• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.257-258
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.255-256
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.253-254
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• 2012

• Smart Structures and Systems
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• v.13 no.6
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• pp.1041-1063
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• 2014

This work introduces a two-module robotic pipe inspection system with ultrasonic NDE device to evaluate the integrity of pipe structures. The proposed robotic platform has high mobility. The two module mobile robot platform overcomes pipe obstacle structures such as elbow, or T-branch joints by cooperative maneuvers. Also, it can climb up the straight pipeline at a fast speed due to the wheel driven mechanism. For inspection of pipe structure, SH-waves generated by EMAT are applied with additional signal processing methods. A wavelet transform is implemented to extract a meaningful and specific signal from the superposed SH-wave signals. Intensity ratio which is normalized the defect signals intensity by the maximum intensity of directly transmitted signals in the wavelet transforms spectrum is applied to evaluate defects quantitatively. It is experimentally verified that the robotic ultrasonic inspection system with EMAT is capable of non-destructive inspection and evaluation of defects in pipe structure successfully by applying signal processing method based on wavelet transform.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.802-811
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• 1996

Farmers need alternatives for weed control due to the desire to reduce chemicals used in farming. However, conventional mechanical cultivation cannot selectively remove weeds located in the seedline between crop plants and there are no selective heribicides for some crop/weed situations. Since hand labor is costly , an automated weed control system could be feasible. A robotic weed control system can also reduce or eliminate the need for chemicals. Currently no such system exists for removing weeds located in the seedline between crop plants. The goal of this project is to build a real-time , machine vision weed control system that can detect crop and weed locations. remove weeds and thin crop plants. In order to accomplish this objective , a real-time robotic system was developed to identify and locate outdoor plants using machine vision technology, pattern recognition techniques, knowledge-based decision theory, and robotics. The prototype weed control system is composed f a real-time computer vision system, a uniform illumination device, and a precision chemical application system. The prototype system is mounted on the UC Davis Robotic Cultivator , which finds the center of the seedline of crop plants. Field tests showed that the robotic spraying system correctly targeted simulated weeds (metal coins of 2.54 cm diameter) with an average error of 0.78 cm and the standard deviation of 0.62cm.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2019.05a
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• pp.351-354
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• 2019

The mobiAutoBot is a conceptual model of robotic process automation software with cognitive automation that can support mobile devices. The mobiAutoBot consists of two parts: mobiAutoBot controller and mobiAutoBot runner. The mobiAutoBot controller directs the job to the mobile device and performs monitoring and interworking. The mobiAutoBot runner installed on the mobile device performs the command execution. With the mobiAutoBot, you can build cost-effective robotic process automation capabilities and use it in a variety of applications, including mobile devices.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.1
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• pp.132-141
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• 1995

This paper presents a choosing method of turning devices for stable robotic assembly based on verification of a base assembly motion instability. In flexible assembly application, the base assembly needs to be maintained in its assembled state without being taken apart. Therefore, the instability of the base assembly motion should be considered when determining the guide line of choosing turning devices by evaluating a degree of the motion instability of the base assembly. To derive the instability, first we inference collision free assembly directions by extracting separable directions for the mating parts and calculate the separability which gives informations as to how the parts can be essily separated. Using these results, we determine the instability evaluated by summing all the modified separabilites of each component part within base assembly.

• Journal of Biomedical Engineering Research
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• v.40 no.3
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• pp.105-115
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• 2019

Brain tumor surgery may be difficult, but it is also incredibly important. The technological improvements for traditional brain tumor surgeries have always been a focus to improve the precision of surgery and release the potential of the technology in this important area of the body. The need for precision during brain tumor surgery has led to an increase in Robotic-assisted surgeries (RAS). One of the challenges to the widespread acceptance of RAS in the neurosurgery is to recognize invisible tumor accurately. Therefore, it is important to detect brain tumor size and location because surgeon tries to remove as much tumor as possible. In this paper, we proposed brain tumor detection procedures for MRI (Magnetic Resonance Imaging) system. A method of automatic brain tumor detection is needed to accurately target the location of the lesion during brain tumor surgery and to report the location and size of the lesion. In the qualitative assessment, the proposed method showed better results than those obtained with other brain tumor detection methods. Comparisons among all assessment criteria indicated that the proposed method was significantly superior to the threshold method with respect to all assessment criteria. The proposed method was effective for detecting brain tumor.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1519-1522
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• 1996

In this paper, we have developed a tele-robotic system for nozzle dam installation/removal works and tube relating maintenance works inside unclear power plant steam generator. Developed tele-robotic system consists of many hardwares including robot and a control system. Based on the 3 dimensional graphic simulation, a 6 D.O.F. hydraulic actuated robot and a 2 D.O.F. robot install/removal device have been developed. And also we deviced special tools for nozzle dam carry and bolting. For the tele-robot and other devices to be controlled at the nonradioactive area outside reactor containment building, we developed a tele-robot control system consisting of supervisory controller and remote controller.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.387-396
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• 2022

Logistics industry still heavily relies on human labor in many field processes. However, robot applications in logistics are rapidly increasing, encouraged by technological progresses in robotics and cheaper robot solutions from competition between robot suppliers. Effectiveness of logistics automation are higher productivity for cost reduction and increased process capabilities for better profit, which is witnessed in many fields of logistics industry. In this paper, differences in logistics services - contract logistics, parcel, and fulfillment - are addressed, and characteristics and issues in application of various kinds of logistics robots such as AGV, AMR, ASRS, box/piece handling robots and robotic wearable devices are discussed. The advantages from flexibility and scalability of logistics automation by robots will benefit the future logistics business.