• Journal of IKEEE
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• v.24 no.2
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• pp.638-648
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• 2020

Currently, the method of user-follwoing in intelligent cooperative robots usually based in vision system and using Lidar is common and have excellent performance. But in the closed space of Corona 19, which spread worldwide in 2020, robots for cooperation with medical staff were insignificant. This is because Medical staff are all wearing protective clothing to prevent virus infection, which is not easy to apply with existing research techniques. Therefore, in order to solve these problems in this paper, the ultrasonic sensor is separated from the transmitting and receiving parts, and based on this, this paper propose that estimating the user's position and can actively follow and cooperate with people. However, the ultrasonic sensors were partially applied by improving the Median filter in order to reduce the error caused by the short circuit in communication between hard reflection and the number of light reflections, and the operation technology was improved by applying the curvature trajectory for smooth operation in a small area. Median filter reduced the error of degree and distance by 70%, vehicle running stability was verified through the training course such as 'S' and '8' in the result.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.2
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• pp.309-316
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• 2022

Advances in technology have improved people's lives comfortably and have developed more easily, safely and simply. We usually turn on hot water to set the temperature of the water in the bathroom and gradually adjust the temperature to find the temperature we want with our skin. In this situation, I thought, "What if there is a device that can see the temperature of water with my eyes and help with the interior of the bathroom while including a safe system," and tried to create a system that values stability. For example, if a child accidentally changes the temperature of the water to high temperature while washing, he or she can get burned. And the biggest purpose is to secure better safety by adding LCDs and LEDs so that we can visually know the temperature before feeling it tactilely. As a result of the experiment, there was no error between the temperature detected by the water temperature sensor and the temperature displayed on the LCD, and no error occurred up to 27 cm in the distance measurement experiment using the ultrasonic sensor. There has been an error of about 2% since 28cm or older, but there is no significant inconvenience in using it within the category of faucets.

• Proceedings of the Korean Vacuum Society Conference
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• 2010.02a
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• pp.49-49
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• 2010

Nanopiezotronics is an emerging area of nanotechnology with a variety of applications that include piezoelectric field-effect transistors and diodes, self-powered nanogenerators and biosystems, and wireless nano/biosensors. By exploiting coupled piezoelectric and semiconducting characteristics, it is possible for nanowires, nanobelts, or nanorods to generate rectifying current and potential under external mechanical energies such as body movement (handling, winding, pushing, and bending) and muscle stretching, vibrations (acoustic and ultrasonic waves), and hydraulic forces (body fluid and blood flow). Fully transparent, flexible (TF) nanogenerators that are operated by external mechanical forces will be presented. By controlling the density of the seed layer for ZnO nanorod growth, transparent ZnO nanorod arrays were grown on ITO/PES films, and a TF conductive electrode was stacked on the ZnO nanorods. The resulting integrated TF nanodevice (having transparency exceeding 70 %) generated a noticeable current when it was pushed by application of an external load. The output current density was clearly dependent on the force applied. Furthermore, the output current density depended strongly on the morphology and the work function of the top electrode. ZnO nanorod-based nanogenerators with a PdAu, ITO, CNT, and graphene top electrodes gave output current densities of approximately $1-10\;uA/cm^2$ at a load of 0.9 kgf. Our results suggest that our TF nanogenerators are suitable for self-powered TF device applications such as flexible self-powered touch sensors, wearable artificial skins, fully rollable display mobile devices, and battery supplements for wearable cellular phones.

• Journal of the Korean Ceramic Society
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• v.50 no.6
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• pp.466-469
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• 2013

Currently, piezoelectric ceramics are being applied in various fields, such as ultrasonic sensors, vibration devices, sound filters, and various energy conversion devices. Flexible piezoelectric ceramics are widely studied in an effort to mitigate the disadvantages of their brittle and inductile properties. Structural damage to piezoelectric fibers is much less than that to thin films when piezoelectric fibers are twisted or bent. Therefore, stretchable devices can be fabricated if piezoelectric fibers are obtained using an elongated substrate. In this study, sintering processes of PZT ($Pb(Zr_{0.53}Ti_{0.47})O_3$) fibers prepared by electrospinning were optimized through the TGA and XRD analyses. The crystal structure and microstructure of the piezoelectric fibers were investigated by XRD, FE-SEM and TEM.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1290-1303
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• 2005

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1116-1120
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• 2004

In the nuclear power plant, there are several cylindrical vessels such as reactor vessel, pressuriser and so on. The vessels are usually constructed by welding large rolled plates, forged sections or nozzle pipes together. In order to assure the integrity of the vessel, these welds should be periodically inspected using sensors such as ultrasonic transducer or visual cameras. This inspection is usually conducted under water to minimize exposure to the radioactively contaminated vessel walls. The inspections have been performed by using a conventional inspection machine with a big structural sturdy column, however, it is so huge and heavy that maintenance and handling of the machine are extremely difficult. It requires much effort to transport the system to the site and also requires continuous use of the utility's polar crane to move the manipulator into the building and then onto the vessel. Setup beside the vessel requires a large volume of work preparation area and several shifts to complete. In order to resolve these problems, we have developed an underwater mobile robot guided by the laser pointer, and performed a series of experiments both in the mockup and in the real reactor vessel. This paper introduces our robotic inspection system and the laser guidance of the mobile robot as well as the results of the functional test.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.888-891
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• 2005

In this paper, the prototype of a walking guide robot with tactile display is introduced, and the psychophysical experiment of the tactile recognition for a tactile display is carried out and analyzed. The objective of this research is the development of a walking guide robot for the blind to walk safely. A walking guide robot consists of a guide vehicle and a tactile display device. A guide vehicle, located in the front of the walking blind, detects the obstacle using ultrasonic sensors and offers the information of position and walking direction acquired from GPS module to the walking blind by voice. The tactile display device, located in the handle which is connected with the guide vehicle by cane, offers the processed obstacle information such as position, size, moving, shape of obstacle and safe path, etc. The psychophysical experiments for the threshold of perception and recognition ability of tactile stimulation are carried out by the estimation of the subject group. As a result the appropriate tactile stimulus intensity and frequency to recognize tactile stimulation effectively are discussed and derived.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1139-1145
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• 2008

A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.

• Proceedings of the KIEE Conference
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• 2002.07c
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• pp.1694-1697
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• 2002

KEPCO is planing to adopt a preventive diagnostic system to obtain the reliability of transformer and GIS in 765kV substation. KEPRI has developed the preventive diagnostic system for 765kV substation since 1997. We used various sensors and fault detecting devices such as a dissolved gas analyzer in oil, a ultrasonic detector and LA leakage current detector, etc., and carried out adaptation tests at the both a laboratory and a site. We developed a data acquisition system, a communication control unit and a server system as well. Furthermore, monitoring program and diagnostic expert system were also developed. This paper describes the preventive diagnostic system for 765kV Sin-Ga-Pyong and Sin-Tae-Baek substations which will be operated from 2004.