• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.89-92
• /
• 2005

Using natural speech commands for controlling a human-robot is an interesting topic in the field of robotics. In this paper, our main focus is on the verification of a speaker who gives a command to decide whether he/she is an authorized person for commanding. Among possible dynamic features of natural speech, pitch period is one of the most important ones for characterizing speech signals and it differs usually from person to person. However, current techniques of pitch detection are still not to a desired level of accuracy and robustness. When the signal is noisy or there are multiple pitch streams, the performance of most techniques degrades. In this paper, we propose a two-level approach for pitch detection which in compare with standard pitch detection algorithms, not only increases accuracy, but also makes the performance more robust to noise. In the first level of the proposed approach we discriminate voiced from unvoiced signals based on a neural classifier that utilizes cepstrum sequences of speech as an input feature set. Voiced signals are then further processed in the second level using a modified standard AMDF-based pitch detection algorithm to determine their pitch periods precisely. The experimental results show that the accuracy of the proposed system is better than those of conventional pitch detection algorithms for speech signals in clean and noisy environments.

• The KIPS Transactions:PartA
• /
• v.18A no.2
• /
• pp.75-80
• /
• 2011

Recently, many cleaning robots have been made with various algorithms for efficient cleaning. One of them is a DmaxCoverage algorithm which efficiently clean for the situation when the robot has a time limit. This algorithm uses Rectangle Tiling method for finding the biggest rectangle that doesn't have any obstacle. When the robot uses grid map, Rectangle Tiling method can find the optimal value. Rectangle Tiling method is to find all of the rectangles in the grid map. But when the grid map is big, it has a problem that spends a lot of times because of the large numbers of rectangles. In this paper, we propose Four Direction Rectangle Scanning(FDRS) method that has similar accuracy but faster than Rectangle Tiling method. FDRS method is not to find all of the rectangle, but to search the obstacle's all directions. We will show the FDRS method's performance by comparing of FDRS and Rectangle Tiling methods.

• Journal of Microbiology and Biotechnology
• /
• v.10 no.1
• /
• pp.21-26
• /
• 2000

A microarrayer system was developed mainly for manufacturing DNA chips. The 3-axis robot was designed to automatically collect samples from 96-or 384-well microtiter plates using up to 16 simultaneously moving pens and to deposit them on a surface-modified slide glass. This is followed by a wash/dry operation in a clean station. The cycle is repeated with a new set of samples, This system can deposit cDNA or oligonucleotides with spot intervals of $150{\;}\mu\textrm{m}$ and the spot size of $80\mu\textrm{m}$, thus allowing a high density DNA chip containing about 5,000 spots per $\textrm{cm}^2$. The entire procedure is controlled by the Visual C++ program that was written in our laboratory by using a personal computer with Pentium 100 CPU.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2016.05a
• /
• pp.85-86
• /
• 2016

Recently, needs for the window cleaning for 2~5 stories in a building has been increased but existing window cleaning work by workers is not easy to clean the windows. Therefore a demand for development of alternative techniques have been raised. The purpose of this study is to analyze feasibility of development of the guide rail-type cleaning device for cleaning window for the lower stories. For this, we analyze the status of the job, such as risk, limitations of by workers and examine the potential producer needs through interviewing field experts of the cleaning work. Futhermore, we define the required features of the window cleaning device and proposed the validity of the relised device development of the function.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.1-7
• /
• 1998

Robots utilized in the field of welfare or agriculture should be light in weight and flexible in structure. A pneumatic actuator has properties such that it is more powerful compared with a motor of same weight, and that it is flexible, clean and unexplosive. In this paper we propose a new structure of the pneumatic actuator with two-degree-of-freedom. By using proposed pneumatic actuators, we can easily construct multi-degree-of-freedom pneumatic manipulators. Here we constructed a fourteen-degree-of-freedom pneumatic dual manipulator. The performance of the dual manipulators is confirmed through experiments for ball-handling with impedance control. In the experiments several control schemes, including the decentralized control and the simple adaptive control (SAC), were used. The results show that a flexibility of the pneumatic actuator is appropriate to accomplish the coordinative motion of the right and left arms of the robot.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2022.11a
• /
• pp.737-739
• /
• 2022

본 논문은 스마트 축사의 공기/수질/토양 오염을 감시, 살균 및 청소할 드론과 로봇에 관한 연구이다. 서론에서는 서귀포시에서 최근에 개발되어 보급을 시작한 스마트 축사 시스템의 시범서비스와 바른전자의 사례를 통해서 시스템의 발전 방향과 문제점들을 분석한다. 본론에서는 차세대 스마트 축사의 전체 구성도와 서비스 구성표를 작성함으로써 연구개발의 방향을 모색하고, 인공지능, 빅데이터 분석, 드론, 로봇의 협동 방식의 스마트 축사를 구상하여 현존하는 스마트 축사 시스템의 문제점들을 보완하였다. 결론적으로, 본 논문은 차세대 스마트 축사의 환경오염과 자연생태계위협을 근원적으로 해결할 입체적인 감지정보처리 및 실시간으로 오염/전염병의 예방과 선제적 대응을 포함한, 축사에서 발생할 오염 및 전염병 사고/사건을 관할 당국에 신고하고 행정명령을 처리하는 ICT기반시설을 제안한다.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.21 no.12
• /
• pp.612-618
• /
• 2020

