• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.480-485
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• 2002

The purpose of this paper is the development of guidance algorithm for a mobile robot which is used to acquire the position and state information of the pipe defects such as crack, damage and through hole. The data used for the algorithm is the range data obtained by the range sensor which is based on an optical triangulation method. The sensor, which consists of a laser slit beam and a CCD camera, measures the 3D profile of the pipe's inner surface. After setting the range sensor on the robot, the robot is put into a pipe. While the camera and the LSB sensor part is rotated about the robot axis, a laser slit beam (LSB) is projected onto the inner surface of the pipe and a CCD camera captures the image. From the images the range data is obtained with respect to the sensor coordinate through a series of image processing and applying the sensor matrix. After the data is transformed into the robot coordinate, the position and orientation of the robot should be obtained in order to guide the robot. In addition, analyzing the data, 3D shape of the pipe is constructed and the numerical data for the defects of the pipe can be found. These data will be used for pipe maintenance and service.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.96-103
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• 2009

This paper describes a humanoid robot's intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn't get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the sales of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot's intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.547-551
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• 1996

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.

• International Journal of CAD/CAM
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• v.3 no.1_2
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• pp.77-83
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• 2003

We propose two algorithms to generate (1) polygonal meshes and (2) developable surface patches far generalized cylinders defined by contours of discrete curves. To solve the contour blending problem of generalized cylinder, the presented algorithms have adopted the algorithm and related properties of LIDM (linear interpolation by direction map) that interpolate geometric shapes based on direction map merging and group scaling operations. Proposed methods are fast to compute and easy to implement.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.541-544
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• 1993

This paper attempts to propose new procedures to evaluate roughness of ground metallic surface in the range of 1-10.mu.m from data gained by an optical, in-process measurement of the surfaces. Studies are made to process the data of reflected lights pointed at the surface to be measured. Results obtained are compared with those of measurement by stylus roughness meter. Correlations between the two types of roughness measurement are well. The proposed method can be used as a sensor for a polishing robot.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.359-361
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• 1993

In this paper, a variable structure controller with time-varying sliding surface is proposed for robot manipulators. The proposed time-varying sliding surface ensures the existence of sliding mode from an initial state, while the contentional sliding surface cannot achieve the robust performance against parameter variations and disturbances before the sliding mode occurs. Therefore, error transient can be fully prescribed in advance for all time. Furthermore, it is shown that the overall system is globally exponetially stable. The efficiency of the proposed method for the trajectory tracking has been demonstrated by simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.595-601
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• 2005

A mobile robot system utilizing NDT (Non-Destructive Testing) method is designed and fabricated f3r automatic integrity evaluation of large sized industrial reservoirs and pipelines. The developed mobile robot can crawl over the outer surface of the industrial facilities even though the shape of the structures is various and unsymmetric. The robot detects defects such as pinholes, cracks and thickness reduction at the wall of the facilities using EMAT (Electro-Magnetic Acoustic Transducer). Image processing technology for weld line detection at the surface of the target and host programs including defect detecting algorithms are also developed. Automation of defect detection for these kinds of large facilities using mobile robots is helpful to prevent significant troubles of the structures without danger of human beings under harmful environment.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.234-239
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• 2003

A cylindrical shape object is widely used as a mechanical part and a water pipe or an oil pipeline which are of cylindrical shape are widely used in the infrastructure. In order to handling such objects automatically using a robot, the posture i.e. orientation in 3D space should be recognized. However, since there is no edge or vertex in the pipe, it is very difficult task for the robot. In this paper in order to guide the robot, two kind of algorithms which find the axis using the measured range data from the robot to the object surface are to be developed. The algorithms are verified using both the simulated range data and the measured one.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1427-1432
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• 2008

This paper describes the locomotion of a water jumping robot which attempts to emulate the fishing spider’s ability to jump on the water surface. While previous studies of the robots mimicking arthropods living on water were focused on recreating their horizontal skating motions, here we aim to achieve a vertical jumping motion. The robot jumps by pushing the water surface with rapidly released legs which were initially bent. The motion is triggered with a latch driven by the shape memory alloy actuator. The robot is capable of jumping to the maximum height of 26mm. Jumping efficiency, defined the maximum jumping height on water over the maximum jumping height on rigid ground, is 0.26 This work represents a first step toward robots that can locomote on water with superior versatility including skating and jumping.

• Journal of Drive and Control
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• v.19 no.1
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• pp.1-7
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• 2022

Recently, a re-painting robot was developed to semi-automatically conduct blasting work in bridge spaces to improve work productivity and worker safety. In this study, a vision sensor-based monitoring module was developed to automatically move the re-painting robot along the path. The monitoring module provides direction information to the robot by analyzing the boundary between the painting surface and the metal surface. To stably measure images in unstable environments, various techniques for improving image visibility were applied in this study. Then, the driving performance was verified in a similar environment.