• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.206-216
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• 2017

This paper proposes a method to simultaneously estimate two degrees of freedom in wrist forces (extension - flexion, adduction - abduction) and one degree of freedom in grasping forces using Electromyography (EMG) signals of the forearms. To correlate the EMG signals with the forces, we applied a multi - layer perceptron(MLP), which is a machine learning method, and used the characteristics of the muscles constituting the forearm to generate learning data. Through the experiments, the similarity between the MLP target value and the estimated value was investigated by applying the coefficient of determination ($R^2$) and root mean square error (RMSE) to evaluate the performance of the proposed method. As a result, the $R^2$ values with respect to the wrist flexion-extension, adduction - abduction and grasping forces were 0.79, 0.73 and 0.78 and RMSE were 0.12, 0.17, 0.13 respectively.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.1
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• pp.445-450
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• 2011

In this paper, we describe the implementation of an wireless sensor network testbed. We developed a web-based sensor network gateway and enhanced the Surge program which is used for sending and routing of packets in the sensor field. The developed program can transmit the source data of sensor nodes to the sink node via multi-hop routing, and deliver user commands to actuate sensor related equipments. Moreover, in this testbed, the data transport path from a node to the sink can be monitored. Thus we can approximate the network topology and the relative positions of sensor nodes. We also describe an application of the testbed that is used for controlling a remote robot.

• Proceedings of the KIPE Conference
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• 2008.06a
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• pp.592-594
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• 2008

The powers used in the robot drive motor system are mostly DC sources such as batteries. Even AC powers in some systems are generated from DC sources by the inverter. It is can be forecasted that the DC-link communications will be widely used invarious industrial application. In this paper a novel BLDC motor drive system by using DC-link communications is proposed. The characteristic of this system is the communication only needs 2 DC lines. There are not additional lines to translate the reference signals and the reliability of the system is enhanced especially in some badly circumstance. The number of lines can be least when applied in the multi motor control system and the slip ring design can be simplified when applied as rotation machine. The reasonableness of proposed motor system is clarified by the PSIM simulation and the hardware prototype.

• Journal of Welding and Joining
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• v.34 no.5
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• pp.54-60
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• 2016

In order to quantitatively evaluate the solidification cracking susceptibility in laser welds of three types of austenitic stainless steels (type 310: A mode, type 316-A: AF mode, type 316-B: FA mode solidifications), the laser beam welding (LBW) transverse-Varestraint tests consisted of multi-mode fiber laser, welding robot and hydraulic pressure system were performed. As the welding speed increased from 1.67 to 40.0 mm/s, the solidification brittle temperature range (BTR) of laser welds for type 316 stainless steels enlarged (316-A: from 37 to 46 K, 316-B: from 14 to 40 K), while the BTR for type 310 stainless steel reduced from 146 to 120 K. In other words, it founds that solidification cracking susceptibility could not be simply mitigated through application of LBW process, and the BTR variation behavior is quite different upon solidification mode of austenitic stainless steels.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1028-1036
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.311-314
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• 2001

The objectives of this paper include the development of an agile prototype of SFFS, the $CAFL^{VM}$(Computer Aided fabrication of Lamination for Various Material), which is suitable for the multi-item and small-quantity production and various material fabrication. This paper includes remodeling of the layer slices for the 2D cutting, supplementing information of the layer slices and developing process conditions to fabricate products of various shape. And also includes developing control hardware as well as software by enhancing BOF of the manipulator to 3 degree for the precise 2D cutting. It will generate optimal layer trajectory considering the dynamic characteristics of the laser beam. The system can be used as a competitive agile protype system in terms of various materials, fabrication speed, and accuracy by CAD modeling precise layer slicing, material development, robot path control, and optimization of the support structure.

• Journal of the Semiconductor & Display Technology
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• v.8 no.4
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• pp.77-82
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• 2009

In robot operation, a motor with multi-degree of freedom motion control and an encoder for motor control are needed. To perform precise motion, location, and velocity control, the operation of motor and encoder with superior performance is important. In this paper, we studied performance evaluation system that can evaluate the performance of motor and encoder. The performance of motor and encoder can be evaluated in terms of disconnection check, signal variation count, and U, V, W signal check. Disconnection check verifies signal connection between a motor and an encoder, signal variation check verifies A, B signal by counting the number of signal A, B when a motor revolves, and U, V, W signal check verifies operating direction of a motor. The result is shown at graphic LCD integrated in system, and can be checked in PC with PC communication.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.6
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• pp.580-589
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• 2014

Demands for automation in the cell production process of IT products are becoming increasingly sophisticated. In particular, the dual-arm robot has drawn attention as a solution because it has a flexibility and works similarly to humans. In this paper, we propose an automation system for cellular phone packing processes using two dual-arm robots. Applied robots are designed with specifications to meet the requirements of cellular phone packing jobs. In addition, a robotic cell production system is proposed by applying a method of task allocation for efficient packing of cellular phones. Specifically, a task is assigned to reduce takt-time and to avoid collision between two robots. Finally, we discuss some experimental results that include the packing job of five unit boxes with seven kinds of accessories.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.10
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• pp.882-889
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• 2008

A humanoid is a robot with its overall appearance based on that of the human body. When the humanoid moves or walks, dynamic forces act on the body structure. Although the humanoid keeps the balance by using a precise control, the dynamic forces generate unexpected deformation or vibration and cause difficulties on the control. Generally, the structure of the humanoid is designed by the designer's experience and intuition. Then the structure can be excessively heavy or fragile. A humanoid design scenario for a systematic design is proposed to reduce the weight of the structure while sufficient strength is kept. Lower parts of the humanoid are selected to apply the proposed design scenario. Multi-body dynamics is employed to calculate the external dynamic forces on the parts and structural optimization is carried out to design the lower parts. Because structural optimization using dynamic forces directly is fairly difficult, linear dynamic response structural optimization using equivalent static loads is utilized. Topology and shape optimizations are adopted for two steps of initial and detailed designs, respectively. Various commercial software systems are used for analysis and optimization. Improved designs are obtained and the design results are discussed.

• Journal of Chest Surgery
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• v.41 no.2
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• pp.264-267
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• 2008

The da Vinci telemanipulator system (Intuitive Surgical, Sunnyvale, CA USA) is the most advanced robotic surgical system and has been increasingly used for cardiac surgical procedures. We report out first clinical experience of use of the da Vinci telemanipulator system for endoscopic harvesting of the bilateral thoracic artery andmulti-vessel small thoracotomy off pump CABG for 3-vessel disease. The da Vinci telemanipulator system has been previously utilized primarily for mitral valve surgery.