• International Journal of Safety
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• 제6권1호
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• pp.1-6
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• 2007

Operation of human-centered robot, in general, facilitates the creation of new process that may potentially harm the human operators. Design of safety-guaranteed operation of human-centered robots is, therefore, important since it determines the ultimate outcomes of operations involving safety of human operators. This study discusses the application of geometric tolerance and head injury criteria to safety assessment of human-centered robotic operations. Examples show that extending "Work Area" has more significant effect on the uncertainty in safety than extending the system range in the presence of velocity control.

• 한국해양공학회지
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• 제32권2호
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• pp.138-142
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• 2018

The marine industry is rapidly developing as a result of the increase in various needs in the marine environment. In addition, accidents involving ship fires and explosions and the resulting casualties are increasing. Generally, manpower and safety problems exist in fire fighting. A fire fighter in the form of an autonomous surface robot would be ideal for marine fire safety, because it has no manpower and safety problems. Therefore, an autonomous surface robot with the abilities of fire recognition and tracking, nozzle selection, position and attitude control, and fire fighting was developed and is discussed in this paper. The test and evaluation results of this robot showed the possibility of real-size applications and the need for additional studies.

• Journal of information and communication convergence engineering
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• 제9권2호
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• pp.230-234
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• 2011

It is endeavoring for sea safety and fire[1] at sea prevention solidifying control of standard technology and safety supervision aspect in IMO[2] but sea accident and ship fire are happening continuously. Because using Robot in artistic talent of ship in this treatise, studied that correspond to Risk and manage. Attach fire perception sensor for Robot's Risk confrontation, and because using infrared rays sensor, TOUCH SWITCH, sound perception sensor, gas perception sensor, light perception sensor that is threaded in Robot and is achieved, controlled Robot, and establish Low-High value the speed of sound output use and DC MOTOR and COM SEN of when indicate Risk confrontation to Robot and establish Robot's Risk confrontation administration action.

• 시스템엔지니어링워크숍
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• 통권1호
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• pp.165-168
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• 2003

A robot system in most industries has a complicated structure, which includes electric and electronic components, and mechanical parts. For this reason, building a robot system also has a very complicated design and maintenance processes. Especially to predict or assess the system's maintainability and safety is important for both designer and operator before it's production or installation of the system. This paper presents an application methodology of FMECA focused on safety in design of a robot system with point of view of reliability engineering.

• International Journal of Safety
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• 제5권2호
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• pp.12-17
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• 2006

Operations of human-centered robot, in general, facilitates the creation of new process that may potentially harm the human operators. Design of safety-guaranteed operation of human-centered robots is, therefore, important since it determines the ultimate outcomes of operations involving safety of human operators. This study discusses the application of information-theoretic measures to safety assessment of human-centered robotic operations. Some examples are given.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.928-931
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• 1996

It is necessary to develop the simulator for the test of stability and torque before the walking experiment of biped robot, because a robot may be damaged in an actual experiment. This thesis deals with the development of three-dimensional simulator for improving efficiency and safety during development and experimentation. The simulator is composed of three parts-solving dynamics, rendering pictures and communicating with the robot. In the first part, the D-H parameter and parameter of links can be loaded from the file and edited in the program. The results are obtained by using the Newton-Euler method and are stored in the file. Through the above process, the proper length of link and driving force can be found by using simulator before designing the robot. The second part is organized so that the user can easily see a specific value or a portion he wants by setting viewing parameters interactively. A robot is also shown as a shaded rendering picture in this part. In the last part, the simulator sends each desired angle of joints to the robot controller and each real angle of joints is taken from the controller and passed to the second part. The safety of the experiment is improved by driving the robot after checking whether the robot can be actuatable or not and whether the ZMP is located within the sole of the foot or not for a specific gait. The state of the robot can be easily grasped by showing the shaded rendering picture which displays the position of the ZMP, the driving force and the shape of robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2648-2653
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• 2003

This paper describes the development of a 3-DOF laparoscopic assistant robot system with motor-controlled bending and zooming mechanisms using the voice command motion control and auto-tracking control. The system is designed with two major criteria: safety and adaptability. To satisfy the safety criteria we designed the robot with optimized range of motion. For adaptability, the robot is designed with compact size to minimize interference with the staffs in the operating room. The required external motions were replaced by the bending mechanism within the abdomen using flexible laparoscope. The zooming of the robot is achieved through in and out motion at the port where the laparoscope is inserted. The robot is attachable to the bedside using a conventional laparoscope holder with multiple DOF joints and is compact enough for hand-carry. The voice-controlled command input and auto-tracking control is expected to enhance the overall performance of the system while reducing the control load imposed on the surgeon during a laparoscopic surgery. The proposed system is expected to have sufficient safety features and an easy-to-use interface to enhance the overall performance of current laparoscopy.

• 로봇학회논문지
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• 제18권4호
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• pp.403-408
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• 2023

In this paper, we introduce the results of the development of a care robot for the safe lifting and transportation of bedridden patients with difficulty moving by themselves, especially, in medical facilities. The purpose of the developed patient transfer robot is to improve the convenience of care givers and enhance the safety and comfort of care recipients by facilitating patient lifting and patient transfer tasks by applying robot technology. In order to implement the lifting function, a hoist was designed and developed, and a sway control and rollover warning system were included in the hoist module as product differentiators. In addition, in terms of implementing the transfer function, an omnidirectional movement mechanism to improve operability in confined spaces and an active safety system to prevent collisions were developed. The function of the developed patient transfer robot was verified through performance evaluation by an authorized testing agency.

• 로봇학회논문지
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• 제15권3호
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• pp.256-268
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• 2020

This study is about a design method for deriving task safety scenarios for the application of collaborative robots. A five-step process for deriving task safety scenarios for collaborative robots has been proposed, which focuses on the type of collaboration between human and collaborative robot. The three types of collaboration were classified according to the collaboration workspace and the worktime of human and collaborative robot. Based on these three types of collaboration, task safety scenarios include scenarios that predict risk from unintended use during work. Collaboration with collaborative robot is a human-centered process because human actions can create dangerous situations. Besides, we improved the understanding of this design methodology by presenting examples of the application of task safety scenarios according to the process for each type of collaboration.

• 한국안전학회지
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• 제31권5호
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• pp.28-34
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• 2016

When a electric power cable is installed in the air for newly or exchanged working, it is necessary at all time to hold a constant tension for an overhead power cable. And also a pendanted power cable is an extreme job to have work in a high sky. For this reason, the objective of this paper developments working robot for preventing disaster that tension of cable installed automatically power cable to hold a constant. So the working robot works at all the time two tasks for mobil and tension it come into a inference between two tasks, control is difficult. Control methode needs to suppress inference of two tasks. In this paper, for installation of overhead power cable, the scheme and control methode of working robot is presented. the robot work at a same time tow tasks that have hold a constant tension of the power cable and move a constant place while unfasten a winding cable at a drum on a chassis. Working robot consist of three parts with mobile system, tension system and control part. As it is applied the feedback/feedforward control, methode of hybrid control is established to suppress that interference come into between two tasks. The simulation programs is made out using models of mobil and tension system, and a proposed controllers. In accordance with simulation, the model of each systems is discussed to make out proper. And also parameters of controllers is selected a suitable value and the driving performance of robot is evaluated.