• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.21 no.5
• /
• pp.103-110
• /
• 2020

Bio-inspired underwater robots have been studied to improve the dynamic performance of fins, such as swimming speed and efficiency, which is the most basic performance. Among them, bio-inspired soft robots with a compliant tail fin can have high degrees of freedom. On the other hand, to improve the driving efficiency of the compliant fins, the stiffness of the tail fin should be changed with the driving frequency. Therefore, a new type of variable stiffness mechanism has been developed and verified. This study, which was inspired by the anatomy of a real dolphin, assessed a process of designing and manufacturing a robotic dolphin with a variable stiffness mechanism. By mimicking the vertebrae of a dolphin, the variable stiffness driving part was manufactured using subtractive and additive manufacturing. A driving tendon was placed considering the location of the tendon in the actual dolphin, and the additional tendon was installed to change its stiffness. A robotic dolphin was designed and manufactured in a streamlined shape, and the swimming speed was measured by varying the stiffness. When the stiffness of the tail fin was varied at the same driving frequency, the swimming speed and thrust changed by approximately 1.24 and 1.5 times, respectively.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1066-1071
• /
• 2005

This paper presents the two lossless auxiliary inductors-assisted voltage source type half bridge (single ended push pull: SEPP) series resonant high frequency inverter for induction heated fixing roller in copy and printing machines. The simple high-frequency inverter treated here can completely achieve stable zero current soft switching (ZCS) commutation for wide its output power regulation ranges and load variations under its constant high frequency pulse density modulation (PDM) scheme. Its transient and steady state operating principle is originally described and discussed for a constant high-frequency PDM control strategy under a stable ZCS operation commutation, together with its output effective power regulation characteristics-based on the high frequency PDM strategy. The experimental operating performances of this voltage source SEPP ZCS-PDM series resonant high frequency inverter using IGBTs are illustrated as compared with computer simulation results and experimental ones. Its power losses analysis and actual efficiency are evaluated and discussed on the basis of simulation and experimental results. The feasible effectiveness of this high frequency inverter appliance implemented here is proved from the practical point of view.

• The Journal of Korea Robotics Society
• /
• v.3 no.2
• /
• pp.81-90
• /
• 2008

While increasing demand of the service for the disabled and the elderly people, assistive technologies have been developed rapidly. The natural signal of human such as voice or gesture has been applied to the system for assisting the disabled and the elderly people. As an example of such kind of human robot interface, the Soft Remote Control System has been developed by HWRS-ERC in $KAIST^[1]$. This system is a vision-based hand gesture recognition system for controlling home appliances such as television, lamp and curtain. One of the most important technologies of the system is the hand gesture recognition algorithm. The frequently occurred problems which lower the recognition rate of hand gesture are inter-person variation and intra-person variation. Intra-person variation can be handled by inducing fuzzy concept. In this paper, we propose multivariate fuzzy decision tree(MFDT) learning and classification algorithm for hand motion recognition. To recognize hand gesture of a new user, the most proper recognition model among several well trained models is selected using model selection algorithm and incrementally adapted to the user's hand gesture. For the general performance of MFDT as a classifier, we show classification rate using the benchmark data of the UCI repository. For the performance of hand gesture recognition, we tested using hand gesture data which is collected from 10 people for 15 days. The experimental results show that the classification and user adaptation performance of proposed algorithm is better than general fuzzy decision tree.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.5
• /
• pp.480-488
• /
• 2006

Industrial and economical importance of CP(Cellular Phone) is growing rapidly. Combined with IT technology, CP is one of the most attractive technologies of today. However, unless we find a new breakthrough in the technology, its growth may slow down soon. RT(Robot Technology) is considered one of the most promising next generation technologies. Unlike the industrial robot of the past, today's robots require advanced features, such as soft computing, human-friendly interface, interaction technique, speech recognition object recognition, among many others. In this paper, we present a new technological concept named RCP (Robotic Cellular Phone) which integrates RT and CP in the vision of opening a combined advancement of CP, IT, and RT, RCP consists of 3 sub-modules. They are $RCP^{Mobility}$(RCP Mobility System), $RCP^{Interaction}$, and $RCP^{Integration}$. The main focus of this paper is on $RCP^{Mobility}$ which combines an autonomous navigation system of the RT mobility with CP. Through $RCP^{Mobility}$, we are able to provide CP with robotic functions such as auto-charging and real-world robotic entertainment. Ultimately, CP may become a robotic pet to the human beings. $RCP^{Mobility}$ consists of various controllers. Two of the main controllers are trajectory controller and self-localization controller. While the former is responsible for the wheel-based navigation of RCP, the latter provides localization information of the moving RCP With the coordinates acquired from RFID-based self-localization controller, trajectory controller refines RCP's movement to achieve better navigation. In this paper, a prototype of $RCP^{Mobility}$ is presented. We describe overall structure of the system and provide experimental results on the RCP navigation.

