• Journal of the Korean Institute of Intelligent Systems
• /
• v.25 no.4
• /
• pp.342-348
• /
• 2015

Recently, many waste is getting into the ocean because of natural disasters and trash of illegality. These destroy the marine ecosystem and the great views around the ocean. Many methods are used for the removal of the waste in the ocean and one of the main waste forms is floating debris. In order to remove the waste, the nets are mostly used and the ships are recently used. However, many problems are occurred due to low number of people and techniques in the ship-based removal. To solve this problem, a surface robot for floating debris removal is developed. To verify the performance of the developed robot, tests of surge, yaw, and floating debris removal are executed. The test results show the possibility of real applications and the need for additional studies.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.11 no.6
• /
• pp.156-163
• /
• 2008

Future Combat System(FCS), such as unmanned systems that reduce the danger faced by soldiers in the field, are likely to be studied and developed. Soldiers when finding and disposing of mines risk injury and death. Several methods of safe mine retrieval are investigated. In this paper, a mine removal method, which uses a remote controlled robot to get rid of mines using a 4 channel architecture teleoperation method is used. The robot, when in contact with soil and mines, is controlled by a remote control. The feasibility of using teleoperation controlled system to remove mines is demonstrated in this paper. The Matlab-Simulink was used as a tool to simulate mine removal with robots. The force and position of the robot{slave system of 4 channel architecture) and controller(master system of 4 channel architecture) are analyzed when users handle the controller with sinusoidal force.

• International Journal of Fluid Machinery and Systems
• /
• v.7 no.3
• /
• pp.125-129
• /
• 2014

The paint removal and recoating are the very important process in airplane maintenance. The traditional technology is to use the chemical way corroding the paint with paint remover. For changing the defects, corrosion & pollution & manual working, of the traditional technology, the physical process which removes the paint of airplane with 250MPa/250kW ultra-high pressure rotary water jetting though the surface cleaner installed on the six axes robot is studied. The paint layer of airplane is very thin and close. The contradiction of water jetting paint removal is to remove the paint layer wholly and not damage the surface of airplane. In order to solve the contradiction, the best working condition must be reached through tests. The paint removal efficiency with ultra-high pressure and move speed of not damaged to the surface. The move speed of this test is about 2m/min, and the paint removal efficiency is about $30{\sim}40m^2/h$, and the paint removal active area is 85-90%. No-repeat and no-omit are the base requests of the robot program. The physical paint removal technology will be applied in airplane maintenance, and will face the safety detection of application permission.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1519-1522
• /
• 1996

In this paper, we have developed a tele-robotic system for nozzle dam installation/removal works and tube relating maintenance works inside unclear power plant steam generator. Developed tele-robotic system consists of many hardwares including robot and a control system. Based on the 3 dimensional graphic simulation, a 6 D.O.F. hydraulic actuated robot and a 2 D.O.F. robot install/removal device have been developed. And also we deviced special tools for nozzle dam carry and bolting. For the tele-robot and other devices to be controlled at the nonradioactive area outside reactor containment building, we developed a tele-robot control system consisting of supervisory controller and remote controller.

• Journal of the Semiconductor & Display Technology
• /
• v.17 no.1
• /
• pp.54-61
• /
• 2018

In this study, two aspects were analyzed about the robot for removal of explosive devices. First, the cost analyses were performed to provide a reasonable solution for the acquirement of the system. It is processed by an engineering estimate method and the process was consisted of two ways : a system development expense and a mass production unit price. In additions, the resultant cost analyses were compared between the cases excluding and including a mines detection system. As results, in the case of the acquirement of the robot system for removal of explosive devices, it is recommended that the performance by improving the mines detection ability should be considered preferentially rather than the cost because the material cost for the mines detection system is negligible compared to the whole system cost. Second, as a way for improving the system performance by the mine detection function, the carbon nanotube (CNT) based sensor technology was studied in terms of sensitivity and simple productivity with presenting its preliminary experimental results. The detection electrodes were formed by a photolithography method using a photosensitive CNT paste. As results, this method was shown as a scalable and expandable technology for the excellent mines detection sensors.

