• 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 the Ergonomics Society of Korea
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• v.29 no.6
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• pp.907-914
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• 2010

Cognitive model, that is cognitive architecture, is the model expressed with computer program to show the process how human solve a certain problem and it is continuously under investigation through various fields of study such as cognitive engineering, computer engineering, and cognitive psychology. In addition, the much extensive applicability of cognitive model usually helps it to be used for quantitative prediction of human Behavior or Natural programming of human performance in many HCI areas including User Interface Usability, artificial intelligence, natural programming language and also Robot engineering. Meanwhile, when a system designed, an usability test about conceptual design of interface is needed and in this case, analysis evaluation using cognitive model like GOMS or ACT-R is much more effective than empirical evaluation which naturally needs products and subjects. In particular, if we consider the recent trend of very short-end term between a previous technology development and the next new one, it would take time and much efforts to choose subjects and train them in order to conduct usability test which is repeatedly followed in the process of a system development and this finally would bring delays of development of a new system. In this study, we predicted quantitatively the human behavior processes which contains cognitive processes for menu selection in touch screen interface through ACT-R, one of the common method of usability test. Throughout the study, it was shown that the result using cognitive model was equal with the result using existing empirical evaluation. And it is expected that cognitive model has a possibility not only to be used as an effective methodology for evaluation of HCI products or system but also to contribute the activation of HCI cognitive modeling in Korea.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2009.04a
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• pp.536-539
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• 2009

BIRDI(Bridge Inspection Robot Development Interface)에서 현재 개발된 첨단굴절로봇차는 비전 시스템과 로봇 플랫폼을 붐에 장착하여 교량 하부를 점검하는 점검용차량이다. 본 연구에서는 첨단굴절로봇차의 포스트 붐에 엑츄에이터를 장착하여 강풍 등으로 발생이 예상되는 유해 진동을 제어할 수 있는 시스템을 제안하였으며, 성능 평가를 위해 수치적 연구를 수행하였다. 제안된 제어시스템의 수치적 연구를 위해 현재 제작된 포스트 붐과 작업 붐의 제원을 이용하여 모델링 하였으며, 적절한 주파수 특성을 가진 하중을 가정하였으며, 최적 제어이론인 PD제어기법인 피드백 제어기법을 적용하여 수치해석을 수행 하였다. 수치해석 결과, 제안된 제어시스템은 L형 붐에 발생되는 유해 진동을 저감시킴을 확인하였다. 본 연구를 통해 제안된 시스템의 진동제어 성능을 입증하였으며, 실제 첨단굴절로봇차에 적용될 경우 점검 시스템의 성능을 향상시킬 수 있을 것으로 사료된다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.11 s.254
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• pp.1348-1357
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• 2006

In a hybrid three-layer control architecture(deliberative, sequencing, and reflexive), the lowest reflexive layer consists of resources, actions, an action coordinator, and motion controllers. Because the execution of individual components in the reflexive layer should be done in real-time, each component has to be simple and, due to this reason, the Linux-RTAI(Real-Time Application Interface for Linux) has been used as an operating system. In this paper, a navigation control architecture, which combines the components in the reflexive layer and the navigation-related modules in the sequencing layer, is proposed. And then, as basic components, four actions(Goto, Avoid, Move, and EmergencyStop) are designed. Experimental results confirm the effectiveness of the proposed architecture and the performance of individual associated actions.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.6-8
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• 2004

The objective of this paper is to develop a powered wheelchair controller based on EMG for users with high-level spinal cord injury using a proportional control scheme. An advantage of EMG is relative convenience of acquisition by a surface electrode to users. Direction information can be easily extracted from two EMG channels and force information can be acquired by proportional relationship between the amplitude of EMG and user's power, respectively. Pattern classification algorithm is a threshold method with a supervised learning process. Furthermore, the emergency situation can be avoided using an interrupt function. We evaluated the performance of powered wheelchair controller by navigating a pre-defined path with three non-handicapped people. The results show the feasibility of EMG as an input interface for powered wheelchair and other devices for the seriously disabled.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.345-346
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• 2008

본 논문은 원자력 발전소내의 기기들 중 원자로 내부 기기의 초음파 비파괴 검사를 위한 로봇의 위치 제어를 위한 방법을 설명하였다. 기존에는 레일과 같은 보조 시설물을 설치하여 검사를 하는 것이 일반적이었다. 본 논문에서는 이러한 보조 시설물 없이 카메라 영상에 의한 위치제어에 관하여 기술하였다. 여러 가지 방법 중에 정합 필터를 이용하여 로봇의 현재위치를 추정하는 방법을 사용하였다. 본 논문에서 제안된 방법을 실험한 결과 로롯의 제어를 위한 샘플링 타임은 100msec 정도로 일반석인 로봇의 제어 주기로 사용하기에는 다소 길었다. 이를 해결하기 위하여 정합필터를 병렬 계산을 이용하여 계산하도록 하고 이를 병렬언어로 널리 사용되고 있는 MPI(Message Passing Interface) 언어로 구현하였다. 다수의 컴퓨터와 이더넷을 이용할 수 있으며 최근 일반화되고 있는 멀티코어 CPU도 응용이 가능하였다.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.161-172
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• 2017

Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.131-138
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• 2020

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

• Journal of Biosystems Engineering
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• v.14 no.2
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• pp.104-114
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• 1989

The most important subject in developing agricultural robots for fruit harvesting is to detect accurately the location of a fruit about the given coordinate system. This study was carried out to develop an image processing algorithm which enables finding out the three dimensional locations of a fruit. The digital image processing device consisted of an optosensor (Closed-circuit TV camera), image processing interface board (Digitizer) and microcomputer (IBM PC/AT). A stereo-image processing method using the two cameras attached to the manipulator was evaluated through experiment with apples. The accuracy and quickness of detecting the location of apples by this method was not satisfactory. The maximum errors of the detected locations by the stereo-image processing method in x-, Y-, and z- directions were 3, 4 and 4 cm, respectively. The maximum time required to get the rectangular coordinate data of a fruit was about 2 minutes.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1245-1248
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• 1996

This paper describes a cell programming environment that deals with problems associated with programming Flexible Manufacturing Cells(FMCs). The environment consists of the cell programming editor and the automatic generation module. In the cell programming editor, cell programmers can develop cell programs using task level description set which supports task-oriented specifications for manipulation cell activities. This approach to cell programming reduces the amount of details that cell programmers need to consider and allows them to concentrate on the most important aspects of the task at hand. The automatic generation module is used to transform task specifications into executable programs used by cell constituents. This module is based on efficient algorithm and expert systems which can be used for optimal path planning of robot operations and optimal machining parameters of machine tool operations. The development tool in designing the environment is an object-oriented approach which provides a simple to use and intuitive user interface, and allows for an easy development of object models associated with the environment.