• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.3
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• pp.29-35
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• 2022

When a vehicle is driven off a road surface, the deformations of the road surface and tire are combined. Consequently, the dynamic behavior of wheel movement becomes difficult to predict and control. Herein, we propose a tire test bed to capture the dynamic behavior of tires moving on sand and soil. Based on this study, it is discovered that the slip rate can be controlled, and the vertical force can be measured using a load cell. The test results show that this test bed can be useful for capturing the dynamic behavior of the tire and validating dynamic simulations. In fact, the tire test bed developed in this study can be used to verify the results of computer simulations. In addition, it can be used for basic experiments pertaining to the speed control of unmanned autonomous vehicles.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.1
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• pp.77-84
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• 2023

In autonomous robots, obstacle avoidance is a key feature. Potential Field is the most widely used method in this field. Such method requires real-time calculation of the nearest point of the obstacle from the robot, which involves difficulty of reliably segmenting the obstacle region from the distance sensor data profile. In this paper, Active Min-Depth Filter is introduced to obtain the nearest point of each obstacle using real-time calculation but without segmentation. Through simulations on various sensor noise environments, the robustness of the Active Min-Depth Filter could be confirmed, and successful results were obtained by applying real-world moving robots.

• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.1
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• pp.1-8
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• 2024

Robotic arms have been widely utilized in various labor-intensive industries such as manufacturing, agriculture, and food services, contributing to increasing productivity. In the development of industrial robotic arms, camera sensors have many advantages due to their cost-effectiveness and small sizes. However, estimating object positions is a challenging problem, and it critically affects to the robustness of object manipulation functions. This paper proposes a method for estimating the 3D positions of objects, and it is applied to a pick-and-place task. A deep learning model is utilized to detect 2D bounding boxes in the image plane, and the pinhole camera model is employed to compute the object positions. To improve the robustness of measuring the 3D positions of objects, we analyze the effect of lens distortion and introduce a false positive filtering process. Experiments were conducted on a real-world scenario for moving medicine bottles by using a camera-based manipulator. Experimental results demonstrated that the distortion removal and false positive filtering are effective to improve the position estimation precision and the manipulation success rate.

• International Journal of Internet, Broadcasting and Communication
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• v.16 no.3
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• pp.146-157
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• 2024

Despite numerous air mattresses marketed to prevent Pressure Ulcers (PU), none have fully succeeded due to residual pressure surpassing critical levels. We introduces an innovative medical bed system aiming at complete PU prevention. This system employs a unique 4-bar link mechanism, moving keys up and down to manage body pressure. Each of the 17 keys integrates a sensor controller, reading pressure from 10 sensors. By regulating motor input, we maintain body pressure below critical levels. Keys are equipped with a servo drive and sensor controller, linked to the main controller via two CAN series. Using fuzzy or PI/IP controllers, we adjust keys to minimize total error, dispersing body pressure and ensuring comfort. In case of controller failure, keys alternate swiftly, preventing ulcer development. Through experimental tests under varied conditions, the fuzzy controller with tailored membership functions demonstrated swift performance. PI control showed rapid convergence, while IP control exhibited slower convergence and oscillations near zero error. Our specialized medical robot bed, incorporating 4-bar links and pressure sensors, underwent testing with three controllers-fuzzy, PI, and IP-showcasing their effectiveness in keeping body pressure below critical ulcer levels. Experimental results validate the proposed approach's efficacy, indicating potential for complete PU prevention.

• Radiation Oncology Journal
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• v.25 no.4
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• pp.268-277
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• 2007

Purpose: Respiratory motion is a considerable inhibiting factor for precise treatment with stereotactic radiosurgery using the CyberKnife (CK). In this study, we developed a moving phantom to simulate three-dimensional breathing movement and investigated the distortion of dose profiles between the use of a moving phantom and a static phantom. Materials and Methods: The phantom consisted of four pieces of polyethylene; two sheets of Gafchromic film were inserted for dosimetry. Treatment was planned to deliver 30 Gy to virtual tumors of 20, 30, 40, and 50 mm diameters using 104 beams and a single center mode. A specially designed robot produced three-dimensional motion in the right-left, anterior-posterior, and craniocaudal directions of 5, 10 and 20 mm, respectively. Using the optical density of the films as a function of dose, the dose profiles of both static and moving phantoms were measured. Results: The prescribed isodose to cover the virtual tumors on the static phantom were 80% for 20 mm, 84% for 30 mm, 83% for 40 mm and 80% for 50 mm tumors. However, to compensate for the respiratory motion, the minimum isodose levels to cover the moving target were 70% for the $30{\sim}50$ mm diameter tumors and 60% for a 20 mm tumor. For the 20 mm tumor, the gaps between the isodose curves for the static and moving phantoms were 3.2, 3.3, 3.5 and 1.1 mm for the cranial, caudal, right, and left direction, respectively. In the case of the 30 mm tumor, the gaps were 3.9, 4.2, 2.8, 0 mm, respectively. In the case of the 40 mm tumor, the gaps were 4.0, 4.8, 1.1, and 0 mm, respectively. In the case of the 50 mm diameter tumor, the gaps were 3.9, 3.9, 0 and 0 mm, respectively. Conclusion: For a tumor of a 20 mm diameter, the 80% isodose curve can be planned to cover the tumor; a 60% isodose curve will have to be chosen due to the tumor motion. The gap between these 80% and 60% curves is 5 mm. In tumors with diameters of 30, 40 and 50 mm, the whole tumor will be covered if an isodose curve of about 70% is selected, equivalent of placing a respiratory margin of below 5 mm. It was confirmed that during CK treatment for a moving tumor, the range of distortion produced by motion was less than the range of motion itself.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.3
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• pp.232-241
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• 2017

