• 로봇학회논문지
• /
• 제5권4호
• /
• pp.326-331
• /
• 2010

Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment.

• Investigative Magnetic Resonance Imaging
• /
• 제21권2호
• /
• pp.119-124
• /
• 2017

Chromophobe renal cell carcinoma (RCC) is an uncommon subtype of RCC having a better prognosis than clear cell RCC. Although there are several reports of seeding metastasis of RCC after biopsy, seeding metastasis of chromophobe RCC after surgical resection has seldom been reported. Here, we describe a case of multiple seeding metastases in the abdomen and pelvis 78 months after robot-assisted laparoscopic partial nephrectomy, without prior history of biopsy for chromophobe RCC in the right kidney. As magnetic resonance imaging (MRI) of the pelvic mass showed a similar appearance to the primary renal mass and displayed separate margins with the rectum and prostate gland, we were able to make a diagnosis before pathologic confirmation.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.32.6-32
• /
• 2001

This paper describes the steering control and geomagnetism cancellation for an autonomous mobile robotusing MR sensors. The magnetic-resistive (MR) sensor obtains the vector summation of the magnetic fields from embedded magnets and the Earth. The robot is controlled by the magnetic fields from embedded magnets. So, geomagnetism is the disturbance in the steering control system. In this paper, we propose a new method of the sensor arrangement in order to remove the geomagnetism and robotbody interference. The proposed method uses two MR sensors located in a level plane and the steering controller has been developed. The controller has three input variables (dBx, dBy, dBz) using the measured magnetic field difference, and an output variable (the steering angle) ...

• 로봇학회논문지
• /
• 제17권2호
• /
• pp.172-177
• /
• 2022

In general, detection robots using ultrasonic sensors are equipped with sensors to protrude outward or to contact objects. However, in the case of a screw-propelled robot that detects the inside of a reactor tendon duct, if the ultrasonic sensor protrudes to the outside, resistance due to grease is generated, and thus the propulsion efficiency is reduced. In order to increase the propulsion efficiency, the screw must be sharp, and the sharper the screw, the more difficult it is to apply a high-performance ultrasonic sensor, and the detection efficiency decreases. This paper proposes a screw shape-changing mechanism that can improve both propulsion efficiency and detection efficiency. This mechanism includes an overlapped helical ring (OHR) structure and a magnetic clutch system (MCS), and thus the shape of a screw may be changed to a compact size. As a result, the Screw-propelled robot with this mechanism can reduce the overall length by about 150 mm and change the shape of the screw faster and more accurately than a robot with a linear actuator.

• 한국정보통신학회논문지
• /
• 제11권6호
• /
• pp.1195-1200
• /
• 2007

RSSI 기반의 실내위치인식 시스템과 무선센서네트워크를 이용하여 자율 이동 로봇의 기능 중에서 가장 선행적으로 요구되는 위치추정 기능을 가진 지능형 실내위치추정 로봇을 설계, 구현하였다. 지능형 실내위치추정 로봇은 주제어장치로 Spartan III(Xilinx, USA)를 사용하였으며 실내위치인식 시스템에서 현재의 위치데이터를 수집하여 Zigbee/IEEE802.15.4 무선통신으로 전송을 하면 이동로봇에 부착되어 있는 무선센서 네트워크 노드에서 데이터를 수신받아서 위치를 인식하게 되고 Magnetic Compass의 데이터로 로봇이 향하고 있는 방향을 감지하여 목적지로 이동하게 된다. 이렇게 구성된 지능형 실내위치 추정 로봇은 장애물이 없는 평활 실내 공간에서 사용자가 원하는 목적지로 효율적이고 능동적으로 이동할 수 있었다.

