• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.223-226
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• 2008

This paper presents an effectiveness of a four-link mechanism with a tip which has four joints, but only one is an active joint. Even though the degree-of-freedom of the mechanism is one, it can be applied to implement a combined joint motion adequately. So, this paper analyzes its motion for effective robotic applications.

• 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.

• The Journal of the Korean bone and joint tumor society
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• v.13 no.1
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• pp.14-21
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• 2007

Bone is a common site for metastatic spread from many kinds of malignancies. The morbidity associated with this metastatic spread can be significant, including severe pain. When it comes to spinal metastasis, occupying nearly 40% of skeletal metastases, the risks of complications, such as vertebral body collapse, nerve root impingement, or spinal cord compression, are also significant. Because of the necessity of preserving the integrity of the spinal column and the proximity of critical structures, surgical treatment has limitations when durable local control is desired. Radiotherapy, therefore, is often used as an adjunct treatment or as a sole treatment. A considerable limitation of standard radiotherapy is the reported recurrence rate or ineffective palliation of pain, either clinically or symptomatically. This may be due to limited radiation doses to tumor itself because of the proximity of critical structures. CyberKnife is an image-guided robotic radiosurgical system. The image guidance system includes a kilovoltage X-ray imaging source and amorphous silica detectors. The radiation delivery device is a mobile X-band linear accelerator (6 MV) mounted on a robotic arm. Highly conformal fields and hypofractionated radiotherapy schedules are increasingly being used as a means to achieve biologic dose escalation for body tumors. Therefore, we can give much higher doses to the targeted tumor volume with minimizing doses to the surrounding critical structures, resulting in more effective local control and less severe side effects, compared to conventional fractionated radiotherapy. A description of this technology and a review of clinical applications to bone metastases are detailed herein.

• International Journal of Precision Engineering and Manufacturing
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• v.8 no.4
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• pp.16-21
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• 2007

Robotic applications, such as automatic fish cutting, require online trajectory planning because the material properties of the object, such as the bone or flesh conditions, are not known in advance. Different trajectories are required when the material properties vary. An effective online trajectory-planning algorithm is proposed using quaternions to determine the position and orientation of a robot manipulator with a spherical wrist. Quaternions are free of representation singularities and permit computationally efficient orientation interpolations. To prevent singular configurations, the exact locations of the kinematic singularities of the PUMA 560 manipulator are derived and geometrically illustrated when a forearm offset exists and the third link length is not zero.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.6
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• pp.634-639
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• 2014

This paper specifies a collision alarm using an infrared distance sensor that can identify the dangerousness of collision of active mobile robotic systems to various objects, such as unknown objects or another robots. And we analyse the major operating signals and features of the collision alarm for effective industrial applications. For the purpose, we consider a typical parking situation of a mobile robotic system with the collision alarm designed. As a result, it is shown that the proposed collision alarm is applicable for effective collision avoidance and safe driving of various mobile robots or vehicles.

• International Journal of Computer Science & Network Security
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• v.24 no.1
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• pp.17-22
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• 2024

The objective of this work is to design a low cost yet fully functional 4-DOF articulate manipulator for educational applications. The design is based on general purpose, programmable smart servo motors namely the Dynamixel Ax-12. The mechanism for motion was developed by formulating the equations of kinematics and subsequent solutions for joint space variables. The trajectory of end-effector in joint variable space was determined by interpolation of a 3rd order polynomial. The solutions were verified through computer simulations and ultimately implemented on the hardware. Owing to the feedback from the built-in sensors, it is possible to correct the positioning error due to loading effects. The proposed solution offers an efficient and cost-effective platform to study the trajectory planning as well as dynamics of the manipulator.

• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.1
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• pp.1-8
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• 2024

Robotic arms have been widely utilized in various labor-intensive industries such as manufacturing, agriculture, and food services, contributing to increasing productivity. In the development of industrial robotic arms, camera sensors have many advantages due to their cost-effectiveness and small sizes. However, estimating object positions is a challenging problem, and it critically affects to the robustness of object manipulation functions. This paper proposes a method for estimating the 3D positions of objects, and it is applied to a pick-and-place task. A deep learning model is utilized to detect 2D bounding boxes in the image plane, and the pinhole camera model is employed to compute the object positions. To improve the robustness of measuring the 3D positions of objects, we analyze the effect of lens distortion and introduce a false positive filtering process. Experiments were conducted on a real-world scenario for moving medicine bottles by using a camera-based manipulator. Experimental results demonstrated that the distortion removal and false positive filtering are effective to improve the position estimation precision and the manipulation success rate.

• Proceedings of the KIEE Conference
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• 1987.07b
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• pp.1210-1212
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• 1987

Adaptive control for robot manipulator controller has been considered as an effective approach because robot dynamic models contain the nonlinearities and uncertainties. This paper present an approach for the position and velocity control of a manipulator by using the seif-tuning type controller for each point. The complicated model manipulator system is modeled by a set of time series difference equation. The parameters of the models are determined by online recursive algorithms. Finally some remarks on the effectiveness and applications of adaptive controller are discussed.

• Journal of Korea Society of Industrial Information Systems
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• v.16 no.4
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• pp.45-52
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• 2011

In the real-field of control cases for robot manipulators, there always exists a modeling error, which results the model has the uncertainties in its parameters and/or structure. In many modem applications, digital computers are extensively used to implement control algorithms to control such systems. The discretization of the nonlinear dynamic equations of such systems results in a complicated discrete dynamic equations. Therefore, it will be difficult to design a discrete-time controller to give good tracking performances in the presence of certain uncertainties. In this paper, a discrete-time sliding mode control algorithm for nonlinear and time varying robot manipulators with uncertainties is presented. Sufficient conditions for guaranteeing the convergence of the discrete-time SMC system are derived. As example simulations, the proposed SMC algorithm is applied to a two-link robotic manipulator with unknown dynamics. The results of the simulation indicate that the developed control scheme is effective in manipulators and electro-mechanical system control.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.226-234
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• 1998

The concept of dynamic tracking line is proposed as the feasible tracking region for a robot in a robot-conveyor system, which takes the conveyor speed into consideration. This paper presents an effective method to identify the dynamic tracking line in a robotic workcell. The maximum line speed of a robot is derived in an analytic form using the parameterized dynamics and kinematics of the manipulator, and some of its properties are established mathematically. The identification problem of the dynamic tracking line is then formulated as a root-solving problem for a single-variable equation, and solved by using a simple numerical technique. Finally, numerical examples are presented to demonstrate the methodology and its applications in workspace specification.