• Title/Summary/Keyword: Robotic

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Automatic Layer-by-layer Dipping System for Functional Thin Film Coatings (다층박막적층법 적용 기능성 박막 코팅을 위한 자동화 시스템)

  • Jang, Wonjun;Kim, Young Seok;Park, Yong Tae
    • Composites Research
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    • v.32 no.6
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    • pp.314-318
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    • 2019
  • A simple and very flexible automatic dipping machine was constructed for producing functional multilayer films on wide substrates via the layer-by-layer (LbL) assembly technique. The proposed machine exhibits several features that allow a fully automated coating operation, such as various depositing recipes, control of the dipping depth and time, operating speed, and rinsing flow, air-assist drying nozzles, and an operation display. The machine uniformly dips a substrate into aqueous mixtures containing complementary (e.g., oppositely charged, capable of hydrogen bonding, or capable of covalent bonding) species. Between the dipping of each species, the sample is spray cleaned with deionized water and blow-dried with air. The dipping, rinsing, and drying areas and times are adjustable by a computer program. Graphene-based thin films up to ten-bilayers were prepared and characterized. This film exhibits the highly filled multilayer structures and low thermal resistance, indicating that the robotic dipping system is simple to produce functional thin film coatings with a variety of different layers.

Issue-Tree and QFD Analysis of Transportation Safety Policy with Autonomous Vehicle (Issue-Tree기법과 QFD를 이용한 자율주행자동차 교통안전정책과제 분석)

  • Nam, Doohee;Lee, Sangsoo;Kim, Namsun
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.15 no.4
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    • pp.26-32
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    • 2016
  • An autonomous car(driverless car, self-driving car, robotic car) is a vehicle that is capable of sensing its environment and navigating without human input. Autonomous cars can detect surroundings using a variety of techniques such as radar, lidar, GPS, odometry, and computer vision. Advanced control systems interpret sensory information to identify appropriate navigation paths, as well as obstacles and relevant signage. Autonomous cars have control systems that are capable of analyzing sensory data to distinguish between different cars on the road, which is very useful in planning a path to the desired destination. An issue tree, also called a logic tree, is a graphical breakdown of a question that dissects it into its different components vertically and that progresses into details as it reads to the right.Issue trees are useful in problem solving to identify the root causes of a problem as well as to identify its potential solutions. They also provide a reference point to see how each piece fits into the whole picture of a problem. Using Issue-Tree menthods, transportation safety policies were developed with autonompus vehicle in mind.

Design and Development of 600 W Proton Exchange Membrane Fuel Cell (600 W급 연료전지(PEMFC)의 설계 및 제작)

  • Kim, Joo-Gon;Chung, Hyun-Youl;Bates, Alex;Thomas, Sobi;Son, Byung-Rak;Park, Sam;Lee, Dong-Ha
    • Journal of the Korean Solar Energy Society
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    • v.34 no.4
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    • pp.17-22
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    • 2014
  • The design of a fuel cells stack is important to get optimal output power. This study focuses on the evaluation of fuel cell system for unmaned aerial vehicles (UAVs). Low temperature proton exchange membrane (LTPEM) fuel cells are the most promising energy source for the robot applications because of their unique advantages such as high energy density, cold startup, and quick response during operation. In this paper, a 600 W open cathode LTPEM fuel cell was tested to evaluate the performance and to determine optimal operating conditions. The open cathode design reduces the overall size of the system to meet the requirement for robotic application. The cruise power requirement of 600 W was supported entirely by the fuel cell while the additional power requirements during takeoff was extended using a battery. A peak of power of 900 W is possible for 10 mins with a lithium polymer (LiPo) battery. The system was evaluated under various load cycles as well as start-stop cycles. The system response from no load to full load meets the robot platform requirement. The total weigh of the stack was 2 kg, while the overall system, including the fuel processing system and battery, was 4 kg.

