• Architectural research
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• 제12권2호
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• pp.85-92
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• 2010

In recent years, construction projects have been forced to cope with lack of skilled labor and increasing hazard circumstance of human operations. A construction robotic system has been frequently accomplished as one alterative for overcoming these difficulties in increasing construction quality, enhancing productivity, and improving safety. However, while the complexity of such a system increases, there are few ways to carry out an assessment of the system. This paper introduces a knowledge-based multi-criteria decision-making process to assist decision makers in systematically evaluating an automated system for a given project and quantifying its system performance index. The model employs linguistic terms and fuzzy numbers in attempts to deal with the vagueness inherent in experts' or decision makers' subjective opinions, considering the contribution resulted from their knowledge on a decision problem. As an illustrative case, the system, called Robotic-based Construction Automation, for constructing steel erection of high-rise buildings was applied into this model. The results show the model's capacities and imply the application to other extended types of construction robotic systems.

• ETRI Journal
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• 제40권4호
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• pp.522-530
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• 2018

In this study, we developed a robotic walker that actively controls its speed and direction of movement according to the user's gait intention. Sensor fusion between a low-cost light detection and ranging (LiDAR) sensor and inertia measurement units (IMUs) helps determine the user's gait intention. The LiDAR determines the walking direction by detecting both knees, and the IMUs attached on each foot obtain the angular rate of the gait. The user's gait intention is given as the directional angle and the speed of movement. The two motors in the robotic walker are controlled with these two variables, which represent the user's gait intention. The estimated direction angle is verified by comparison with a Kinect sensor that detects the centroid trajectory of both the user's feet. We validated the robotic walker with an experiment by controlling it using the estimated gait intention.

• 로봇학회논문지
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• 제10권3호
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• pp.162-170
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• 2015

This paper describes the development of a hand module of NREX (National Rehabilitation Center Robotic Exoskeleton) designed to assist individuals with sustained neurological impairments such as stroke and spinal cord injuries. To construct a simple and lightweight hand module, the robotic hand adopts a mechanism driven by a motor and moved by two four-bar linkages. The motor facilitates the flexion-extension movements of the thumb and the other four fingers simultaneously. Thus, an individual using the robotic hand module can effectively grip and release objects related to daily life activities. The robotic hand module has been designed to cover the range of motion with respect to its link distance. This hand module can be used in therapeutic rehabilitation as well as for daily life assistance. In addition, this hand module can either be mounted on an NREX or used as a standalone module.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1997년도 동계 학술대회 논문집
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• pp.392-400
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• 1997

This study was conducted to develope the machine vision system of a robotic transplanter for bedding plants. Specific objectives of this study were 1) to get coordinates of the healthy seedlings except empty cells and bad seedlings in high-density plug tray, and 2) to get the angle of the leaves of the healthy seedlings to avoid damage to the seedlings by gripper. The results of this study are summarized as follows. (1) The machine vision system of a robotic transplanter was developed. (2) The success rates of detecting empty cell and bad seedlings in 72-cell and 128-cell plug trays were 98.8% and 94.9% respectively. (3) The success rates of calculating the angle of leaves in 72-cell and 128-cell plug trays were 93.5% and 91.0% respectively.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1997년도 동계 학술대회 논문집
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• pp.88-98
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• 1997

This study was conducted to develope the gripper of a robotic transplanter for bedding plants. Specific objectives of this study were 1) to develope the gripper for plug tray seedlings and 2) to find the suitable finger type for transplanting. The performance of gripper was tested and compared by two different transplanting methods, which were to consider the leaf position of seedlings and not to consider. The results of this study are summarized as follows. (1) The gripper of a robotic transplanter was developed and tested with 4 different finger type. (2) The shovel type finger was suitable for transplanting with the least percent of damaged seedlings.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2711-2713
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• 2005

This paper presents the tracking control method of robotic systems with uncertainties using self recurrent wavelet neural network (SRWNN) via the backstepping design technique. The SRWNN is used as the uncertainty observer of the robotic systems. The adaptation laws for weights of the robotic systems are induced from the Lyapunov stability theorem, which are used for on-line controlling robotic systems. Computer simulations of a three-link robot manipulator with uncertainties verify the validity of the proposed SRWNN controller.

• 대한기관식도과학회지
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• 제17권2호
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• pp.89-91
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• 2011

Robotic surgery have been increasingly applied in the past several years to assist in a variety of operations. Some applications, such as in prostatectomy, have been widely adopted and have largely supplanted the alternative minimally invasive or open techniques. However, the use of surgical robots in esophagectomy has not been as common. Although a limited number of case reports demonstrated the feasibility of robotic esophagectomy, no large series of patients has been reported to date. The data on robotic-assisted esophagectomy suggest that the procedure is safe, feasible, and associated with perioperative outcomes similar to open and minimally invasive esophagectomy. Benefits of robotic system could be maximized when we do a extensive total mediastinal lymphadenectomy. For this procedure to gain widespread acceptance, identifiable benefit relative should be demonstrated in near future.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2319-2324
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• 2005

This paper proposes a intelligent gain and boundary layer based sliding mode control (SMC) method for robotic systems with unknown model uncertainties. For intelligent gain and boundary layer, we employ the self recurrent wavelet neural network (SRWNN) which has the properties such as a simple structure and fast convergence. In our control structure, the SRWNNs are used for estimating the width of boundary layer, uncertainty bound, and nonlinear terms of robotic systems. The adaptation laws for all parameters of SRWNNs and reconstruction error bounds are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with unknown uncertainties. Accordingly, the proposed method can overcome the chattering phenomena in the control effort and has the robustness regardless of unknown uncertainties. Finally, simulation results for the three-link manipulator, one of the robotic systems, are included to illustrate the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.248-253
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• 1992

In the development of a high speed and light weight manipulator, it is necessary to consider the structural elasticity of a robotic arm. The analysis of the infinite mode dynamic of robotic arm must be performed to obtain the finite mode modelling to achieve the feasible controller design of the robotic arm. The modelling procedure of the robotic arm is also illustrated. The controlled mode of the modelled dynamic can be derived by truncating the higher vibrational mode to result in the low order system for the sampling in the control signal is confined to the higher mode. And it is controlled by the pole assignment which can compensate the unmodelled dynamic effects. The unmodelled dynamic can result in the instability of the controlled system, which is known as spillover. The controller design of the low order system is simulated by the pole assignment and optimal control theory.

• International Journal of Control, Automation, and Systems
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• 제2권3호
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• pp.398-405
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• 2004

A human-friendly interactive system that is based on the harmonious symbiotic coexistence of humans and robots is explored. Based on the interactive technology paradigm, a robotic cane is proposed for blind or visually impaired pedestrians to navigate safely and quickly through obstacles and other hazards. Robotic aids, such as robotic canes, require cooperation between humans and robots. Various methods for implementing the appropriate cooperative recognition, planning, and acting, have been investigated. The issues discussed include the interaction between humans and robots, design issues of an interactive robotic cane, and behavior arbitration methodologies for navigation planning.