• 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.

• Journal of Microbiology and Biotechnology
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• v.17 no.11
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.2
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• pp.104-109
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• 2016

In this paper, a localization method for multiple robots based on Bayesian inference is proposed when multiple robots adopting multi-RAT (Radio Access Technology) communications exist in cognitive radio networks. Multiple robots are separately defined by primary and secondary users as in conventional mobile communications system. In addition, the heterogeneous spectrum environment is considered in this paper. To improve the performance of localization for multiple robots, a realistic multiple primary user distribution is explained by using the probabilistic graphical model, and then we introduce the Gibbs sampler strategy based on Bayesian inference. In addition, the secondary user selection minimizing the value of GDOP (Geometric Dilution of Precision) is also proposed in order to overcome the limitations of localization accuracy with Gibbs sampling. Via the simulation results, we can show that the proposed localization method based on GDOP enhances the accuracy of localization for multiple robots. Furthermore, it can also be verified from the simulation results that localization performance is significantly improved with increasing number of observation samples when the GDOP is considered.

• Journal of Welding and Joining
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• v.34 no.5
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• pp.54-60
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• 2016

In order to quantitatively evaluate the solidification cracking susceptibility in laser welds of three types of austenitic stainless steels (type 310: A mode, type 316-A: AF mode, type 316-B: FA mode solidifications), the laser beam welding (LBW) transverse-Varestraint tests consisted of multi-mode fiber laser, welding robot and hydraulic pressure system were performed. As the welding speed increased from 1.67 to 40.0 mm/s, the solidification brittle temperature range (BTR) of laser welds for type 316 stainless steels enlarged (316-A: from 37 to 46 K, 316-B: from 14 to 40 K), while the BTR for type 310 stainless steel reduced from 146 to 120 K. In other words, it founds that solidification cracking susceptibility could not be simply mitigated through application of LBW process, and the BTR variation behavior is quite different upon solidification mode of austenitic stainless steels.

• 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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• 2016.04a
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• pp.22-24
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• 2016

대형 구조물을 관리하는 위험에 대처하기 위해 다양한 벽면 이동 로봇이 개발되고 있지만, 장애물이 있는 벽면에서 제한적인 문제가 있다. 본 논문에서는 이러한 문제를 해결하기 위한 벽면 이동로봇을 제안한다. 제안하는 로봇은 진공 모터를 부착한 6관절 다리를 네 개 사용하여, 부착을 위한 별도 장치없이 벽면에 안정적으로 흡착되어 벽면을 이동할 수 있다. 또한 카메라와 적외선센서를 이용하여 장애물을 인식하면 피하거나 건너갈 수 있다. 로봇은 각 다리를 제어하기 위한 4개의 MCU와 각 다리의 MCU를 제어하는 중앙 MCU로 구성된다. 중앙 MCU는 다리를 제어하는 MCU를 통합 관리하여 로봇 전체를 제어한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.902-903
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• 2023

장애물이나 경사지가 많은 협소 지역에서 탐사 활동을 수행하는 로봇은 험지에서도 이동할 수 있는 자율주행 방법을 필수적으로 제공해야 한다. 본 논문은 협소 지역에서 탐사와 객체 탐지를 위해 주행 상황에 따라 바퀴 주행과 관절 주행을 동적으로 변경하면서 이동하는 다관절 로봇 시스템을 제안한다. 다관절 로봇은 마찰력과 수직항력, 토크 값 등을 고려해 설계한 운동 모델을 기반으로 바퀴와 관절 이동을 변경하면서 자율적으로 주행한다. 관리자는 관제 서버를 통해 로봇이 수집한 탐사 정보를 실시간으로 확인하고 필요시 로봇의 원격제어를 수행할 수 있다. 본 연구를 통해 사람이 접근하기 어려운 협소 지역 탐사나 재난지역 인명구조 활동에 활용할 수 있기를 기대한다.

• Journal of the Korean Society for Railway
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• v.11 no.4
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• pp.364-370
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• 2008

In this paper, we proposed new sensor network architecture with autonomous robots based on beacon mode and implemented real time monitoring system in real test-bed environment. The proposed scheme offers beacon based real-time scheduling for reliable association process with parent nodes and dynamically assigns network address by using NAA (Next Address Assignment) mechanism. For the large scale multi-sensor processing, our real-time monitoring system accomplished the intelligent database processing, which can generate not only the alert messages to the civilians but also process various sensing data such as fire, air, temperature and etc. Moreover, we also developed mobile robot which can support network mobility. Though the performance evaluation by using real test-bed system, we illustrate that our proposed system demonstrates promising performance for emergence monitoring systems.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.1
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• pp.179-189
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• 2000

Recently, due to the increasing interests in deep sea development, all possible efforts to the development of underwater unmanned working vehicles such as AUV(Autonomous Underwater Vehicle) or underwater robot are exerted. This paper proposes a new efficient acoustic-based underwater image data communication system, which ensures a certain level of maximum throughput regardless of the propagation delay of ultrasonic and allowsfast data transmission through the multiple ultrasonic communication channel. Proposed system consists of an acoustic transducer which operates at 136kHz center frequency and it's 10kHz bandwidth, pre-amplifier, $\pi/4 QPSK$(Quadrature Phase Shift Keying) modulation/demodu-lation method, image compressing method using JPEG technique and modified Stop & Wait protocol. The experimental result of the system make it possible to transfer the underwater image as a high throughput at the basin test. The results of test are also verified which allows to desirable transmission performance compared with the existing developed system and the possibility to put the practical use of survey and investigation in the water.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.854-856
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• 2014

Has been released of make it possible to control the using for smart devices of a wide variety home appliances and electronics in smart appliances in accordance with the one person multi devices. In addition, is increasing rapidly for the number of the product on cleaning robot and refrigerator, air conditioning, TV, etc. these devices are using the implement up DLNA system. And at home and abroad for development and has provided with Iot and Alljoyn such systems. But currently using home appliances or electronic devices of there are a lot of the operating system non installed than the installed products. In addition, smart appliances do not use for user than buying existing electronic products a lot more. In addition, more occur for smart appliances of that do not use for the user on smart appliances rather than buying existing electronics. In this paper, Suggested and implemented for system of control such as smart devices to existed home appliance on not have an operating system, Using mobile device for want users to quantify the data to transfer from arduino board.