• Annals of Rehabilitation Medicine
• /
• 제42권6호
• /
• pp.788-797
• /
• 2018

Objective To investigate the effect of upper limb rehabilitation combining robot with low-frequency repetitive transcranial magnetic stimulation (rTMS) on unilateral spatial neglect in stroke patients. Methods Patients who had hemispatial neglect after right hemisphere stroke were randomly divided into rTMS only group, robot only group, and combined group. All groups received conventional neglect therapy and additional treatment for each group. rTMS group received rTMS therapy. Robot group received robot therapy, while combined group received both therapies. The effect of therapy was assessed with Motor-Free Visual Perception Test-3 (MVPT-3), line bisection test, star cancellation test, Catherine Bergego Scale (CBS), Mini-Mental State Examination (MMSE), and the Korean version of Modified Barthel Index (K-MBI). These measurements were evaluated before and after treatment. Results For each group, 10 patients were recruited. There were no significant differences in baseline characteristics or initial values among the three groups. Two weeks after the therapy, all groups showed significant improvement in MVPT-3, line bisection test, star cancellation test, CBS, MMSE, and K-MBI. However, changes in measurements showed no significant differences among groups. Conclusion Treatment effect of the combined therapy of robotic therapy and low-frequency rTMS therapy for hemispatial neglect was not statistically different from that of each single treatment. Results of this study did not prove the superiority of any of the three treatments. Further study with large number of patients is needed to evaluate the superiority of these treatments.

• Journal of Magnetics
• /
• 제15권3호
• /
• pp.128-131
• /
• 2010

In this paper, we propose a new design of the permanent magnet reluctance wheel which will make it possible to attach the robot to a vertical plane and move it. In the newly suggested design, a permanent magnet is utilized to enhance the adhesive force during attachment, and an electromagnet is produced to weaken the magnetic field of the permanent magnet and reduce the adhesive force for easier detachment of wheels from steel plates. To characterize the performance of this new wheel design, a 3-D finite element analysis is executed using a commercial FE program. The results show that the adhesive force is reduced effectively by the electromagnet which flows in the reverse direction of the magnetic loop of the permanent magnet when the current is supplied to the coil.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2007년도 춘계종합학술대회
• /
• pp.375-378
• /
• 2007

RSSI기반의 실내위치인식 시스템과 무선센서네트워크를 이용하여 자율 이동 로봇의 기능 중에서 가장 선행적으로 요구되는 위치 추정 기능을 가진 지능형 실내위치추정 로봇을 설계, 구현하였다. 지능형 실내위치추정 로봇은 장치로 Spartan III(Xilinx, USA)를 사용하였으며 실내위치인식 시스템에서 현재의 위치데이터를 수집하여 Zigbee/IEEE802.15.4 무선통신으로 전송을 하면 이동로봇에 부착되어 있는 무선센서네트워크 노드에서 데이터를 수신받아서 위치를 인식하게되고 Magnetic Compass의 데이터로 로봇이 향하고있는 방향을 감지하여 목적지로 이동하게 된다. 이렇게 구성된 지능형 실내위치 추정 로봇은 장애물이 없는 평활 실내 공간에서 사용자가 원하는 목적지로 효율적이고 능동적으로 이동할 수 있다.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2008년도 추계종합학술대회 B
• /
• pp.555-558
• /
• 2008

For trying to frontal attack of new solution by fusion of technical tasks and conditions with it's solving methods of the essential tasks of marine resource development and environmental conservation in addition with elements of electronic high-technologies, the skimmer robot was proposed by using of oil spill disaster prevention and its disposal system with sequentially circular collection type of magnetic oil spill adsorbent powder and fabrics on the electronic barge robot for the scheme of sustainable development of environment-friendly technology. It was verified from the experiment of electronic barge robot demonstrator that the skimmer system of magnetic oil spill adsorbent powder and fabrics was very effective and useful technique to collect oil spill samples. At this point, the barge-based electronic remote control was very useful system operating easily on the marine fields to skim oil spill with dangerous toxic substances of crude oil and very harmful to human. Therefore, fusion technology proposed in this study combined with electronic and marine technology is the novel contributable technology for developing marine environmental conservation and environment-friendly disaster prevention, and also its management techniques.

• 대한기계학회논문집
• /
• 제17권12호
• /
• pp.3073-3082
• /
• 1993

A magnetically suspended robot joint is developed, which is free of dust and oil generation. Two radial bearings consisting of cone-shaped magnet cores control the rotor motion in the axial and radial directions. A linearized dynamic model is developed for active control of the magnetic bearing system. The control algorithm is constructed such that the axial displacement of the joint is controlled by radial control current to the pairs of facing radial bearings. The stability and control performance is tested through numerical simulation based on the nonlinear model. Experiments are also performed to verify the theoretical development.