• 전기학회논문지
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• 제58권3호
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• pp.605-613
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD (Head Mounted Display) to control the tele-operated vision system on the mobile robot. In the preexistence tele-operated vision system, a joystick was used to control the pan-tilt unit of the remote camera system. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image. The simple experiment is conducted to demonstrate the feasibility.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.360-362
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD(Head Mounted Display) using the feature points detection to control the tele-operated vision system on the mobile robot. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image.

• Journal of Mechanical Science and Technology
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• 제19권2호
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• pp.578-588
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• 2005

Face robots capable of expressing their emotional status, can be adopted as an efficient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with artificial muscle based on dielectric elastomer. By exploiting the properties of dielectric elastomer, it is possible to actuate the covering skin, eyes as well as provide human-like expressivity without employing complicated mechanisms. The robot is driven by seven actuator modules such eye, eyebrow, eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles. Although they are only part of the whole set of facial motions, our approach is sufficient to generate six fundamental facial expressions such as surprise, fear, angry, disgust, sadness, and happiness. In the robot, each module communicates with the others via CAN communication protocol and according to the desired emotional expressions, the facial motions are generated by combining the motions of each actuator module. A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권6호
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• pp.258-266
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• 2002

This paper proposes the methodology of the image processing algorithm that estimates the pose of the inner-pipe crawling robot. The inner-pipe crawling robot is usually equipped with a lighting device and a camera on its head for monitoring and inspection purpose of defects on the pipe wall and/or the maintenance operation. The proposed methodology is using these devices without introducing the extra sensors and is based on the fact that the position and the intensity of the reflected light from the inner wall of the pipe vary with the robot posture and the camera. The proposed algorithm is divided into two parts, estimating the translation and rotation angle of the camera, followed by the actual pose estimation of the robot . Based on the fact that the vanishing point of the reflected light moves into the opposite direction from the camera rotation, the camera rotation angle can be estimated. And, based on the fact that the most bright parts of the reflected light moves into the same direction with the camera translation, the camera position most bright parts of the reflected light moves into the same direction with the camera translation, the camera position can be obtained. To investigate the performance of the algorithm, the algorithm is applied to a sewage maintenance robot.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.193-200
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• 2012

Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede's legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot's height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot's height and 58 % of the robot's length.

• 한국생산제조학회지
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• 제21권4호
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• pp.563-569
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• 2012

In the semiconductor and display device production processes, the handling of sensitive objects needs new carrying technology. Floating carrying motion is a practical alternative solution for non-contact handling of parts and substrates. This paper presents a study of through paths inside the air pressure pick-up head to generate the floating motion. The air motion by conceptual designed paths inside the head gradually develops positive pressure and vacuum between narrow objects. Positive pressure occurs through the head tip before discharging outside of the head. Negative pressure is developed by evacuating the inside head bottom as result of the radial flow connecting the vertical through-holes. The numerical analysis was done to figure out the stable levitation caused by the two acting forces between surfaces. In comparing with the standard case that the levitation gap gets 0.7-0.9 mm, it confirms the suggested head characteristics to show floating capacity in accordance with the head size, number of through-hole, and locations of through-hole in succession of conceptual design for a prototype.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.674-680
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• 2010

It is known that many insects and animals can return to their nest after exploration, with their own specific homing mechanisms. Their homing navigation methods have been applied to the robotic navigation. In this paper, we test the sector-based image matching method motivated by the honeybee's landmark navigation behaviour. Here, our robotic approach uses the reference compass to identify the current head direction and the relative angular position of landmarks for the navigation. The robot shows desirable homing behaviors if the robot is surrounded by landmarks. The result of robot experiment is in good agreement with that of simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.751-755
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• 2005

We propose a sound source localization method using the Head-Related-Transfer-Function (HRTF) to be implemented in a robot platform. In conventional localization methods, the location of a sound source is estimated from the time delays of wave fronts arriving in each microphone standing in an array formation in free-field. In case of a human head this corresponds to Interaural-Time-Delay (ITD) which is simply the time delay of incoming sound waves between the two ears. Although ITD is an excellent sound cue in stimulating a lateral perception on the horizontal plane, confusion is often raised when tracking the sound location from ITD alone because each sound source and its mirror image about the interaural axis share the same ITD. On the other hand, HRTFs associated with a dummy head microphone system or a robot platform with several microphones contain not only the information regarding proper time delays but also phase and magnitude distortions due to diffraction and scattering by the shading object such as the head and body of the platform. As a result, a set of HRTFs for any given platform provides a substantial amount of information as to the whereabouts of the source once proper analysis can be performed. In this study, we introduce new phase and magnitude criteria to be satisfied by a set of output signals from the microphones in order to find the sound source location in accordance with the HRTF database empirically obtained in an anechoic chamber with the given platform. The suggested method is verified through an experiment in a household environment and compared against the conventional method in performance.

• International Journal of Safety
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• 제5권2호
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• pp.12-17
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• 2006

Operations 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 information-theoretic measures to safety assessment of human-centered robotic operations. Some examples are given.

• 한국건설관리학회논문집
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• 제21권2호
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• pp.98-106
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• 2020

선행연구(Yeom, 2018)에서는 PHC 파일 두부정리 작업의 문제점을 인지하고 PHC 파일 두부정리 작업의 전 과정을 노무자의 투입 없이 수행할 수 있도록 하는 All-in-one 어태치먼트 기반 PHC 파일 원커팅 두부정리 자동화 로봇의 프로토타입을 개발하였다. 본 연구의 목적은 선행연구(Yeom, 2018)를 통해 개발된 프로토타입의 개선요구사항을 반영하여 최종 프로토타입을 개발하고, 개발된 최종 프로토타입에 대한 설문조사 기반의 기술적 타당성 분석, 현장 적용성 분석을 수행하는 것이다. 최종 프로토타입에 대한 기술적 타당성 분석 결과, PHC 파일 절단 위치 센싱부에서 89.9%, PHC 파일 절단부에서 74.2%, PHC 파일 핸들링부에서 82.8%의 응답자가 기술적 타당성에 대해 높게 평가하였으며, 작업 안전성 측면에서 81.8%, 작업 생산성 측면에서 66.6%, 작업 편의성 측면에서 90.9%, 절단면 품질 측면에서 72.7%의 응답자가 재래식 방식 대비 해당 측면의 향상 효과를 우수하게 평가하였다. 본 연구 결과에 기대어 볼 때 추후 본 연구를 통해 개발된 All-in-one 어태치먼트 기반 PHC 파일 원커팅 두부정리 자동화 로봇이 실제 현장에 적용될 경우 그 파급효과가 매우 우수할 것으로 기대된다.