• Journal of Korea Multimedia Society
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• v.21 no.12
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• pp.1379-1386
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• 2018

In this paper, we proposed eyeglass type periorbital wrinkle treatment device for reducing and improving periorbital wrinkles using near infrared LED of 850nm wavelength and galvanic current. The proposed periorbital wrinkle treatment device is equipped with a control system based on F-PCB. It consists of eight near-infrared LEDs and four indicator LEDs for treatment of right and left periorbital wrinkles. The eyeglass frame is coated with conductive material, so galvanic current can flow to the skin of periorbital wrinkle contacted to it. One male adult in the mid-40s was allowed to use the device for 10 minutes every day for 4 weeks. After 4 weeks, image analysis using optical equipment for measuring wrinkles indicated that wrinkle indexes were reduced.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.3
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• pp.102-109
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• 1996

In this paper, we present a new approach for the automation of deburring process. An algorithm for teaching skills of a human expert to a robot manipulator is developed. This approach makes use of TSK fuzzy mode that can wxpress a highly nonlinear functional relation with small number of rules. Burr features such as height, width, area, grinding area are extracted from image processing by use of the vision system. Grinding depth, repetitive number and normal grinding force are chosen as control signals representing actions of the human expert. It is verified that our proposed fuzzy model can accurately express the skills of human experts for the deburring process.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.200-205
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• 1993

In many applications, the typical parallel-jaw end-effector of a robot arm has been remarkably satisfactory. But, it is not adequate for the applications such as complicated manipulation. In the study, a finger with 4 joints (so, having redundancy) was consturcted to investigate the characteristics of an articulated hand. Each joint was driven by one actuator, and the motor torque was transmited to each joint through a tendon-pulley system. In the context, major considerations for hardware design and the method to solve the inverse kinematics of a redundant manipulator were presented. Finally, the basic capabilities of an articulated hand were presented through experiments.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.1137-1138
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• 2023

로봇 운영 체제인 Robot Operating System (ROS)은 다양한 로봇 프로젝트와 연구에서 광범위하게 활용되며 국제적인 활발한 커뮤니티가 형성되어 있다. 많은 로봇 기능들이 ROS 를 활용하여 개발되어왔고, 이중에서도 Fastech 사의 Ezi-SERVO II PLUS E motor driver 를 ROS 환경에서 사용할 수 있도록 개발 작업이 진행되었다. ROS 는 Linux 기반이므로, 개발 환경으로는 초보자도 다루기 쉬우면서 비교적 저렴한 소형 컴퓨터인 Raspberry Pi 를 선택하였다. 또, Raspberry Pi 는 Linux 기반의 작은 컴퓨터로, 다양한 개별 프로젝트를 수행하기 위해 많은 사람들이 활용하고 있다. 이로 인해 Raspberry Pi 로 소규모 프로젝트를 진행하는 개발자들도 해당 모터 드라이버를 Raspberry Pi 와 ROS 를 통해 쉽게 사용할 수 있게 되었다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.10
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• pp.1481-1486
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• 2013

The small wind generator with existing mechanical control system has a frequent failure and malfunction, and its maintenance is difficult. In this paper, an electric control method using a boost converter for small wind generator was suggested. The suggested 2-level boost converter control device was manufactured and its experimental operation were conducted on a wind generator with 200 [W] capacity. As a result of experimental device, the control by a boost converter was executed at the point that the output voltage of a wind generator became 36 [V] so it could be identified that the output voltage of a wind generator diminished and then it became 0 [V] after 5 [sec]. Besides, in case of applying the method suggested in this paper to a small wind power generation facility for street lights, it is expected to reduce its maintenance by preventing a frequent failure of a generator and to improve its utilization rate.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.5
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• pp.555-564
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• 2016

This paper proposes a time slot allocation scheme for military patrol environments. This proposal comes from analysis of traffic properties in a military patrol environment. In the near future, robots are expected to explore enemy grounds and measure threat, taking the place of human patrol. In order to control such robots, control messages must be extremely accurate. One mistake from the control center could cause a tragedy. Thus, high reliability must be guaranteed. Another goal is to maintain a continual flow of multimedia data sent from patrol robots. That is, QoS (Quality of Service) must be guaranteed. In order to transmit data while fulfilling both attributes, the per-path based centralized TDMA slot allocation scheme is recommended. The control center allocates slots to robots allowing synchronization among robots. Slot allocation collisions can also be avoided. The proposed scheme was verified through the ns-3 simulator. The scheme showed a higher packet delivery ratio than the algorithm in comparison. It also performed with shorter delay time in the downlink traffic transmission scenario than the algorithm in comparison.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1500-1503
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• 2003

One of the main goals in the rehabilitation of SCI patients is to enable the patient to stand and walk themselves. We are developing high-thrust powered gait orthosis(PGO) that use air muscle actuator(shadow robot Co., UK) to be assisted gait and rehabilitation purposes of them. We made of PD controller and measured hip joint angle by its load and the pressure to control air muscle of PGO. As a results, maximum flexion angle of hip joint is $20^{\circ}$, and angular velocity is 30.4${\pm}2.5^{\circ}/sec$, and then delay time of system was average 0.62${\pm}$0.03s. As the hip flexion angle and the pelvic angle is decreased during the gait with PGO, the patient can walk faster. By using the PGO, the energy consumption can also be decreased. therefore, the proposed PGO can be a very useful assitive device for the paraplegics to walk.

• 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 Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1074-1081
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• 2007

This paper presents a method for real-time face detection and tracking which combined Adaboost and Camshift algorithm. Adaboost algorithm is a method which selects an important feature called weak classifier among many possible image features by tuning weight of each feature from learning candidates. Even though excellent performance extracting the object, computing time of the algorithm is very high with window size of multi-scale to search image region. So direct application of the method is not easy for real-time tasks such as multi-task OS, robot, and mobile environment. But CAMshift method is an improvement of Mean-shift algorithm for the video streaming environment and track the interesting object at high speed based on hue value of the target region. The detection efficiency of the method is not good for environment of dynamic illumination. We propose a combined method of Adaboost and CAMshift to improve the computing speed with good face detection performance. The method was proved for real image sequences including single and more faces.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1005-1013
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• 2008

This paper describes a new sensor system for 3D range measurement using the structured infrared light. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and the projected infrared light are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Identification of the cells from the pattern is the key issue in the proposed method. Several methods of correctly identifying the cells are discussed and verified with experiments.