• Journal of Korea Society of Digital Industry and Information Management
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• v.5 no.3
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• pp.39-45
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• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.75-82
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• 2022

Automated vehicles (AVs) are coming to our roadways. In practice, there are still several challenges that can impede the AV sensors are polluted on various road conditions. In this paper, we propose a strategy for V2E performance assurance technology using Kano model. We are developing the vehicle sensor cleaning system about the three types of commonly used sensors: camera, radar, and LiDAR. Surveys were carried out in 30 AV's experts on quality characteristics about V2E performance assurance technology. As a result, the Kano model developed to verify a major requirement of autonomous vehicle's sensor cleaning system. It is expected that the Kano model will be actively used to verify the importance of V2E development strategy.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.2
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• pp.385-393
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• 2016

This paper presents the new position estimation method which contains the optical displacement sensor and the dead reckoning based position estimation algorithm for automation of hull cleaning robot. To evaluate feasibility of the proposed position estimation method on the hull cleaning robot, it was applied on the small scale robot model which has an identical drive method with the hull cleaning robot and then a set of the position estimation experiments were performed. The experimental results of the position estimation demonstrate that the estimated results with the optical displacement sensors is more accurate than used rotary encoder method. In addition, it continuously calculated the robot position quite close to the real robot driving path. In a follow-up study, the proposed position estimation method will be complemented and exploited on the actual hull cleaning robot by adding additional sensor modules that correct measurement errors.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2019-2023
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• 2005

In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

• Korean Journal of Clinical Laboratory Science
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• v.53 no.1
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• pp.19-31
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• 2021

This study aimed at comparing the performance of imported LX detergent cleaning solution (LX-CS) and the self-manufactured OC cleaning solution (OC-CS), based on functional and quantitative analysis. The functional analysis was carried out using apparent diffusion coefficient (ADC) values. For quantitative analysis, precision, linearity, and carry-over rates were measured with commercial control materials according to the Clinical and Laboratory Standards Institute (CLSI) guidelines. Using OC-Sensor PLEDIA (Eiken Chemical, Japan), the ADC value of all cuvettes satisfied the acceptance criteria. For quantitative analysis, precision was less than 5.0% for the two products, and carry-over rates were less than ±1.00%. The linearity slopes and r2 values were 1.0017 and 0.9982 in the LX-CS, and 0.9924 and 0.9996 in the OC-CS, respectively. The correlation coefficient (r) was found to be 0.9997. Also, the percent difference in correlation with 40 artificial-stool specimens was less than 10% and the p-value was less than 0.1. The result of standard deviation ratio (D: ±1 SD ratio) was similar for both products. In conclusion, the functional and quantitative analyses of the two products were compared and showed similar results. In the future, the self-manufactured OC-CS will be able to provide a much more stable and faster supply than the imported LX-CS.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.7
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• pp.223-229
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• 2014

The acoustic cleaning system is widely used to remove foreign materials in factories, such as thermal power plants and incinerators. However, the acoustic cleaning systems tend to be clogged by foreign materials. In this paper, we develop a wireless sensor network for the sound wave detection in order to monitor proper operations in the acoustic cleaning systems. We observe that the developed wireless sensor network for the wave detection shows a stable operation in various industrial environments of wide temperature ranges. We also develop a data gathering device, which displays the current status of the sound generator and several values detected from the wireless sensor.

• Agribusiness and Information Management
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• v.9 no.1
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• pp.18-22
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• 2017

It takes lots of time and labor if a worker have to measure the water quality at a certain but designated time every day in an un-automated aqua farm. In addition, if the equipment is soaked in the sea water consistently, it will be contaminated by diverse floating matters and barnacles, and it often becomes mal-functional within 2~3 months. Therefore, we need to develop a system with which the sensed data could be checked in real time and operated automatically, while preventing the contamination of the sensor, a crucial component for water quality measuring equipment, as much as possible, and increasing the replacement cycle. We have developed a non-cleaning water quality measuring equipment and its software which are used in the fishery household of offshore aqua farms. By providing the workers with a mobile application which has a function of monitoring the water quality in real time, they can check the situation directly without going to the fishery household.

• Journal of the Semiconductor & Display Technology
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• v.18 no.3
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• pp.144-149
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• 2019

This paper describes the results of a study on the unmanned maintenance robot that simultaneously performs the cleaning and inspection of the photovoltaic panels. The robot has a special adsorptive device, an infrared sensor, a vacuum level sensor and a camera. The robot uses two SSC (Sliding Suction Cup) adsorptive devices to move up and down the slope. First, the forces generated when the robot moves up the slope are mechanically analyzed, and the required design and control of the adsorption system are suggested. The robot was designed and manufactured to operate stably by using the presented results. Next, the normal force between the panel and the wheel was measured to confirm that the robot was manufactured and operated as intended, and the robot motion was tested on the inclined panel. It has been proven that robots are well designed and built to clean and inspect sloped panels.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.779-790
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• 1993

A prototype of the feeding-milking robot was developed in the Hungarian Institute of Agricultural Engineering in 1988-89. Before starting with the operation tests the cleaning system had to be elaborated . The cleaning system has two parts. Those are the complete cleaning of the system, producing a practically sterile state, as well as flushing through the milking device between milking of two cows. Separate electronic sensor development was necessary for both system which can connect to the control system of the robot. To clean the system pneumatic air input was applied. As an effect of the local adjustment of the electronic control system optimal flow conditions can be formed what is more favourable comparing to the earlier solutions of cleaning due to the mechanical effect. In the flushing through overpressure air is applied. The air and the cleaning liquid input duration can be adjusted to the local conditions. The electronic control unit can be connected to the electric ircuits of robot.

• Transactions on Electrical and Electronic Materials
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• v.14 no.5
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• pp.254-257
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• 2013

In-situ optical emission spectroscopy (OES) is employed for PECVD chamber monitoring. OES is used as an addon sensor to monitoring and cleaning end point detection (EPD). On monitoring plasma chemistry using OES, the process gas and by-product gas are simultaneously monitored. Principal component analysis (PCA) enhances the capability of end point detection using OES data. Through chamber cleaning monitoring using OES, cleaning time is reduced by 53%, in general. Therefore, the gas usage of fluorine is also reduced, so satisfying Green Fab challenge in semiconductor manufacturing.