• 제어로봇시스템학회논문지
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• 제11권2호
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• pp.152-159
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• 2005

This paper describes the application of a model-based system design method critical to complex intelligent systems, PSARE, to a welding robot development to define its top level architecture. The PSARE model consists of requirement model which describes the core processes(function) of the system, enhanced requirement model which adds technology specific processes to requirement model and allocates them to architecture model, and architecture model which describes the structure and interfaces and flows of the modules of the system. This paper focuses on the detailed procedure and method rather than the detailed domain model of the welding robot. In this study, only the top level architecture of a welding robot was defined using the PSARE method. However, the method can be repeatedly applied to the lower level architecture of the robot until the process which the robot should perform can be clearly defined. The enhanced data flow diagram in this model separates technology independent processes and technology specific processes. This approach will provide a useful base not only for improvement of a class of welding robots but also for development of increasingly complex intelligent real-time systems.

• 전자통신동향분석
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• 제39권3호
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• pp.25-35
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• 2024

As artificial intelligence advances, major countries are actively promoting the use of intelligent robots to improve industrial productivity and enhance the quality of life. As robots become more capable of interacting with humans, they are being increasingly integrated into the human realm. Accordingly, major countries are actively implementing policies to lead intelligent robot technology and secure market leadership. We examine the status of policies related to intelligent robots in five countries: United States, China, Japan, Germany, and South Korea. These countries apply 1) government-led intelligent robot policies, 2) investments to secure core robot technologies and promote the convergence of artificial intelligence and robots, 3) programs for research and development on intelligent robots, 4) strengthened human-centered human-robot interaction and collaboration, and 5) ethics, stability, and reliability in the development and use of robot technologies. For Korea to compete with major countries and promote the intelligent robot industry, high-risk, high-performance innovation projects should be prioritized.

• Journal of Computing Science and Engineering
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• 제2권4호
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• pp.321-338
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• 2008

This paper presents a Modified Multiple Depth First Search algorithm for the exploration of the indoor environments occupied with obstacles in random distribution. The proposed algorithm was designed and implemented to employ one or a team of Khepera II mini robots for the exploration process. In case of multi-robots, the BlueCore2 External Bluetooth module was used to establish wireless networks with one master robot and one up to three slaves. Messages are sent and received via the module's Universal Asynchronous Receiver/Transmitter (UART) interface. Real exploration experiments were performed using locally developed teleworkbench with various autonomy features. In addition, computer simulation tool was also developed to simulate the exploration experiments with one master robot and one up to ten slaves. Computer simulations were in good agreement with the real experiments for the considered cases of one to one up to three networks. Results of the MMDFS for single robot exhibited 46% reduction in the needed number of steps for exploring environments with obstacles in comparison with other algorithms, namely the Ants algorithm and the original MDFS algorithm. This reduction reaches 71% whenever exploring open areas. Finally, results performed using multi-robots exhibited more reduction in the needed number of exploration steps.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2016년도 추계 학술논문 발표대회
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• pp.140-141
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• 2016

Dynamic nature and diverse requirements on construction sites make the automation technology harder to be employed actively. In this study, we analyzed optimal type of automation system and importance of core technologies for developing efficient construction automation system on 11 construction operations. As a result, it showed that man-machine cooperation system may be the most suitable for most operations, while autonomous robot will be best suited in hard working environment such as maintenance of exterior wall. In elemental technology, ease and accuracy of control and operation showed higher priority than others regardless of automation system type. These findings will provide useful information for developing the construction automation system.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2023년도 가을학술발표대회논문집
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• pp.263-264
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• 2023

3D printing technology is recognized as a core technology that will lead the next generation, and is a field that can have a large ripple effect if it innovates the existing construction production method. Therefore, this study deals with the development of a 3d printing system using an articulated robot for construction purposes. In this system, ABB robot was used to control the developed cement gun accurately. The system is composed of mixer to mix cementitious materials, pump to transfer the materials, abb robot to motion control and cement gun to extrude the materials to print required construction parts. Using the system developed in this study, a suitable mix ratio of cementitious materials was found and successively printed a 1m high structure that demonstrated possibility of printing structures using 3d printer. In the future, we plan to build a foundation for automated construction through research on construction methods and materials that can be continuously layered for the system.

• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.108-113
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• 2007

The robot introduced in this paper is the Fire-Extinguishing Rescue Robot for indoor work which is considered to be a part of the Operation for Future Developmental Power. It is briefly introduced about the background of how we began this project, our goals, where we are today and what we would like to achieve from now on. Main contents include introduction to the equipments for Fire-Extinguishing Rescue robots that have been developed in advanced countries and the compositional concept of the developmental process, the GUI schematic, searching methods for fire inside a house, mechanical schematic and the present conditions of how the core technologies are developing through.

• 한국컴퓨터정보학회논문지
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• 제22권3호
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• pp.89-96
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• 2017

Artificial intelligence and robot technology have been received attention as core technologies of the 4th industrial revolution. This paradigm change of science technology raises the importance of unmanned technology field. This paper categorizes unmanned technology as unmanned ground system, unmanned maritime system, and unmanned aircraft system, And it analyzes 557 cases of open patents and classifies each sort of specific technology elements. After then patent information, which were classified by technology, by patent assignees, and by IPC codes, covers unmanned technology maturity, development direction of research and core technology trends. This research provides directions of unmanned technology research and diverse field technology development through cooperation with various perspectives of quantitative analysis of patents.

• Nuclear Engineering and Technology
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• 제54권6호
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• pp.2198-2203
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• 2022

As robotics become more sophisticated, there are a growing number of generic systems being used for routine tasks in nuclear environments to reduce risk to radiation workers. The nuclear sector has called for more commercial-off-the-shelf (COTS) devices and components to be used in preference to nuclear specific hardware, enabling robotic operations to become more affordable, reliable, and abundant. To ensure reliable operation in nuclear environments, particularly in high-gamma facilities, it is important to quantify the tolerance of electronic systems to ionizing radiation. To deliver their full potential to end-users, mobile robots require sophisticated autonomous behaviors and sensing, which requires significant computational power. A popular choice of computing system, used in low-cost mobile robots for nuclear environments, is the UP Core single board computer. This work presents estimates of the total ionizing dose that the UP Core running the Robot Operating System (ROS) can withstand, through gamma irradiation testing using a Co-60 source. The units were found to fail on average after 111.1 ± 5.5 Gy, due to faults in the on-board power management circuitry. Its small size and reasonable radiation tolerance make it a suitable candidate for robots in nuclear environments, with scope to use shielding to enhance operational lifetime.

• 디지털산업정보학회논문지
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• 제6권3호
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• pp.159-168
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• 2010

Developments and changes in digital environment based on computer technologies and internet networks enabled us interactive communication for planning and execution through the freedom of 'connection', 'sharing', and 'conversion'. The subject of this study, interactive commercial, might be the core of success based on creation which stems from communication design, revolution in design and technology, and conversion. Communication in modern economy is not optional, but essential. Furthermore, like evolution process up to Augmented Reality from developments of mobile communication technology, or concept in paradigm change, digital interactive commercial means the core of success, not a part of it. Therefore, in order to achieve success in the global competition structure, mobile communication design, revolution, and creation which produce added value shall be working as a base. In order to reach effective communication process performance of interactive commercial media, this study would like to propose building a media commercial system which is realized by human senses. Using this, standardized methods for interactive commercial which can be used together with augmented reality based on digital technology, and for using digital robot contents are available, along with methodology system of their use. In addition, the ultimate goal of this study aims to discover new factors through reorganization of precedent analysis and adaptation based on academic achievement and practical application. And thus, it wants to contribute to practical use of interactive commercial out of augmented reality-based communication in which technology, marketing, and design are integrated to be used in real sense.

• 한국해양공학회지
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• 제33권2호
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.