• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.43-47
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• 1995

The ball screw is one of the important mechanical parts for the linear motion feeding systems. The usage of the ball screw has been growing in various industrial fields such as CNC machine tool, industrial robot and automated systems. Because of ever increasing demand for ball screws, increased accuracy and quality of the ball screw is needed,especially the surface roughness of the ball contact area in order to diminish noise and vibration. Therefore to improve the surface roughness of the area,we introduced magnetic assisted polishing which is one of the new potential polishing methods. In this study, diamond slurry and iron powder was used for magnetic assisted polishing of the ball bearing surface. This polishing process was experimentally confirmed to improve the surface roughness of the ball bearing.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2005년도 가을 학술발표논문집 Vol.32 No.2 (2)
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• pp.322-324
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• 2005

자가성장 소프트웨어란 동적인 상황 판단에 의거하여 스스로 자신의 기능과 컴포넌트 구성 능력을 성장시키는 소프트웨어를 말한다. 자가성장 소프트웨어는 자신의 환경을 모니터링 하여 사용자에게 적절한 행동을 제공하여 주는 지능형 로봇에 특히 필요하다. 지능형 로봇은 현재 자신이 가지고 있는 소프트웨어로는 해결할 수 없는 상황에 부딪힐 수 있고 이러한 경우 동적으로 소프트웨어 컴포넌트를 획득하여 이용하게 해주는 것이 자가성장 로봇 소프트웨어의 역할이다. 효율적인 컴포넌트의 획득과 관리를 위해 컴포넌트 저장소의 중요성이 부각되고, 자가성장 로봇 소프트웨어를 실현하기 위한 저장소 프레임워크를 ICU의 SemBots 프로젝트에서 개발 중에 있다. 본 논문에서는 저장소를 위한 요구조건과 구조를 기술하고 저장소 시스템을 위한 프로토타입을 제시한다.

• 센서학회지
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• 제31권3호
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• pp.145-150
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• 2022

The importance of flexible polymer-based pressure sensors is growing in fields like healthcare monitoring, tactile recognition, gesture recognition, human-machine interface, and robot skin. In particular, health monitoring and tactile devices require high sensor sensitivity. Researchers have worked on sensor material and structure to achieve high sensitivity. A simple and effective method has been to employ three-dimensional pressure sensors. Three-dimensional (3D) structures dramatically increase sensor sensitivity by achieving larger local deformations for the same pressure. In this paper, the performance, manufacturing method, material, and structure of high-sensitivity flexible pressure sensors based on 3D structures, are reviewed.

• 한국정보전자통신기술학회논문지
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• 제13권6호
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• pp.611-618
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• 2020

본 논문에서는 사람과 상호작용이 가능한 소셜 로봇에서 구동할 수 있는 스피드 퀴즈 콘텐츠의 설계 및 구현 방법을 제안하고, 구현을 위해 필요한 지능 모듈을 개발하는 방법을 제시한다. 또한, 지능 모듈 블록들을 배치하고 연결하여 맵을 구성하는 과정을 통해 스피드 퀴즈 콘텐츠를 구현하는 방법을 제안한다. 최근 소프트웨어 교육이 의무화되고 프로그래밍에 대한 관심이 높아지고 있다. 하지만 프로그래밍은 프로그래밍 언어에 대한 기초 지식이 없는 학생들이 바로 접근하는 데에는 어려움이 따라, 초심자에게 적합한 블록형 프로그래밍 플랫폼에 대한 관심이 커지고 있다. 본 논문에서 사용한 블록형 프로그래밍 플랫폼은 사람과 로봇과의 상호작용을 지원하여 즉각적이고 직관적인 프로그래밍이 가능한 플랫폼이다. 본 논문에서는 스피드 퀴즈 콘텐츠를 위해 구현한 지능 모듈을 블록형 프로그래밍 플랫폼 내에서 블록화하여 사용하였다. 본 논문에서 제안하는 스피드 퀴즈 콘텐츠의 시나리오를 구현하기 위해 총 3가지의 이미지 기반 인공지능 모듈을 구현한다. 지능 모듈 외에도 다양한 기능 블록을 배치함으로써 스피드 퀴즈 콘텐츠를 구현하였다. 본 논문에서는 스피드 퀴즈 콘텐츠 시나리오를 설계한 방법과 이를 위한 지능 모듈을 구현한 방식을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.457-462
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• 2005