Motion Planning of Building Maintenance Robot System for Reducing Jerk Effect (빌트인형 BMR 시스템의 이동 중 충격완화를 위한 모션제어)

  • Lee, Seunghoon;Kang, Min-Sung;Kang, Sungpil;Hwang, Soonwoong;Kim, YoungSoo;Moon, Sung-Min;Hong, Daehie;Han, Chang-Soo
    • Journal of the Korean Society for Precision Engineering
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    • v.30 no.4
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    • pp.368-374
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    • 2013
  • Maintenance works for current high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. Herein, this paper proposes robotic building maintenance system using motion control, in specific, reducing a system jerk which is directly subjected to improve the process performance and economic feasibility. The sensor for detecting straight and curvature section of the building facade, moreover rail-joint segment can be detected and be utilized for reducing jerk of the system. Analysis of the proposed system error caused by excessive vibration, e.g. jerk motion is introduced. To enhance the stability and safety of the system, herein, the strategy is proposed for enhancing the performance of the system based on anti-jerk motion control algorithm which comes out increasing the stability and sustainability of the integrated system, as well.

Development of Real-Time Thickness Measuring System for Insulated Pipeline Using Gamma-ray (감마선을 이용한 단열배관의 실시간 두께측정시스템 개발)

  • Jang, Ji-Hoon;Kim, Byung-Joo;Kim, Gi-Dong;Cho, Kyung-Shik
    • Journal of the Korean Society for Nondestructive Testing
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    • v.22 no.5
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    • pp.500-507
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    • 2002
  • By this study, on-line real-time radiometric system was developed using a 64 channels linear array of solid state detectors to measure wall thickness of insulated piping system. This system uses an Ir-192 as a gamma ray source and detector is composed of BGO scintillator and photodiode. Ir-192 gamma ray source and linear detector array mounted on a computer controlled robotic crawler. The Ir-192 gamma ray source is located on one side of the piping components and the detector array on the other side. The individual detectors of the detector array measure the intensity of the gamma rays after passing through the walls and the insulation of the piping component under measurement. The output of the detector array is amplified by amplifier and transmitted to the computer through cable. This system collects and analyses the data from the detector array in real-time as the crawler travels over the piping system. The maximum measurable length of pipe is 120cm/min. in the case of 1mm scanning interval.

Development of a Horse Robot for Indoor Leisure Sports (실내 레저 스포츠를 위한 승마 로봇의 개발)

  • Lee, Wonsik;Lee, Youngdae;Moon, Chanwoo
    • The Journal of the Institute of Internet, Broadcasting and Communication
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    • v.14 no.5
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    • pp.161-166
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    • 2014
  • Recently, indoor sports simulator equipped with virtual reality devices, like screen golf system, are riding high. There have been many attempts to develop the indoor simulator systems which can make people enjoy exercises in various sports area. A real horseback riding could not have been popularized, because of the cost involved, difficulty to learn and its dangerousness. In this research, a robotic horseback riding platform based on parallel mechanism and virtual reality device is proposed. The proposed platform provides realistic riding feels and various levels of riding difficulty. The equipped motion capture system with a vision sensor enables riders to correct their riding posture based on expert's one. The developed horseback riding platform make it possible to enjoy a horseback riding in all weather, and also can be used for systematic horseback riding training.

Development of Walking Assistive System using Body Weight Supporting and Path Planning Strategy (인체 자중 보상 및 로봇 경로계획법을 이용한 이동형 보행 재활 시스템 개발)

  • Yu, Seung-Nam;Shon, Woong-Hee;Suh, Seung-Whan;Lee, Sang-Ho;Han, Chang-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.10
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    • pp.939-947
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    • 2010
  • With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot's body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.