• Proceedings of the Korean Vacuum Society Conference
• /
• 2012.08a
• /
• pp.76-76
• /
• 2012

Surface engineering of polymers has a broad array of scientific and technological applications that range from tissue engineering, regenerative medicine, microfluidics and novel lab on chip devices to building mechanical memories, stretchable electronics, and devising tunable surface adhesion for robotics. Recent advancements in the field of nanotechnology have provided robust techniques for controlled surface modification of polymers and creation of structural features on the polymeric surface at submicron scale. We have recently demonstrated techniques for controlled surfaces of soft and relatively hard polymers using ion beam irradiation and plasma treatment, which allows the fabrication of nanoscale surface features such as wrinkles, ripples, holes, and hairs with respect to its polymers. In this talk, we discuss the underlying mechanisms of formation of these structural features. This includes the change in the chemical composition of the surface layer of the polymers due to ion beam irradiation or plasma treatment and the instability and mechanics of the skin-substrate system. Using ion beam or plasma irradiation on polymers, we introduce a simple method for fabrication of one-dimensional, two-dimensional and nested hierarchical structural patterns on polymeric surfaces on various polymers such as polypropylene (PP), polyethylene (PE), poly (methyl methacrylate) PMMA, and polydimethylsiloxane (PDMS).

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1235-1239
• /
• 2003

On the base of network frame and protocol system of Ethernet the networked sensing technology based on Ethernet is studied and the design principles of industrial Ethernet measurement of control system is put forward, and the general structure model is built in the paper. An eight-bit economical MCU scheme is proposed, and a general scheme of distributed intelligent networked measuring and control equipment based on TCP/IP is designed too. A compact TCP/IP protocol stack are successfully implemented in eight-bit MCU. With C51 program language, method of modularized programming is applied in soft design. The problem of in-system modifying measuring and control strategy of its system is solved successfully by assigning memory dynamically and saving parameter with EEPROM, and it makes the intelligent networked measurement and control system can explain and analyses control strategy from PC. Experiment result shows that, the research of intelligent networked measurement and control equipment and system base on TCP/IP is successful, with flexible network, convenient usage, and good commonality.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.392-395
• /
• 2003

In the maritime container terminal, LMTT (Linear Motor-based Transfer Technology) is horizontal transfer system for the yard automation, which has been proposed to take the place of AGV (Automated Guided Vehicle). The system is based on PMLSM (Permanent Magnetic Linear Synchronous Motor) that is consists of stator modules on the rail and shuttle car (mover). Because of large variant of mover's weight by loading and unloading containers, the difference of each characteristic of stator modules, and a stator module's trouble etc., LMCPS (Linear Motor Conveyance Positioning System) is considered as that the system is changed its model suddenly and variously. In this paper, we will introduce the soft-computing method of a multi-step prediction control for LMCPS using DR-FNN (Dynamically-constructed Recurrent Fuzzy Neural Network). The proposed control system is used two networks for multi-step prediction. Consequently, the system has an ability to adapt for external disturbance, cogging force, force ripple, and sudden changes of itself.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.820-824
• /
• 2004

Personal Robot System in developing, have a module architecture, each module are connected through heterogeneors network systems like Ethernet, WLAN (802.11), IEEE1394 (Firewire), Bluetooth, USB, CAN, or RS-232C. In developing personal robot system we think that the key of robot performance is interoperability among modules. Each network protocol are well connected in the view of network system for the interoperability. So we make a bridging architecture that can routing, converting, transporting data packets with matcing each network's properties. Furthermore we suggest a advanced design scheme for realtime / non-realtime and control signal (short, requiring hard-realtime) / multimedia data (large, requiring soft-realtime). By some application systems, we could test performance, interoperability and stability. In this paper, we show our design concept, middleware architecture, and some applications systems using this middleware.

• Proceedings of the Korean Vacuum Society Conference
• /
• 2016.02a
• /
• pp.363.2-363.2
• /
• 2016

Stretchable strain sensors are becoming essential in diverse future applications, such as human motion detection, soft robotics, and various biomedical devices. One of the well-known approaches for fabricating stretchable strain sensors is to embed conductive nanomaterials such as metal nanowires/nanoparticles, graphene, conducting polymer and carbon nanotubes (CNTs) within an elastomeric substrate. Among various conducting nanomaterials, CNTs have been considered as important and promising candidate materials for stretchable strain sensors owing to their high electrical conductivity and excellent mechanical properties. In the past decades, CNT-based strain sensors with high stretchability or sensitivity have been developed. However, CNT-based strain sensors which show both high stretchability and sensitivity have not been reported. Herein, highly stretchable and sensitive strain sensors were fabricated by integrating single-walled carbon nanotubes (SWNTs) and nylon textiles via vacuum-assisted spray-layer-by-layer process. Our strain sensors had high sensitivity with 100 % tensile strain (gauge factor ~ 100). Cyclic tests confirmed that our strain sensors showed very robust and reliable characteristic. Moreover, our SWNTs-based strain sensors were easily and successfully integrated on human finger and knee to detect bending and walking motion. Our approach presented here might be route to preparing highly stretchable and sensitive strain sensors with providing new opportunity to realize practical wearable devices.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2138-2142
• /
• 2005

A wearable sensor system is proposed as a man-machine interface to control a device for walking assistance. The sensor system is composed of small sensors to detect the information about the user's body motion such as the activity level of skeletal muscles and the acceleration of each body parts. Each sensor includes a microcomputer and all the sensors are connected into a network by using the serial communication function of the microcomputer. The whole network is integrated into a belt made of soft fabric, thus, users can put on/off very easily. The sensor system is very reliable because of its decentralized network configuration. The body information obtained from the sensor system is used for controlling the assisting device to achieve a comfortable and an effective walking training.