In recent years, the demand for external window cleaning has increased, but the process is a very dangerous manpower-dependent operation. In addition, it is difficult to clean at the desired frequency in a business that values cleanliness. Therefore, there is a need to automate this work. This paper presents the concept of a device that can be attached to a specific window and clean the window continuously. The economic feasibility of this device was analyzed. The estimated manufacturing cost of the equipment was approximately 10 million won, but the possible investment cost was at least 9.8 million won for five years of endurance and 103 million won for 10 years of endurance. Therefore, the expected savings well exceed the equipment cost, and it was evaluated as having economic feasibility. Since this study analyzed only quantitative indicators, the expected cost reduction due to a reduction in safety accidents, productivity improvement, construction time reduction, and quality improvement was not considered. Therefore, it is expected that the calculated economic feasibility will be more accurate if the cost reduction effect by the automation equipment is calculated by adding the expected values not considered in this study.

• Journal of Gastric Cancer
• /
• v.23 no.4
• /
• pp.523-534
• /
• 2023

Purpose: Intra-abdominal infection is a common postoperative complication of laparoscopic pylorus-preserving gastrectomies (PPGs). Many studies have reported that intra-abdominal infectious complications after gastrectomy adversely affect patient survival outcomes. To prevent gastric fluid leakage into the abdominal cavity, we developed a novel anastomosis method in which the stomach lumen is not opened (termed the non-opened clean end-to-end anastomosis method [NoCEAM]) and evaluated its feasibility. Materials and Methods: Subsequent to lymphadenectomy, the oral and anal resection lines were sutured using an intraoperative endoscope. After closing the stomach circumferentially with clips, the specimen was rolled outward like a "donut." We resected the specimen circumferentially using a linear stapler, and anastomosis was completed simultaneously. We examined the feasibility of this procedure ex vivo, using three porcine stomachs, and in vivo, using one pig. Subsequently, we applied the procedure to 13 consecutive patients with middle-third early gastric cancer utilizing laparotomic, laparoscopic, and robotic PPG. Results: NoCEAM was completed in all porcine models and human cases. In the human cases, the mean operation time (±standard deviation) was 279±51 minutes, and mean blood loss volume was 22±45 mL. The mean number of linear staples used was 5.06±0.76. None of the patients had complications, and all were discharged on the eighth postoperative. The serum total protein, serum albumin, and hemoglobin levels did not change significantly after surgery. Conclusions: NoCEAM is feasible and safe for performing totally laparoscopic or robotic PPG. It may reduce postoperative complications, such as intra-abdominal infections.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.5
• /
• pp.489-496
• /
• 2006

The random-based cleaning algorithm is a simple algorithm widely used in commercial vacuum cleaning robots. This algorithm has two limitations, that is, cleaning takes a long time and there is no guarantee that the cleaning will cover the whole cleaning area. This has lead to customer dissatisfaction. Thus, in recent years, many intelligent cleaning algorithms that takes into consideration information gathered from the cleaning area environment have been proposed. The plowing-based algorithm, which is the most efficient algorithm known to date when there are no obstacles in the cleaning area, has a deficiency that when obstacle prevail, its performance is not guaranteed. In this paper, we propose the Group-k algorithm that is efficient for that situation, that is, when obstacle prevail. The goal is not to complete the cleaning as soon as possible, but to clean the majority of the cleaning area as fast as possible. The motivation behind this is that areas close to obstacles are usually difficult for robots to handle, and hence, many require human assistance anyway In our approach, obstacles are grouped by the complexity of the obstacles, which we refer to as 'complex rank', and then decide the cleaning route based on this complex rank. Results from our simulation-based experiments show that although the cleaning completion time takes longer than the plowing-based algorithm, the Group-k algorithm cleans the majority of the cleaning area faster than the plowing algorithm.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.2
• /
• pp.508-516
• /
• 2010

An autonomous and automatic home mess-cleanup robot is newly developed in this paper. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot (McBot) to completely overcome this problem. The robot needs the capability for agile navigation and a novel manipulation system for mess-cleanup. The autonomous navigational system has to be controlled for the full scanning of the living room and for the precise tracking of the desired path. It must be also be able to recognize the absolute position and orientation of itself and to distinguish the messed object that is to be cleaned up from obstacles that should merely be avoided. The manipulator, which is not needed in a vacuum-cleaning robot, has the functions of distinguishing the large trash that is to be cleaned from the messed objects that are to be arranged. It needs to use its discretion with regard to the form of the messed objects and to properly carry these objects to the destination. In particular, in this paper, we describe our approach for achieving accurate localization using RFID for home mess-cleanup robots. Finally, the effectiveness of the developed McBot is confirmed through live tests of the mess-cleanup task.