, the necessity of the technology to collect massive information in hosts has been increased for the speed which is a basic requisite of search systems, and for more accurate collection of documents. Also, the role of search engines grows bigger for Internet users' various demands and flexible process through World Wide Web. In this paper, we design and implement a robot agent and a remote control system which doesn't give an excessive workload on a target server and makes the collection of documents done in a short period by considering an average workload rate on the target server and the rate of the workload that a robot experience in collection time, after we compare and analyze the existing Robot Agent Systems and supplement their weak points.

• Journal of Appropriate Technology
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• v.7 no.1
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• pp.2-25
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• 2021

This study evaluated gender preferences regarding the mechanical properties of polymers that are typically used as cooperative robot skin. Gender-based preferences of workers aged 20~30 and polydimethylsiloxane were examined according to the body parts which is most frequently in contact with the robot during operation. The factors influencing preference, i.e., stiffness and stickiness, as measured by strain rate and contact angle, respectively, were analyzed to compare gender-based differences. Female preferred stiffer materials with small strain rates while male preferred softer materials with large strain rates. As a result of evaluating mechanical properties of the materials to relate to gender-based preference, we found that female tended to prefer Dragon-skin with the lowest stickiness, and a low strain rate, during compressive creep tests. In contrast, male tended to prefer Ecoflex with high strain rate regardless of stickiness. Therefore, these results provide basis for material selection when considering cooperative robot skin.