• 전자공학회논문지B
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• 제31B권9호
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• pp.47-56
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• 1994

In this paper, we demonstrate how to design a redundant robot which is suitable for the multiple task execution without any constraints on the work space. The implementation is possible by the rigid connection of a cacro-robot and a micro-robot. A 5 d.o.f. articulated robor designed for commercial purpose is utilized as a micro-robot which can perform a general task with the appropriate adjustment of its base location. The base of a micro-robot is located at a suitable position by the macro-robot designed and implemented through this research. A task assigned to this redundant robot is performed mainly by the micro-robot. However, when the micro-robot cannot perform the task by itself or when the micro-robot has difficulties in performing the task, the coordination of the macro-robot is requited. To monitor the task execution efficiency of the micro-robot, we used the 'Manipulability Measure' as a cost function. The coordination between the two robots are verified both by the simulation and the experiment.

• 제어로봇시스템학회논문지
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• 제6권3호
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• pp.309-316
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• 2000

A coordination method for a macro/micro robot with separate controllers is proposed and evaluated. The macro/micro robot system generally has independent controllers for the macro and the micro robot respectively. A controller for the coordination of the macro and the micro robot has been designed based on the stable independent controller of each system. The method and trajectory generation method is also proposed to track the moving desired position rapidly. The control method and trajectory generation method is also proposed to track the moving desired position rapidly. The control strategy has been implemented to the macro/micron robot system to evaluate the performance. The experimental results show that the proposed method for maintaining the micro robot within its workspace has uniform performance over the various range of the bandwidth and the proposed trajectory generator is shown to be efficient.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• 한국전자통신학회논문지
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• 제7권4호
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• pp.881-895
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• 2012

마이크로 로봇은 인간의 다양한 질병과 진단에 있어 유용한 도구로서 활용이 가능한데, 이러한 이유로 현재 세계의 많은 국가들은 마이크로 로봇의 제작과 개발에 관심을 기울이고 있다. 한국정부 역시 이러한 세계적 추세 속에서, 마이크로 로봇 개발에 대한 기술정책을 만들고 많은 노력을 하고 있다. 따라서 본고는 SWOT분석을 통해, 한국의 마이크로 로봇 기술동향과 개발현황을 분석하여 미래 한국의 마이크로 로봇에 대한 가장 합당한 발전방안을 모색한다. 연구결과, '박테리아 기반기술의 마이크로 로봇(C형-2)'과 '무배터리 자체추진기 자율이동 마이크로 로봇(C형-3)'과 같은, 한국에서 관련 최신 특허로 등록받은 마이크로 로봇에 대한 보다 집중적인 지원이 필요하며, 이 양 분야 모두 현재 세계적인 수준으로 성장하고 있으므로 지원 중인 마이크로 로봇 개발에 관한 예산을 더욱 늘리는 한편 보다 적극적으로 관련 기술개발을 추진해야 한다.

• 대한기계학회논문집A
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• 제32권8호
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• pp.633-641
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• 2008

Recently, the necessity for diagnosis and management of pipes has emerged as the issue due to contamination of water supply generated by corrosion of pipes. Although inspection has been performed with industrial endoscopes, the method has limits for full diagnosis of pipes due to the lack of working range. As a solution for this problem, many locomotive mechanisms for a micro robot with endoscope functions were proposed. In this paper, we analyze the locomotive mechanism of crawling robot proposed as locomotive device for pipe inspection. Based on a mechanical modeling of motor and micro robot inside small pipe, the theoretical formula for velocity is obtained. This derived theoretical formula is demonstrated the feasibility through the comparison with experimental result. Also, we could find the most important element influencing the moving velocity of micro robot when the robot operates in small pipe. Consequently, it is expected that this study can supply useful information to design of crawling robot to move in small pipe.

• 로봇학회논문지
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• 제4권3호
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• pp.225-232
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• 2009

In the high precision robot systems, the most popular tasks may be handling of micro-scale objects on a surface such as a micromanipulation robot system. In handling of micro-scale objects, the stiction effect becomes a fundamental issue since the micro-contact mechanics dominates the micromanipulation robot system. In the paper, a theoretical non-stick condition derived from the micro-contact mechanics is carried out for the propose of micro-scale object manipulation. To verify the non-stick condition, a micro-manipulation robot system equipped with a high precision stage system and a microscope system is developed. Experimental results show that the proposed non-stick condition guarantees successful micro-scale object manipulation.

• 한국CDE학회논문집
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• 제20권3호
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• pp.291-297
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• 2015

A water jet cleaning robot system for micro drill bits is to refurbish micro drill bits used for the PCB manufacturing process. It can refurbish drill bits with the minimum diameter of ${\phi}0.15{\sim}0.075mm$ of which the total quantity have been discarded before. Micro drill bits with the minimum diameter of ${\phi}0.075mm$ can be cleaned by applying the water jet cleaning robot system out of the manual ultrasonic cleaning in the past for the cleaning equipment as the initial process in refurbishing. This study analyzed problems, while applying the apparatus mechanism for the workability such as the robot traces of Transfer Robot I and II, drill bit loading and unloading, and cleaning tasks in the water jet cleaning robot system in an effort to carry out simulations. In addition, the cleaning work process was optimized as the work process was verified in advance and the production quantity was analyzed through simulations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.434-438
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• 1996

In this paper we present the multi-agent robot system and the vision system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Micro robot are equipped with two mini DC motors witf encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit(AISI vision computer). The vision algorithm is based on morphological method. And it takes about 90 msec to detect ball and 3-our robots and 3-opponent robots with reasonable accuracy

• 한국지능시스템학회논문지
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• 제24권4호
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• pp.437-442
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• 2014

최근에는 크기 및 비용의 관점에서 많은 장점을 갖는 초소형 해양로봇(Micro Marine Robot : MMR)의 개발 및 적용에 대한 요구가 증가하고 있다. 하지만 국내에서는 그 기반이 매우 부족한 상황이다. 다행히도 초소형 수상로봇(Micro Surface Robot : MSR)의 장애물회피와 관련해서는 크기와 성능의 관점에서 최적화되어 4방향 탐지가 가능한 장애물회피소나(Obstacle Avoidance Sonar : OAS)가 개발되었으나, 제한된 빔폭(beam width) 및 탐지거리를 갖는 고정 소나빔의 사용으로 인하여 장애물의 형상에 따라 탐지성능이 저하되는 문제점이 존재했다. 이러한 문제를 해결하기 위하여, 본 논문에서는 평기어(spur gear) 및 서보모터를 활용하여 회전 소나빔을 구현한 MSR의 메커니즘을 제안하였다. 제안된 메커니즘의 검증을 위해 다각 평면 장애물에 대한 MSR의 벽면 추적(wall-tracking) 문제를 고려하였고, 탐지성능 및 구동명령 측면에서 기존의 고정 소나빔 적용 시와 비교 및 분석을 수행하였다. 실험결과는 제안된 메커니즘의 타당성을 보여준다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.231-232
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• 2012