• International Journal of Precision Engineering and Manufacturing
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• 제5권3호
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• pp.69-76
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• 2004

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, an automatic polishing robot system was developed. The polishing robot system is composed of two subsystems, a three-axis machining center and a two-axis polishing head. The machining center is controlled by a FANUC controller, and the polishing head by DSP controller. The system has five degrees of freedom and is able to keep the polishing tool normal to the die surface during operation. To easily operate the developed polishing robot system, this study developed an integrated operating program in the Windows environment. The program consists of five modules: a polishing data generation module, a code separation module, a polishing module, a graphic simulator module, and a teaching module. Also, the automatic teaching system was developed to easily obtain teaching data and it consists of a three dimensional joystick and a proximity sensor. Also, to evaluate the performance of the integrated operating program and the polishing robot system, polishing experiments of a die of shadow mask were carried out.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2411-2413
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• 2003

A new small humanoid robot system is developed in this paper. The humanoid robot has total 20 DOFs : 6 DOFs in each legs, 3 DOFs in each arms, and 2 DOFs in head, 34cms in height, and 2kgs in weight. The robot has the following characteristics: (1) PDA as host controller (2) network-based joint controller (3) wireless camera attached in robot's head (4) mechanism design by CATIA and high speed laser prototyping (5) graphic MMI(Man-Machine Interface) utilizing the CATIA data. By using ADXL inclination sensor, we implement the rope swing with the robot leg motion as well as walking.

• International Journal of Safety
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• 제6권1호
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• pp.1-6
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• 2007

Operation of human-centered robot, in general, facilitates the creation of new process that may potentially harm the human operators. Design of safety-guaranteed operation of human-centered robots is, therefore, important since it determines the ultimate outcomes of operations involving safety of human operators. This study discusses the application of geometric tolerance and head injury criteria to safety assessment of human-centered robotic operations. Examples show that extending "Work Area" has more significant effect on the uncertainty in safety than extending the system range in the presence of velocity control.

• 로봇학회논문지
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• 제5권2호
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• pp.152-159
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• 2010

Finding a head of a person in a scene is very important for taking a well composed picture by a robot photographer because it depends on the position of the head. So in this paper, we propose a robust head tracking algorithm using a hybrid of an omega shape tracker and local binary pattern (LBP) AdaBoost face detector for the robot photographer to take a fine picture automatically. Face detection algorithms have good performance in terms of finding frontal faces, but it is not the same for rotated faces. In addition, when the face is occluded by a hat or hands, it has a hard time finding the face. In order to solve this problem, the omega shape tracker based on active shape model (ASM) is presented. The omega shape tracker is robust to occlusion and illuminationchange. However, whenthe environment is dynamic,such as when people move fast and when there is a complex background, its performance is unsatisfactory. Therefore, a method combining the face detection algorithm and the omega shape tracker by probabilistic method using histograms of oriented gradient (HOG) descriptor is proposed in this paper, in order to robustly find human head. A robot photographer was also implemented to abide by the 'rule of thirds' and to take photos when people smile.

• 로봇학회논문지
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• 제5권3호
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• pp.262-269
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• 2010

This paper presents a probabilistic head tracking method, mainly applicable to face recognition and human robot interaction, which can robustly track human head against various variations such as pose/scale change, illumination change, and background clutters. Compared to conventional particle filter based approaches, the proposed method can effectively track a human head by regularizing the sample space and sequentially weighting multiple visual cues, in the prediction and observation stages, respectively. Experimental results show the robustness of the proposed method, and it is worthy to be mentioned that some proposed probabilistic framework could be easily applied to other object tracking problems.

• 한국전자통신학회논문지
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• 제10권7호
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• pp.793-800
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• 2015

이동 로봇 Pan-Tilt 기구부에 장착된 스테레오 카메라의 Head-Eye 보정 및 Wheel 보정을 동시에 수행하는 방법을 제안한다. 카메라가 이동로봇의 고정형 기구부에 장착되어있는 경우를 고려한 기존의 방법들은 최근 일반적인 이러한 시스템에 적용될 수 없다. 이러한 문제점을 해결하기 위하여 본 논문에서는 기존 방법을 바탕으로 한 선형 반복적인 방법을 고안하였다. 이것은 동시보정을 통한 효율성뿐만 아니라 정확도 면에서도 만족할만한 결과를 얻었다. 그리고 비선형 최적화 기법을 통해 보다 높은 정확도의 보정을 구현했다.

