• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.176-187
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• 2002

This paper focuses on the study of simulation and evolution of Micro Air Vehicles. Micro Air Vehicles or MAVs are small flying robots that are used for surveillance, search and rescue, and other missions. The simulated robots are designed based on realistic characteristics and the brains (controllers) of the robots are generated using genetic algorithms, i .e., simulated evolution. The objective for the experiments is to investigate the effects of robot team size and topology (simulation environment) on the evolution of simulated robots. The testing of team sizes deals with finding an ideal number of robots to be deployed for a given mission. The goal of the topology experiments is to see if there is an ideal topology (environment) to evolve the robots in order to increase their utility in most environments. We compare the results of the various experiments by evaluating the fitness values of the robots i .e., performance measure. In addition, evolved robot teams are tested in different situation in order to determine if the results can be generalized, and statistical analysis is performed to evaluate the evolved results.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1945-1948
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• 2004

This paper describes the design and construction of a micro robotic system addressing such important aspects as versatility and low cost for rapid development and test of new control algorithm. The design and structure of micro robots are presented in detail. The supervision oriented concept is designed for controlling a group of micro robots. In this concept, the vision system recognizes the environment and the host computer decides the micro robot action based on the information from the vision system. In addition, the micro robots can be implemented cheaply and small in size because the structure of supervision oriented system is simplest. The experimental results and the performance of the proposed micro robotic system are discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.434-438
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• 1996

In this paper we present the multi-agent robot system and the vision system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Micro robot are equipped with two mini DC motors witf encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit(AISI vision computer). The vision algorithm is based on morphological method. And it takes about 90 msec to detect ball and 3-our robots and 3-opponent robots with reasonable accuracy

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.4
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• pp.881-895
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• 2012

Micro-robots are utilized as useful tools in diagnosis and treatment of various human diseases. At present, lots of countries are developing and making many micro-robots. Government of S. Korea are trying to push ahead with the plan as technology policy, for the same reason. So this study examined about micro-robot technology development and trend of S. Korea, by using the method of SWOT(Strength-Weakness-Opportunity-Threat) analysis. As a result, the future policy for micro-robot of S. Korea is to further spur the development of new micro-robot technology and more improvement of the technology level of micro-robots registered by patent as 'micro-robot of bacterium base for lesion treatment' and 'micro-robot moved by compressive fluid'. Finally, It was already confirmed as high level, technology of 'micro-robot of bacterium base for lesion treatment' and 'micro-robot moved by compressive fluid' invented at S. Korea.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.1
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• pp.135-141
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• 2016

Recently, the needs for the development and application of marine robots are increasing as marine accidents occur frequently. However, it is very difficult to acquire the information by utilizing marine robots in the marine environment. Therefore, the needs for the researches of sensor networks which are composed of underwater, surface and aerial robots are increasing in order to acquire the information effectively as the information from heterogeneous robots has less limitation in terms of coverage and connectivity. Although various researches of the sensor network which is based on marine robots have been executed, all of the underwater, surface and aerial robots have not yet been considered in the sensor network. To solve this problem, a collaborative control method based on the acoustic information and image by the sonars of the underwater robot, the acoustic information by the sonar of the surface robot and the optical image by the camera of the static-floating aerial robot is proposed. To verify the performance of the proposed method, the collaborative control of a MUR(Micro Underwater Robot) with an OAS(Obstacle Avoidance Sonar) and a SSS(Side Scan Sonar), a MSR(Micro Surface Robot) with an OAS and a BMAR(Balloon-based Micro Aerial Robot) with a camera are executed. The test results show the possibility of real applications and the need for additional studies.

• Journal of Biomedical Engineering Research
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• v.40 no.5
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• pp.206-214
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• 2019

Surgical methods and associated precision systems have been developed, but surgical procedures that require precise location and fine manipulation of the lesion remain a limitation. The combination of precision robot manipulation technology and 3D medical image navigation technology overcomes the limitations of minimally invasive surgery (MIS) and enables a more stable and successful operation. Surgical robots are surgical robots such as da Vince, and surgical robots using industrial robotic arms. There are various developments and researches of medical robots. In recent medical robot development, a new type of surgical robot based on an industrial robot arm capable of easily replacing the end effector according to the user's needs is being actively developed at home and abroad. Therefore, in this study, we developed safety and performance evaluation guideline for micro - surgical robots based on open robot platform using general purpose robot arm to help quality control of the medical device.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.873-876
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• 2001

Micro-robots using microprocessor are mainly classified as line-tracer, micro-mouse, and war-robot. This paper presents the development of the war-robot mechanism with vehicle-style using RC-servo motors and actuators using 4-bar linkage and infrared sensors. Especially the algorithm of conquering other war-robots is proposed based on the skill of belly-throw of Korean wrestling.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.5
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• pp.535-542
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• 2012

Recently, the study on small-sized reconnaissance robot has been progressed through grafting robot technology to military fields for minimizing the casualties. Especially, throwable robots have been focusing for their's efficiency in anti-terror operation. However, it is impossible to launch throwable robot to long range(approximately 100m) by hand. So we need another type of robots, so called launchable robots, which can launch farther and is more accurate by launcher. In this paper, we presented the process of developments of launchable robots('launchbot') which are available for remote launch from collection of user's opinions to field test. Based on the opinions of users, we established the goal of development, designed and manufactured the robots. Through the field test, we found that our launchable robot satisfied the performance requirements.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.36.2-36
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• 2002

.Developing a skeletal framework artificial hand similar to real human hand. .Developing a micro artificial muscle actuated by pneumatic power. .Building a micro pneumatic system including micro atuators and its control devices. .Building a soft driving system for Service robots. .Designning and Fabricating a multi-channel micro pneumatic valve using MEMS technology.