• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.345-350
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• 2008

This study aims to propose the concept design of oil spill protection robot which can rapidly intervene to control the oil spillage situation at the sea. Taking into account the fact that a huge amount of oil is transported trans-continentally by oil tanker, none of industrialized countries are completely safe from the marine oil spill which results in social, economical and ecological damages to their communities. The employment of double hull-oil tanker, pipe line transporting can be most safe way. Yet complete prevention of oil spill is probably not realistic. Accordingly the alternative solution to control marine oil spill and minimize the damages caused by the incident using intelligent robot technology based on swarm control method is proposed. The main features of oil spill protection(OSP) robot is explained via following three perspectives. Firstly, from functional point of view, OSP robot system safely and efficiently replaces oil boom installation manually conducted by human workers with intelligent robot technology based on swarm control theory. For second, its modular architecture brings efficient storage of main components including oil boom and facilitates maintenance. For the last, its geometric form and shape enables whole system to be installed to helicopter, boat or oil tanker itself with ease and to rapidly deploy the units to the oil spill area.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1491-1495
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• 2004

For the evaluation of the mobile robot performance in complex environments, the experimental approach in an actual physical environment has been commonly taken. In the physical experimental approach, however, it is quite difficult to define the proper environment for the evaluation due to the lack of commonly agreed characteristics of the test environment. Particularly the number of combinations of types and physical parameters of the obstacles that the mobile robot is expected to deal with is practically unlimited. In an effort to simplify and improve the effectiveness of the evaluation process, we propose an evaluation method using decomposed environmental elements, where we evaluated the performance of the robot for a small group of simple and decomposed obstacle components, for examples projection and slope, instead of a large group of complicated random obstacles. The paper describes a set of simple obstacle models and performance parameters that we have chosen for the effective evaluation process. As an alternative to the physical experimental evaluation approach, in this paper, we used a virtual evaluation environment where the robot and the physical test environment has been modeled using a commercial multi-body dynamics analysis packaged called RecurDyn.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.427-433
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• 2015

Hot forging industry workers are prone to encounter several health risks due to lack of automation and poor working environment conditions. These workers particularly suffer from muscle fatigue owing to the constant handling of heavy products during the forging process. Thus we developed an assistant robot for workers who carry out hot forging tasks. The purpose of a robot is to compensate gravity-loads for heavy products. To verify the functionality of a robot, we performed a muscle fatigue analysis using Electromyography (EMG) signals. Four muscles of the upper extremity were chosen to measure muscle activity. And experiment conditions were setup to imitate the hot forging process. Post experimental analysis of the captured muscle activity revealed a reduction in the median frequency of the EMG signals, which means clear fatigue reduction due to a robot's assistance. The developed assist robot with compact and economical components can be efficiently utilized at forging work sites to create better working conditions for operators.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.1
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• pp.97-105
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• 2015

Recently, there have been many researches about applications of origami to mechanical engineering, which realizes a 30 sturcture by folding a 20 plane material. With this simple manufacturing process, origami was even adopted by some roboticists as a way to build an entirely new robot with benefits in terms of cost, weight, and structural simplicity In this paper, we propose a new type of a walking robot based on origami structure. Because all the components of the robot that generate gait motion are mechanically connected, it can actually walk fotward with only a single actuator. We also showed the similarity of gait trajectories between a kinematic analysis and the actual gait motion measured by video tracking. This result proved the possibility of designing an origami-based robot with the identical gait trajectory as we plan.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.813-816
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• 1991

Direct-drive SCARA-type industrial robots are increasingly used in the assembly process of small mechanical parts as well as electronic components, which uses direct-drive (DD) motors instead of reduction gear-type conventional motors for the actuators of manipulator arms. There are many advantages in using DD motors for robots, such as no backlash, low friction, high mechanical stiffness capability for fast and precise arm control, and high repeatability of positioning. However, there exist a number of difficulties which must be overcome to ensure proper construction and operation; increasing effects of load veriation and nonlinear and coupling dynamics, severe vibration caused by resonance of the manipulator components and low mechanical damping, etc. In order to handle these difficulties, lots of efforts have been made such as reduction of the arm inertia and elimination of the resonance, Performance evaluation of a recently developed, domestic DD robot shows that it works excellently compared with conventional robots. It, however, requires proved reliability and price competitiveness against its foreign counterparts.

• Journal of Industrial Technology
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• v.19
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.1
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• pp.13-26
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• 2013

This study is about development of technology system for MIS(Minimally Invasive Surgery) robot of S. Korea analysed by the application of scenario planning. MIS robot industry receive attention as a new growth industry for national and international and is noticeable for the leading industry of future era in Korea. In this paper was examined the characteristics of an MIS robot technology and its components. It was investigated about the technology of an overseas MIS robot(especially U.S.A) and Korean domestic MIS robot and understood such as the country's policy propulsion issues then, was searched about development direction of the future. As a result, the future policy for MIS robot of S. Korea is to further spur the development of new MIS robot technology and more improvement of the technology level of MIS robot with AR(Augmented Reality) display.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.05a
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• pp.1329-1333
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• 2006

This paper proposes a framework for product development including hardware and software components. The framework provides separation of the hardware dependent software, an integrated product development process, and integration of software components with product configurations and product structures. In order to separates the hardware dependent software, the framework considers product configuration modules and engineering changes of associated hardware and software components. The proposed product development process integrates development of the hardware dependent software into the existing product development process. In order to integrates the hardware dependent software with product configurations and product structures, the framework represents software components by existing product data models in Product Data Management (PDM). The framework is applied to development of a robot system including hardware and software components in order to show its effectiveness.

• Journal of Biosystems Engineering
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• v.37 no.1
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

• Journal of Biosystems Engineering
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• v.37 no.3
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• pp.201-208
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• 2012

Purpose: This study was conducted to develop a vegetable transplanting robot which transplants seedlings from a nursery tray to a plant pot using its four fingers. Method: The robot consists of the transplanting part, nursery tray moving part, plant pot moving part, main frame and controller. Two moving parts are controlled by the photo sensor and servo motor. The transplanting part was composed with two components; transporting device using E-MY2H(SMC Corp., Japan) for controlling finger position accurately and finger for transplanting the seedling. Results: Head lettuce using the transplanting robot was transplanted in 21 days after sowing based upon the seed shape measurement and removing examination. The optimal finger shape was thin pin type because it caused minimum damage to the roots of seedlings. Conclusions: The four inclined pin type was applied to remove the seedlings from the nursery tray. In addition, the transplanting capacity of the developed robot was 2800 pots per hour and the rate of success was 99% and above.