• Journal of Biosystems Engineering
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• v.27 no.5
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• pp.417-424
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• 2002

This study was conducted to develop a vehicle, leading or following a worker at a certain distance to assist laborious transporting works in greenhouses. A prototype vehicle was tested in the practical field conditions using a developed control algorithm. Results of this study were summarized as following: 1. The sensing device consisted of infrared sensors was attached to the front of the vehicle and turning following algorithm was developed to make the vehicle turned as it follows a worker simultaneously. 2. The measured average power consumptions were 110W and 89W, equivalent to 5.2-6.4 hrs battery durations, at low speed with and without the maximum payload, respectively. 3. Results of the travel tests showed that the deviations from the center of row spacing were $\pm$100 mm along the ridge and $\pm$85 mm along the hydroponic bed in the greenhouse. Therefore, the worker-following transport vehicle was feasible to travel along the row without collision in the greenhouse.

• Journal of Biosystems Engineering
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• v.27 no.5
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• pp.409-416
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• 2002

This study was conducted to develop a vehicle, leading or following a worker at a certain distance to assist laborious transporting works in greenhouses. A prototype vehicle, which consisted of the rear driving, the front steering and the console units, was designed and tested in the ideal indoor conditions. Results of this study were summarized as following: 1. The driving unit was designed to travel at the speed ranges of 0.3∼0.8 m/sec depending on the operating modes with a maximum payload of 100 kg. 2. The console unit consisted of a main-board including a 80C196KC microprocessor and peripheral devices, a power-board and safety interlock. Worker-leading, and following modes were available in automatic and manual modes. 3. Steering was achieved by turning the steering motor against the sensed direction. Proper steering angles for correcting travel direction were determined as 5 and 9 degrees when sensing cultivation beds and plants, respectively.

• Advances in robotics research
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• v.2 no.1
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• pp.59-68
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• 2018

Autonomous mobile service medical robots (AMSMRs) are one of the promising developments in contemporary medical robotics. In this study, we consider the essential technical and intellectual abilities needed by AMSMRs. Based on expert analysis of the behavior exhibited by AMSMRs in clinics under basic scenarios, these robots can be classified as intellectual dynamic systems acting according to a situation in a multi-object and multi-agent environment. An AMSMR should identify different objects that define the presented territory (rooms and paths), different objects between and inside rooms (doors, tables, and beds, among others), and other robots. They should also identify the means for interacting with these objects, people and their speech, different information for communication, and small objects for transportation. These are included in the minimum set required to form the internal world model in an AMSMR. Recognizing door handles and opening doors are some of the most difficult problems for contemporary AMSMRs. The ability to recognize the meaning of human speech and actions and to assist them effectively are other problems that need solutions. These unresolved issues indicate that AMSMRs will need to pass through some learning and training programs before starting real work in hospitals.

• Journal of Convergence for Information Technology
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• v.11 no.4
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• pp.83-101
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• 2021

This study is to investigate, using AHP, what technologies should be applied first to Korean SMEs in order to respond to the 4th industrial revolution and change to a smart enterprise. To this end, technologies related to the 4th industrial revolution and smart factory are synthesized, and the classification criteria of Dae-Hoon Kim et al. (2019) are applied, but additional opinions of experts are collected and related technologies are converted to artificial intelligence (AI), Big Data, and Cloud Computing. As a base technology, mobile, Internet of Things (IoT), block chain as hyper-connected technology, unmanned transportation (autonomous driving), robot, 3D printing, drone as a convergence technology, smart manufacturing and logistics, smart healthcare, smart transportation and smart finance were classified as smart industrial technologies. As a result of confirming the priorities for technical use by AHP analysis and calculating the total weight, manufacturing companies have a high ranking in mobile, artificial intelligence (AI), big data, and robots, while service companies are in big data and robots, artificial intelligence (AI), and smart healthcare are ranked high, and in all companies, it is in the order of big data, artificial intelligence (AI), robot, and mobile. Through this study, it was clearly identified which technologies should be applied first in order to respond to the 4th industrial revolution and change to a smart company.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.560-563
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• 2017

물류 창고에서 화물 이송 자동화를 위해서 기존의 여러 방식들이 제안 되었지만 설치 및 유지 보수에 대한 비용이 많이 들고 목적에 따라 유동적으로 작업환경을 바꾸기 어려울뿐더러 갑작스러운 작업환경변화에 대처하기 힘들다는 단점이 있다. 본 논문은 무인 화물 이송 이동 로봇이 다양한 환경에서 여러 가지 기능들을 수행하기 위해 초음파 센서 적외선센서를 장착하였으며 라인을 다라 목표점까지 주행하기 위한 알고리즘을 제안하고 시뮬레이터를 제작하여 실험을 해 보았다.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.46 no.2
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• pp.160-167
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• 2023

This study focuses on the development of a Last-Mile delivery service using unmanned vehicles to deliver goods directly to the end consumer utilizing drones to perform autonomous delivery missions and an image-based precision landing algorithm for handoff to a robot in an intermediate facility. As the logistics market continues to grow rapidly, parcel volumes increase exponentially each year. However, due to low delivery fees, the workload of delivery personnel is increasing, resulting in a decrease in the quality of delivery services. To address this issue, the research team conducted a study on a Last-Mile delivery service using unmanned vehicles and conducted research on the necessary technologies for drone-based goods transportation in this paper. The flight scenario begins with the drone carrying the goods from a pickup location to the rooftop of a building where the final delivery destination is located. There is a handoff facility on the rooftop of the building, and a marker on the roof must be accurately landed upon. The mission is complete once the goods are delivered and the drone returns to its original location. The research team developed a mission planning algorithm to perform the above scenario automatically and constructed an algorithm to recognize the marker through a camera sensor and achieve a precision landing. The performance of the developed system has been verified through multiple trial operations within ETRI.