This paper presents an automated cow-feeding system based on an AGV and screw conveyor for domestic livestock farms, which are becoming larger and more commercialized. The system includes a hopper module for loading pellet-type mixed feed at the top of the system, a transfer module mounted with a screw conveyor to transfer feed from the hopper module to the outlet module, an outlet module composed of belt conveyors, and an electromagnetic guided driving-type AGV. The weight of the loaded feed is measured by a load cell located under the transfer module. The system reads the feed discharge information stored in RFID tags installed in each cowshed cell, and a predetermined amount of feed is discharged while the AGV is moving. A cow-feed test system was constructed to determine the design parameters of the screw conveyor in the transfer module that determine the feeding capacity. These parameters include the screw's outer diameter, the screw shaft outer diameter, and screw pitch. The parameters were applied to the finalized cow-feed system construction. A DSP-based main controller and cow-feeding algorithm for different scenarios were also developed to control the system. Experimental results confirmed that the system could supply a total of 21 kg of feed uniformly at 420 g/s for a cowshed cell which has 7 cows. The driving distance was 5 m and the speed was 0.1 m/s. Thus, the proposed system could be applied to standardized domestic livestock farms.

• The Journal of Korean Society for Radiation Therapy
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• v.23 no.1
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• pp.13-19
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• 2011

Purpose: It's essential to minimize the tumor motion and identify the exact location of the lesions to achieve the improvement in radiation therapy efficiency during SBRT. In this study, we made the established compression belt to reduce respiratory motion and evaluated the usefulness of clinical application in SBRT. Materials and Methods: We analyzed the merits and demerits of the established compression belt to reduce the respiratory motion and improved the reproducibility and precision in use. To evaluate the usefulness of improved compression belt for respiratory motion reduction in SBRT, firstly, we reviewed the spiral CT images acquired in inspiration and expiration states of 8 lung cancer cases, respectively, and analyzed the three dimensional tumor motion related to respiration. To evaluate isodose distribution, secondly, we also made the special phantom using EBT2 film (Gafchronic, ISP, USA) and we prepared the robot (Cartesian Robot-2 Axis, FARARCM4H, Samsung Mechatronics, Korea) to reproduce three dimensional tumor motion. And analysis was made for isodose curves and two dimensional isodose profiles with reproducibility of respiratory motion on the basis of CT images. Results: A respiratory motion reduction compression belt (Velcro type) that has convenient use and good reproducibility was developed. The moving differences of three dimensional tumor motion of lung cancer cases analyzed by CT images were mean 3.2 mm, 4.3 mm and 13 mm each in LR, AP and CC directions. The result of characteristic change in dose distribution using the phantom and rectangular coordinates robot showed that the distortion of isodose has great differences, mean length was 4.2 mm; the differences were 8.0% and 16.8% each for cranio-caudal and 8.1% and 10.9% each for left-right directions in underdose below the prescribed dose. Conclusion: In this study, we could develop the convenient and efficient compression belt that can make the organs' motion minimize. With this compression belt, we confirmed that underdose due to respiration can be coped with when CTV-PTV margins of mean 6 mm would be used. And we conclude that the respiratory motion reduction compression belt we developed can be used for clinical effective aids along with the gating system.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.39 no.3
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• pp.65-70
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• 2002

This paper discusses the work-in-progress of a system to control a moving robot over the WWW(World Wide Web). That is, we describes the experimental results and control methods of system over the world wide web. The remote control of the system is controlled by accessing a simple form of interface that is connected to the server. For this application, a remote operator should have a general-purpose computer with Internet connection and a WWW browser to remotely operate the line-tracer through the Internet. As a remote operator summits an input by operating html files in the server, the program written in java is operated the equipment is being connected to the serial port. By being transmitted to the line-tracer through the infra-red sensor, the remote controlled signal is operated in distance. As a tool in order to identify the system's operation of the over the web is used the line-tracer. 

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.4
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• pp.345-350
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• 2002

In recent years, as changing the habit of eating, the pathology in the colon grows up annually. The colonoscopy is generalized, but if requires much time to acquire a dexterous skill to perform an operation and the procedure is painful to the patient. biomedical and robotic researchers are developing a locomotive colonoscope that can travel safe1y in colon. In this paper, we propose a new actuator and concept of semi-autonomous colonoscope. The micro robot comprises camera and LED for diagnosis, steer- ing system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to pass over haustral folds in colon. For locomotion of semi-autonomous colonoscope, we suggest an actuator that is based on impact force between a cylinder and a piston. In order to validate the concept and the performance of the actuator, we carried out the simulation of moving characteristics and the preliminary experiments in rigid pipes and on the colon of pig.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.8
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• pp.1483-1490
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• 2009

This parer is presented multiple path-planning of unmanned autonomous forklift using modified genetic algorithm and fuzzy inference system. There are a task-level feedback method and a method that path is dynamically replaned in realtime while the autonomous vehicles are moving by means of an optimal algorithm for existing multiple path-planning. However, such methods cause malfunctions and inefficiency in the sense of time and energy, and path-planning should be dynamically replanned in realtime. To solve these problems, we propose multiple path-planning using modified genetic algorithm and fuzzy inference system and show the performance with autonomous vehicles. For experiment, we designed and built two autonomous mobile vehicles that equipped with the same driving control part used in actual autonomous forklift, and test the proposed multiple path-planning algorithm. Experimental result that actual autonomous mobile vehicle, we verified that fast optimized path-planning and efficient collision avoidance are possible.