• Archives of Plastic Surgery
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• 제40권4호
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• pp.353-358
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• 2013

Background Robots have allowed head and neck surgeons to extirpate oropharyngeal tumors safely without the need for lip-split incision or mandibulotomy. Using robots in oropharyngeal reconstruction is new but essential for oropharyngeal defects that result from robotic tumor excision. We report our experience with robotic free-flap reconstruction of head and neck defects to exemplify the necessity for robotic reconstruction. Methods We investigated head and neck cancer patients who underwent ablation surgery and free-flap reconstruction by robot. Between July 1, 2011 and March 31, 2012, 5 cases were performed and patient demographics, location of tumor, pathologic stage, reconstruction methods, flap size, recipient vessel, necessary pedicle length, and operation time were investigated. Results Among five free-flap reconstructions, four were radial forearm free flaps and one was an anterolateral thigh free-flap. Four flaps used the superior thyroid artery and one flap used a facial artery as the recipient vessel. The average pedicle length was 8.8 cm. Flap insetting and microanastomosis were achieved using a specially manufactured robotic instrument. The total operation time was 1,041.0 minutes (range, 814 to 1,132 minutes), and complications including flap necrosis, hematoma, and wound dehiscence did not occur. Conclusions This study demonstrates the clinically applicable use of robots in oropharyngeal reconstruction, especially using a free flap. A robot can assist the operator in insetting the flap at a deep portion of the oropharynx without the need to perform a traditional mandibulotomy. Robot-assisted reconstruction may substitute for existing surgical methods and is accepted as the most up-to-date method.

• 방송공학회논문지
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• 제25권4호
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• pp.537-544
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• 2020

본 논문에서는 FACS(Facial Action Coding System)에 기반을 둔 안드로이드 로봇 헤드의 개발을 통한 감정표현 방법을 제안한다. 안드로이드 로봇은 인간과 가까운 외모를 가진 로봇을 말하며, 인공 피부, 인공 근육을 가지고 있다. 감정 표현을 로봇으로 구현하기 위해서는 인공 근육의 개수와 배치를 정하여야 하는데 이를 위해 인간의 얼굴 움직임을 해부학적으로 분석하였다. FACS는 해부학을 기반으로 하여 표정을 만들 때의 얼굴의 움직임을 분석한 시스템이다. FACS에서는 표정은 AU(Action Unit)의 조합으로 만들어지며, 이 AU를 기반으로 로봇의 인공 근육의 수와 위치를 정하게 된다. 개발된 안드로이드 헤드는 30개의 인공 근육에 해당되는 모터와 와이어를 가지고 있으며, 표정 구현을 위한 인공 피부를 가지고 있다. 제한된 머리 공간에 많은 모터를 탑재하기 위해 spherical joint와 스프링을 이용하여 초소형 안구 모듈이 개발되었고, 와이어 경로의 효율적인 설계를 기반으로 30개의 모터가 배치되었다. 제작된 안드로이드 헤드는 30 자유도를 가지고 13개의 기본 감정 표현을 구현 가능하였고, 전시회에서 일반 관람객들을 대상으로 인식률을 평가 받았다.

• 한국운동역학회지
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• 제22권1호
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• pp.75-82
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• 2012

The purpose of this study was to suggest the proper shaft and head fitting methods of the golf club to increase the flight distance of the golf ball. Rotations per minute of the golf ball(RPM), ratio of Ball speed to club head speed(T-Ratio) and launch angle right after impact(LA), which are directly related to ball flight distance, were measured using Spectra with shutter speed of 1/1000sec at the constant head speed of 95mph which was controlled by robot golf swing machine. In order to investigate the effect of club shaft to the 3 selected variables, 10 shafts were used to make ten test clubs with one controlled club head which is the most commonly used by golf players. To measure the effect of the club head to the 3 selected variables, 6 golf club heads which are most commonly used by golfers were selected to make 6 test clubs with a controlled shaft which is one of the best known by players. The shafts and the heads were identified by statistical analysis to increase or decrease the RPM, T-ratio and LA. A proper fitting method of the selected shafts and the club head was suggested to increase the ball flight distance in golf.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.486-491
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• 2005

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.