• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.300-302
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• 2006

Middleware offers function that user application program can transmit data independently of network device. Connection management about network connection of module is important for normal service of module base personal robot. Unpredictable network disconnection is influenced to whole robot performance in module base personal robot. For this, Middleware must be offer two important function. The first is function of error detection and reporting about abnormal network disconnection. Therefore, middleware need method for network error detection and module management to consider special quality that each network device has. The second is the function recovering that makes the regular service possible. When the module closed from connection reconnects, as this service reports connection state of the corresponding module, the personal robot resumes the existing service. In this paper proposed method of network connection management for to support fault tolerant about network error of network module based personal robot.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.102-109
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• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.5
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• pp.467-472
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• 2008

In this paper, we design, implement and apply network physical layer to 100 BaseFx optical cable interface module based on industrial ethernet protocol which is physical layer of EtherCAT that has ensure its open standard ethernet compatibility which having been provided with real time of control in network of intelligent service robot, can be process numerous data to sensor and motor control system. Through BLDC motor control performance tests, we try to propose suitability as internal network of intelligent service robot and automation system.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.887-892
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• 2007

In this paper, we design, implement and apply network physical layer to 100 BaseFx optical cable interface module based on industrial ethernet protocol EtherCAT that has ensure its open standard ethernet compatibility which haying been provided with real time of control in network of intelligent service robot, can process numerous data to sensor and motor control system. Through various tests, we try to propose suitability as internal network of intelligent service robot.

• Journal of the Korean Society of Safety
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• v.8 no.4
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• pp.61-64
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• 1993

Until now, Industrial robotic sa(ety problems are not considered as a indust rial safety problems. In order to reduce industrial robotic safety problem, analyzing problem, risk control, and developing industrial robotic standard s are necessary. In this study, SAFEMIR(Safety Management for Industrial Robotic) is developed for preventing mul-function in industrial robotics. This system is consisted of Da ta Base Management System Module and Expert System Module which Is a part of Articial In telligence. Borland C++ and Foxpro 2.0 are used for implementing this system.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.567-569
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• 2006

This study proposes the method to make a map of moving environment area and passed area by sensor using for recognizing environment or avoiding obstacle. We win develop an efficient algorithm to use sensors and get the data by the user friendly system. Through this system, we win study the way to know of the driving environment of moving robot on the long distance point. To this, we use only one ultra-sonic sensor with a servo motor which rotates 180 degree and loads an ultra-sonic sensor. A sensor can measure 1m${\sim}$8m range and a servo motor can distinguish 15 degree by 12 divide of 180 degree. By this feature of operating system, the robot which has these sensor module detects around of area and moves another point. In this way, users gather the data of detecting distance and change the data to X-Y coordinates. And users derive a map from these accumulate data.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.2
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• pp.568-579
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• 1995

An off-line programming (OLP) system was proposed and developed in order to save cost and time in adjusting a robot to new workcells or applying new algorithms to actual trajectory planning. The developed OLP system was especially designed to be operated in a PC level host computer. A SCARA robot with four axes was selected as an objective robot. The OLP system developed in this study consisted of such modules as data base, three-dimensional graphics, kinematics, trajectory planning, dynamics, control, and commands. Each module was constructed to form an independent unit so that it can be easily modified or improved. The OLP system was programmed for a graphic user interface in Borland $C^{++}$ language. Some of system operating commands and an interpreter were devised and used for more convenient programming of robot simulations.s.

