• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1028-1036
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.311-314
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• 2001

The objectives of this paper include the development of an agile prototype of SFFS, the $CAFL^{VM}$(Computer Aided fabrication of Lamination for Various Material), which is suitable for the multi-item and small-quantity production and various material fabrication. This paper includes remodeling of the layer slices for the 2D cutting, supplementing information of the layer slices and developing process conditions to fabricate products of various shape. And also includes developing control hardware as well as software by enhancing BOF of the manipulator to 3 degree for the precise 2D cutting. It will generate optimal layer trajectory considering the dynamic characteristics of the laser beam. The system can be used as a competitive agile protype system in terms of various materials, fabrication speed, and accuracy by CAD modeling precise layer slicing, material development, robot path control, and optimization of the support structure.

• Journal of the Semiconductor & Display Technology
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• v.8 no.4
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• pp.77-82
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• 2009

In robot operation, a motor with multi-degree of freedom motion control and an encoder for motor control are needed. To perform precise motion, location, and velocity control, the operation of motor and encoder with superior performance is important. In this paper, we studied performance evaluation system that can evaluate the performance of motor and encoder. The performance of motor and encoder can be evaluated in terms of disconnection check, signal variation count, and U, V, W signal check. Disconnection check verifies signal connection between a motor and an encoder, signal variation check verifies A, B signal by counting the number of signal A, B when a motor revolves, and U, V, W signal check verifies operating direction of a motor. The result is shown at graphic LCD integrated in system, and can be checked in PC with PC communication.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.6
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• pp.580-589
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• 2014

Demands for automation in the cell production process of IT products are becoming increasingly sophisticated. In particular, the dual-arm robot has drawn attention as a solution because it has a flexibility and works similarly to humans. In this paper, we propose an automation system for cellular phone packing processes using two dual-arm robots. Applied robots are designed with specifications to meet the requirements of cellular phone packing jobs. In addition, a robotic cell production system is proposed by applying a method of task allocation for efficient packing of cellular phones. Specifically, a task is assigned to reduce takt-time and to avoid collision between two robots. Finally, we discuss some experimental results that include the packing job of five unit boxes with seven kinds of accessories.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.10
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• pp.882-889
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• 2008

A humanoid is a robot with its overall appearance based on that of the human body. When the humanoid moves or walks, dynamic forces act on the body structure. Although the humanoid keeps the balance by using a precise control, the dynamic forces generate unexpected deformation or vibration and cause difficulties on the control. Generally, the structure of the humanoid is designed by the designer's experience and intuition. Then the structure can be excessively heavy or fragile. A humanoid design scenario for a systematic design is proposed to reduce the weight of the structure while sufficient strength is kept. Lower parts of the humanoid are selected to apply the proposed design scenario. Multi-body dynamics is employed to calculate the external dynamic forces on the parts and structural optimization is carried out to design the lower parts. Because structural optimization using dynamic forces directly is fairly difficult, linear dynamic response structural optimization using equivalent static loads is utilized. Topology and shape optimizations are adopted for two steps of initial and detailed designs, respectively. Various commercial software systems are used for analysis and optimization. Improved designs are obtained and the design results are discussed.

• Journal of Chest Surgery
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• v.41 no.2
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• pp.264-267
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• 2008

The da Vinci telemanipulator system (Intuitive Surgical, Sunnyvale, CA USA) is the most advanced robotic surgical system and has been increasingly used for cardiac surgical procedures. We report out first clinical experience of use of the da Vinci telemanipulator system for endoscopic harvesting of the bilateral thoracic artery andmulti-vessel small thoracotomy off pump CABG for 3-vessel disease. The da Vinci telemanipulator system has been previously utilized primarily for mitral valve surgery.

• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.163-170
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• 2013

Purpose: The purpose of this study is to provide analysis of physiological, biomechanical responses occurring from the operation to lifting or twist lifting task appears frequently in agricultural work. Methods: This study investigated the changes of physiological factors such as heart rate, heart rate variability (HRV) and biomechanical factors such as physical activity and kinetic analysis in the task of twisting at the waist while lifting. Results: Heart rates changed significantly with the workload. The result indicated that the workload of 2 kg was light intensity work, and the workload of 12 kg was hard intensity work. Physical activity increased as the workload increased both on wrist and waist. Besides, stress index of the worker increased with the workload. Dynamic load to herniated discs was analyzed using inertial sensor, and the angular acceleration and torque increased with the workload. The proposed measurement system can measure the recipient's physiological and physical signals in real-time and analyzed 3-dimensionally according to the variety of work load. Conclusions: The system we propose will be a new method to measure agricultural workers' multi-dimensional signals and analyze various farming tasks.

• Special Issue of the Society of Naval Architects of Korea
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• 2008.09a
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• pp.90-95
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• 2008

The letters and marks on the hull of vessels are marked by welding bead or steel plate to resist the corrosion environment. It has done by manual work. So, it cause deterioration of welding quality and process delay and so on. The automated welding device for draft mark has developed partially in the field of shipbuilding. But it can be used for draft mark only. And it has caused a few problems about that workablity and movablity are decreased owing to the size and weight of device. So we developed the automated welding device that can be used for most letters and marks on the hull. It designed to 3 axises mobile robot include to ratoation axis and stand alone type controller with multi GUI base on imbedded windows.

• Journal of Korean Society for Geospatial Information Science
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• v.16 no.3
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• pp.65-69
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• 2008

This study is aimed to develope a remote control ship for acquisition of various underwater information. Remote control ship equipped with GPS, echosounder, sidescan sonar, subbottom profiler. Remote control ship is an automatic system for acquisition of inland water and coast information. For the development of remote control ship, underwater information acquisition of reservoir, dam, polluted area is expected. Also, multibeam echosounder, image sensor, water analysis sensor, etc. could be equipped in one ship. So robot-ship will be applied for the most part of industry managing water resources and preventing the flood by making bed topographic map and estimating water volumes.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.11a
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• pp.1307-1310
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• 2017

이 논문에서는 다종 재배 환경을 고려한 이동형 스마트팜 모니터링 로봇을 제안한다. 기존 스마트 농장 연구는 각 구역마다 고정형 측정 장치를 이용하여 데이터를 수집한다. 또한 고정형 센서 기반 스마트 농장이므로 다종, 다수의 센서가 필요하다는 문제점이 있다. 이 논문에서 제안하는 것은 기존의 스마트 농장과는 달리 스마트팜 모니터링 로봇은 농장의 모든 구역을 이동을 하며 데이터를 측정, 수집한다. 그리고 수집한 데이터를 웹 페이지를 통해 시각화한다. 그 결과 제안한 시스템을 통해 자동으로 이동 및 측정을 하여 다종의 재배 환경에서도 안정적으로 정확한 측정이 가능하다는 장점이 있다.