• Special Issue of the Society of Naval Architects of Korea
• /
• 2008.09a
• /
• pp.136-143
• /
• 2008

This paper presents the application of a robot which aims at grinding automatically welding-bead remained in the removal job of working pieces for shipbuilding. In specific, the investigation on this application is composed of two parts; one topic is on the development of a robot platform vertically movable on a steel plate of hull, while the other topic is of the development of a grinding tool mechanism in order to remove welding-beads by using a diamond wheel installed on a servo cylinder (which can result in high working pressure on the grinding wheel). Besides, the development of a vision system for tracking welding-beads as well as recognizing welding surfaces is added for the convenience of this robot application to the removal of welding-beads remained in the working pieces for shipbuilding.

• Journal of Chest Surgery
• /
• v.48 no.2
• /
• pp.99-104
• /
• 2015

Background: We report our initial experiences of robot-assisted cardiac surgery using the da Vinci Surgical System. Methods: Between February 2010 and March 2014, 50 consecutive patients underwent minimally invasive robot-assisted cardiac surgery. Results: Robot-assisted cardiac surgery was employed in two cases of minimally invasive direct coronary artery bypass, 17 cases of mitral valve repair, 10 cases of cardiac myxoma removal, 20 cases of atrial septal defect repair, and one isolated CryoMaze procedure. Average cardiopulmonary bypass time and average aorta cross-clamping time were $194.8{\pm}48.6$ minutes and $126.1{\pm}22.6$ minutes in mitral valve repair operations and $132.0{\pm}32.0$ minutes and $76.1{\pm}23.1$ minutes in myxoma removal operations, respectively. During atrial septal defect closure operations, the average cardiopulmonary bypass time was $128.3{\pm}43.1$ minutes. The median length of stay was between five and seven days. The only complication was that one patient needed reoperation to address bleeding. There were no hospital mortalities. Conclusion: Robot-assisted cardiac surgery is safe and effective for mitral valve repair, atrial septal defect closure, and cardiac myxoma removal surgery. Reducing operative time depends heavily on the experience of the entire robotic surgical team.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.10
• /
• pp.1063-1066
• /
• 2014

The humanoid robot, DRC-HUBO is developed from the KHR (KAIST Humanoid Robot) series to meet the requirements of the DARPA Robotics Challenge. DARPA Robotics Challenge was a competition to develop semi-autonomous humanoid robot so that dispatched in dangerous environments in place of humans like the Fukushima nuclear accident. In this paper, we introduce DRCH-UBO briefly and a methodology to remove debris blocking an entryway. The methodology includes inverse kinematics for DRC-HUBO and stabilization controller based on ZMP. Proposed inverse kinematics is robust, and pelvis-related tasks improve the manipulability and workspace of the arms. The controller improves the damping characteristic of the system and mitigates the instability during removal of debris. For given position and orientation of the debris, DRC-HUBO generates motion to reach the debris and lift up while stabilizing itself. Many experimental results verify our proposed methodology.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.815-820
• /
• 1993

Robotic technology has been grown up conspicuously by its versatility. KAERI has been involved in one of facets of robot industry to keep abreast of rapid evolving technologies In robotic field and has launched long-term R&D plan to assure the stable nuclear energy. In this paper, the latest development status of teleoperated robot system has been presented with emphasis the configuration of overall control system with 3 dimensional graphic system that provides operators with tele-presence situation. This robot system under development, composed of master-slave arm with controller and graphic simulator, is operated by a master manipulator to enable an installation and removal operation of nozzle dam system for steam generator. Evaluation and analysis has been carried out to get optimal parameters of robot system.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1488-1491
• /
• 1996

Throughout CGL(Continuous Galvanizing Line) in steel works, zinc-coated steel sheets are produced which are used where long-running corrosion resistivity is required. During the galvanizing process, top dross is created and floated on the zinc pot. Because the dross leaves ill patterns on the coated sheets, it is removed manually with shovel-like tools in about twenty minutes. Because, however, the working environment is very noisy, hot and harmful to human workers, a robot system is developed and implemented on a real plant to automatically remove the top dross. It consists of a robot and its carriage system, a pot level sensor, a system controller, and special tools to collect, pick up, and put the top dross into a dross waste basket. A system software is developed to monitor the system status. A series of tests were performed to verify the robot motion and adaptation to working conditions, and proved successful work.