• Journal of Biosystems Engineering
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• v.33 no.3
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• pp.186-195
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• 2008

In this paper, a prototype tele-operative system with a mobile base was developed in order to automate cultivation of house melon. A man-machine interactive hybrid decision-making system via tele-operative task interface was proposed to overcome limitations of computer image recognition. Identifying house melon including position data from the field image was critical to automate cultivation. And it was not simple especially when melon is covered partly by leaves and stems. The developed system was composed of 5 major modules: (a) main remote monitoring and task control module, (b) wireless remote image acquisition and data transmission module, (c) three-wheel mobile base mounted with a 4 dof articulated type robot manipulator (d) exchangeable modular type end tools, and (e) melon storage module. The system was operated through the graphic user interface using touch screen monitor and wireless data communication among operator, computer, and machine. Once task was selected from the task control and monitoring module, the analog signal of the color image of the field was captured and transmitted to the host computer using R.F. module by wireless. A sequence of algorithms to identify location and size of a melon was performed based on the local image processing. Laboratory experiment showed the developed prototype system showed the practical feasibility of automating various cultivating tasks of house melon.

• Progress in Medical Physics
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• v.23 no.4
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• pp.239-251
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• 2012

In this paper, web-base image processing system has been implemented for remote-controlled medical robot applications. The developed software system was hierarchically composed of diverse image processing and remote operation modules, and the hierarchical composition was satisfied the expandability to higher level application and the accessibility over the web. It can also support diverse file formats including DICOM, VRML, and CAD(STL) to display, transmit, store and share the processed images depending on application environment. Message-based data exchange, object-oriented module and open-source based software configuration will enable the dynamic combination associated with diverse remote medical application requirements.

• Proceedings of the KAIS Fall Conference
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• 2010.05b
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• pp.610-613
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• 2010

본 과제를 통하여 기술적으로는 로봇 개발에 있어 기존 기술을 최대한 활용하고 새로운 기능을 추가하는 형태로 발전해 갈 수 있도록, 각 요소별 기능을 표준화 모듈화 하여 새로운 제품의 개발이 손쉽게 이루어 질 수 있는 기본 platform으로의 역할이 가능해졌다. 구동부 제작 및 설계, 금형 비용 등을 절감하기 위한 다목적 완구로봇 플랫폼을 확보할 수 있었다. 로봇이 복잡한 환경을 인식하고, 자율적으로 작업을 수행하며, 예측하지 못한 문제에 적절한 대처를 할 수 있도록 하기 위한 핵심 기술을 제공하게 될 것으로 생각된다. 로봇 개발에 있어 전문지식이 없는 초보자들이 직접 제작 구동해 볼 수 있는 비주얼한 개발환경을 지원할 뿐만 아니라 GUI 개발환경 및 TEXT Programming 으로 상호 전환이 가능한 코딩 방법을 지원(MSRS와의 차별화를 시도하였다. 기존 하드웨어 지식과 소프트웨어지식이 없는 상태에서도 제작자의 창의력에 따라 다양한 형태의 로봇을 제작 적용이 용의 하며 초보자들에 대한 로봇개발에 흥미를 유발할 수 있도록 하였다. 고급사용자를 위한 별도의 다운로딩 포트를 제공하였다. 로봇공학의 기본지식을 습득(아날로그/디지털 회로를 이해하고, 각종 센서의 이해하며, 스템/서보/DC모터의 제어기술, 펌웨어개발능력, 기본수준의 소프트웨어개발 능력) 활용할 수 있다. 또한, 경제 및 산업적 측면으로는 다음과 같은 장점이 있다. 기존 기술들의 장점을 취합하여 추가적인 기술을 적용할 수 있는 Base형태의 로봇을 개발할 경우 이를 활용한 제품 개발 및 Base자체로도 충분한 시장을 형성 할 수 있을 것으로 기대된다. 인터넷기반 로봇 제어 기술의 확보로 로봇시스템의 생산비용을 낮추고 TTM (Time-to-Market) 제약을 해결시켜 준다. 다른 응용 시스템에 쉽게 적용이 가능하고 지식기반 로봇 서비스의 요소기술 개발은 멀티미디어 콘텐츠분야(교육/게임/오락 등)의 활성화가 가능하기 때문에 타 IT산업에의 파급효과가 예상된다. B2B를 통한 실질적인 판매를 통한 동종기업의 연구 개발비 및 개발 기간의 단축이 예상된다.