Industrial and economical importance of CP(Cellular Phone) is growing rapidly. Combined with IT technology, CP is currently one of the most attractive technologies for all. However, unless we find a breakthrough to the technology, its growth may slow down soon. RT(Robot Technology) is considered one of the most promising next generation technology. Unlike the industrial robot of the past, today's robots require advanced technologies, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition, and many others. In this study, we present a new technological concept named RCP(Robotic Cellular Phone), which combines RT & CP, in the vision of opening a new direction to the advance of CP, IT, and RT all together. RCP consists of 3 sub-modules. They are $RCP^{Mobility}$, $RCP^{Interaction}$, and $RCP^{Interaction}$. $RCP^{Mobility}$ is the main focus of this paper. It is an autonomous navigation system that combines RT mobility with CP. Through $RCP^{Mobility}$, we should be able to provide CP with robotic functionalities such as auto-charging and real-world robotic entertainments. Eventually, CP may become a robotic pet to the human being. $RCP^{Mobility}$ consists of various controllers. Two of the main controllers are trajectory controller and self-localization controller. While Trajectory Controller is responsible for the wheel-based navigation of RCP, Self-Localization Controller provides localization information of the moving RCP. With the coordinate information acquired from RFID-based self-localization controller, Trajectory Controller refines RCP's movement to achieve better RCP navigations. In this paper, a prototype system we developed for $RCP^{Mobility}$ is presented. We describe overall structure of the system and provide experimental results of the RCP navigation.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.585-589
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• 2016

Recently, the robotic assist system for cardiovascular intervention gets continuously growing interest. The robotic cardiovascular intervention systems are largely two folds, systems for cardiac ablation procedure assist and systems for vascular intervention assist. For the systems, the clinician controls the catheter inserted through blood vessel to the heart via a master console or master manipulator. Most of the current master manipulators have structure of joystick-like pivoting 2 degree of freedom (DOF) handle in the core, which is used in parallel with other sliding switches and input devices. It however is desirable to have customized and optimized design manipulator that can provide clinician with intuitive control of the catheter motion fully utilizing the advantage of the use of robotic structure. A 6 DOF kinematic mechanism that can capture the motion control intention of the clinician in translational 3 DOF and rotational 3 DOF is proposed in this paper. Also, a master-slave motion relationship specially designed for the cardiac catheter manipulation motion is proposed and implemented in an experimental prototype. Design revision for implementation of more efficient motion and experiment in combination with an experimental slave robot system for catheter manipulation are underway.

• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.480-488
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• 2006

Industrial and economical importance of CP(Cellular Phone) is growing rapidly. Combined with IT technology, CP is one of the most attractive technologies of today. However, unless we find a new breakthrough in the technology, its growth may slow down soon. RT(Robot Technology) is considered one of the most promising next generation technologies. Unlike the industrial robot of the past, today's robots require advanced features, such as soft computing, human-friendly interface, interaction technique, speech recognition object recognition, among many others. In this paper, we present a new technological concept named RCP (Robotic Cellular Phone) which integrates RT and CP in the vision of opening a combined advancement of CP, IT, and RT, RCP consists of 3 sub-modules. They are $RCP^{Mobility}$(RCP Mobility System), $RCP^{Interaction}$, and $RCP^{Integration}$. The main focus of this paper is on $RCP^{Mobility}$ which combines an autonomous navigation system of the RT mobility with CP. Through $RCP^{Mobility}$, we are able to provide CP with robotic functions such as auto-charging and real-world robotic entertainment. Ultimately, CP may become a robotic pet to the human beings. $RCP^{Mobility}$ consists of various controllers. Two of the main controllers are trajectory controller and self-localization controller. While the former is responsible for the wheel-based navigation of RCP, the latter provides localization information of the moving RCP With the coordinates acquired from RFID-based self-localization controller, trajectory controller refines RCP's movement to achieve better navigation. In this paper, a prototype of $RCP^{Mobility}$ is presented. We describe overall structure of the system and provide experimental results on the RCP navigation.