Modular Robot for Promoting Creativity Development in Play and Education (창의력 증진을 위한 놀이 및 교육용 모듈러 로봇 개발)

  • Choi, Joon-Sik;Lee, Bo-Hee;Kim, Jin-Geol
    • Journal of IKEEE
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    • v.18 no.4
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    • pp.572-580
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    • 2014
  • This study deals with reconfigurable modular robot with respect to the compact and capability of representing the various actions for promoting creativity through education and play. Generally modular robot can be designed as a suitable robot that is transformed to various structure by reconstructing each cells, However, there are only few research on the education and play using those robots in the world and still nothing domestically. Unlike the existing modular robots only having a repeating motion, the proposed modular works by individual module such as sound is produced by sound module, wheel is driven by wheel module, LED module controls the visual expression, power is supplied by battery module, bluetooth module for communication, and dynamic motion realization is possible by using joint module. By manipulating the abilities endowed by individual modules, diversity of creative activities is possible and thus made an easy access for children. This study deals with the design of modular robotic by using the variety of different modules to endowed the learning and playing ability. And the study showed the utility of the operating behavior over the actual production and testing.

Reirradiation with Robotic Stereotactic Body Radiotherapy for Recurrent Nasopharyngeal Carcinoma

  • Dizman, Aysen;Coskun-Breuneval, Mehtap;Altinisik-Inan, Gonca;Olcay, Gokce Kaan;Cetindag, Mehmet Faik;Guney, Yildiz
    • Asian Pacific Journal of Cancer Prevention
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    • v.15 no.8
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    • pp.3561-3566
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    • 2014
  • Background: Recurrent nasopharyngeal carcinoma (NPC) after previous radiotherapy is challenging. There is no standard approach for salvage treatment. Here we present toxicity and treatment results for recurrent NFC patients who underwent fractionated stereotactic radiotherapy (FSRT) as second line radiotherapy (RT). Materials and Methods: Between April 2009 and July 2012, 24 patients, with a male to female ratio of 3:1, were treated with CykerKnife$^{(R)}$ FSRT for recurrent NFC in our institution. Seven out of 24 patients had metastatic recurrent disease. Median age was 53 years (range, 20-70 years). Initial RT dose was 70Gy. The time period between initial RT and FSRT was a median of 33.2 months. The median prescription dose for FSRT was 30Gy (range, 24-30 Gy) in a median of 5 fractions (range, 4-6). Results: The median follow-up for all patients was 19.5 months (IQR: 12.2.-29.2 months). The locoregional control; progression free survival and overall survival (OS) rates for 1-, 2- and 3-year were 64%, 38%, 21%; 60%, 30%, 17% and 83%, 43%, 31%, respectively. Median OS for the entire cohort was 22 months (95% CI: 16.5-27.5). On multivariate analysis recurrent tumor stage was the only prognostic factor for OS (p=0.004). One patient exhibited grade III temporal lobe necrosis. One died because of grade IV mucositis and overlapping infection. Conclusions: The treatment of recurrent NPC is controversial. Fractionated stereotactic radiotherapy is promising. However, the published trials are heterogeneous with respect to the selection criteria and treatment details. Prospective studies with long term follow-up data are warranted.

Impedance-Control Based Peg-in-Hole Assembly with a 6 DOF Manipulator (6축 머니퓰레이터를 이용한 임피던스 제어 기반의 원형 펙 조립)

  • Kim, Byeong-Sang;Kim, Young-Loul;Song, Jae-Bok;Son, Seung-Woo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.35 no.4
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    • pp.347-352
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    • 2011
  • The maximum accuracy of position control by using an industrial robot is about $100{\mu}m$, whereas the maximum tolerated imprecision in the position of precision parts is about several tens of micrometers. Therefore, it is very difficult to assemble parts by position control only. Moreover, in the case of precision assembly, jamming or wedging can easily occur because of small position/orientation errors, which may damage the parts to be assembled. To overcome these problems, we investigated a force control scheme that provides proper motion in response to the contact force. In this study, we constructed a force control system that can be easily implemented in a position-controlled manipulator. Impedance control by using an admittance filter was adopted to perform stable contact tasks. It is shown that the precision parts can be assembled well by adopting impedance control and blind search methods.