• 한국항행학회논문지
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• 제25권6호
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• pp.441-449
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• 2021

지능형 이동체 시스템 발달에 따라서, 보다 정확한 위치 정보 추정 기술에 대한 요구가 증가하고 있다. 특히, 실내에서 사용되는 이동 로봇에게 주어진 일을 정해진 위치에서 수행할 때에는 보다 정확한 위치 추정에 대한 성능을 필요로 한다. 따라서, 이 논문에서는 고정형 또는 이동형 사물에 적용 가능한 진보된 위치 추정 방법을 제안한다. 제안 방법은 미리 설치된 블루투스 비콘 신호로부터 위치 추정 결과를 칼만 필터의 관찰 신호로 사용한다. 또한, 센서의 위치와 각도에 따라서 결정되는 각 방향의 중력 가속도를 추정하기 위해서, 롤(roll)과 피치(pitch) 각도를 먼저 계산하고, 이 결과를 자기장 센서 출력과 결합하여 요(Yaw) 각도를 추정함으로써,이동체의 진행 방향을 정확히 추정한다. 이를 기반으로 이동체의 제어 입력이 되는 가속도 신호를 정확히 계산함으로써, 칼만 필터의 성능을 향상시키는 방법을 제안한다. 제안 방법의 성능은 고정 상태와 이동 상태로 나누어 평균 위치 오차를 계산하여 기존의 칼만 필터와 비교시 위치 오차를 크게 향상시킴을 확인하였다.

• 한국산업융합학회 논문집
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• 제27권1호
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• pp.229-237
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• 2024

The logistics industry is converging with digital technology and growing into various logistics automation systems. However, inspection and loading/unloading, which are mainly performed in logistics work, depend on human resources, and the workforce is shrinking due to the decline in the productive population due to the low birth rate and aging. Although much research is being conducted on the development of automated logistics systems to solve these problems, there is a lack of research and development on load stacking stability, which has the potential to cause significant accidents. In this study, loading boxes with various sizes and positions of the center of gravity were set up, and a method for stacking that with high stability is presented. The size of the loading box is measured using a depth camera. The loading box's weight and center of gravity are measured and estimated by a developed device with four loadcells. The measurement error is measured through various repeated experiments and is corrected using the least squares method. The robot arm performs load stacking by determining the target position so that the centers of gravity of the loading boxes with unbalanced masses with a random sequence are transported in alignment. All processes were automated, and the results were verified by experimentally confirming load stacking stability.

• Journal of Microbiology and Biotechnology
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• 제17권11호
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• pp.1868-1874
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• 2007

We have developed a robotic system for an automated parallel cell cultivation process that enables screening of induction parameters for the soluble expression of recombinant protein. The system is designed for parallelized and simultaneous cultivation of up to 24 different types of cells or a single type of cell at 24 different conditions. Twenty-four culture vessels of about 200 ml are arranged in four columns${\times}$six rows. The system is equipped with four independent thermostated waterbaths, each of which accommodates six culture vessels. A two-channel liquid handler is attached in order to distribute medium from the reservoir to the culture vessels, to transfer seed or other reagents, and to take an aliquot from the growing cells. Cells in each vessel are agitated and aerated by sparging filtered air. We tested the system by growing Escherichia coli BL21(DE3) cells harboring a plasmid for a model protein, and used it in optimizing protein expression conditions by varying the induction temperature and the inducer concentration. The results revealed the usefulness of our custom-made cell cultivation robot in screening optimal conditions for the expression of soluble proteins.