• KEPCO Journal on Electric Power and Energy
• /
• v.8 no.2
• /
• pp.49-53
• /
• 2022

The distribution live-line work method is an operation method of working in a state in which electricity flows through overhead distribution lines to minimize inconvenience to electric customers due to power failure. In June 2016, to strengthen the safety of electrical workers, Korea Electric Power Corporation announced that it would in principle abolish the rubber glove method, in which workers wore protective equipment such as rubber gloves and performed their maintenance work. In addition, KEPCO announced that it would develop a short-range live working method using smart sticks and an advanced live-line maintenance robot system where workers work without touching wires directly. This paper is a preliminary study for the development of the live-line maintenance robot system, and deals with the results of analyzing the technical feasibility of whether the live works performed by workers can be replaced by robots or not.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.206-210
• /
• 1989

In automobile glass fitting the stud is welded on the window seating panel in order to insert the plastic molding onto the stud. Since this type of process is in general manually done, almost 50% of the output turns out to be failure resulted from work inefficiency and weld inferiority. Therefore, it is required to improve this process for the productivity elevation through the application of the robot.

• Composites Research
• /
• v.28 no.3
• /
• pp.81-88
• /
• 2015

In this paper, we evaluate structural integrity of the wearable robot by using finite element analysis, which is made of CFRP(Carbon Fiber Reinforced Plastic) composite materials to be lightened. On the basis of the ASTM(American Standard Test Method), mechanical tests of the material are carried out in tensile, compressive and shear test for analytical evaluation. With the tested composite material, the main frame and two femoral frames of the robot is redesigned to satisfy the lightening design requirements. It is verified with the structural analysis that the redesigned frames are good for the part of the wearable robot.

• The Journal of Korean Association of Computer Education
• /
• v.10 no.4
• /
• pp.27-37
• /
• 2007

Recently, robot programming education are suggested for elementary students. However, the degree of class participation of female students was low because of the failure of the recognition of female students' inclination when they chose contents and instructional strategies. Thus, this paper analyzed the gender differences of interests of elementary students have in robot programming through questionnaire and suggested the robot programming instructional strategies considered gender differences through reviewing literature in such areas as gender differences in computer learning and programming learning, and effective instructional strategies. Furthermore, the validity of the instructional strategies which are suggested was verified by experts. Through this research, the researcher expects for the researcher findings to be bases for a more active participation of female students in computer field.

• Journal of Bio-Environment Control
• /
• v.24 no.2
• /
• pp.57-62
• /
• 2015

Manual grafting is a labor-intensive operation and highly susceptible to human error. Development of grafting robot has been considered as an effective alternative to manual grafting. The study was conducted to investigate the grafting efficiency between the domestically produced automated grafting robot and traditional manual grafting performed in a commercial plug seedling greenhouse. Plug seedlings of pepper (Capsicum annuum L.) 'Buchon' and 'Anseongmatchum' were sown as scions and rootstocks, respectively on March 29, 2013. The grafting was performed by a grafting robot, amateur grafters, and professional grafters on May 31, 2013. After grafting, the seedling efficiencies and seedling characteristics were compared in terms of plant height, the number of success as well as failure of seedling grafts produced in an hour. The results showed that plant heights were most uniform in the grafts performed by the professionals that had a 0.6 cm difference whereas an uneven difference of 2.1 cm difference was observed in plug seedling grafted by an amateur. However, plug seedlings grafted by the grafting robot were found to be uniform with 1 cm plant height difference. Moreover, the maximum number of grafting processed plug seedlings per hour (667 plants) was achieved by the grafting robot on compared with the seedlings grafted (466 plants) by the professionals. Furthermore, the least failure rate of 21.7% was noted upon the usage of grafting robot than the manual grafters. Thus, the results demonstrate that the technology of automated grafting robots is the most appealing and can be employed in commercial plug seedling greenhouses to overcome the drawbacks of manual grafting.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.7
• /
• pp.669-672
• /
• 2012

This paper investigates an algorithm for robust fault diagnosis in robot manipulators. The TOSM (Third Order Sliding Mode observer) provides both theoretically exact observation and unknown fault identification without filtration. The EOI (Equivalent Output Injections) of the TOSM observers can be used as residuals for the problem of fault diagnosis and to identify the unknown faults. The obtained fault information can be used for fault detection, isolation as well as fault accommodation to the self-correcting failure system. The computer simulation results for a PUMA 560 robot are shown to verify the effectiveness of the proposed strategy.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.64 no.9
• /
• pp.1356-1362
• /
• 2015

Modular snake-like robots are robust for failure and have flexible locomotions for obstacle environment than of walking robot. This requires an adaptation capability which is obtained from a learning approach, but has not been analysed as well. In order to investigate the property of adaptation of locomotion for different terrains, NEAT controllers are trained for a flat terrain and tested for obstacle terrains. The input and output characteristics of the adaptation for the neural network controller are analyzed for different terrains in frequency domain.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.1080-1084
• /
• 1989

The motion of an workpiece to be manipulated is determined by the forces applied to the workpiece. During the contact between the robot hand and the workpiece, impulsive forces may dominate all other forces, and determine the ultimate success or failure of a task. Therefore, one of the important problems in the robot hands is the control of the initial impact force. In this paper, the problem of the force control of robot hand under system with contact force is presented. The principle of energy can be applied in the modelling of the impact force. In order to achieve stable contact and avoid bounces and vibrations, VSS is adopted in the design of the contact force controller. Some simulations are carried out for a pushing operation to control the contact force.

• Proceedings of the KIEE Conference
• /
• 2007.07a
• /
• pp.1769-1770
• /
• 2007

To prevent an insulator failure, an automatic cleaning robot was developed for suspension insulator strings. The robot autonomously moves along the insulator string using the clamps installed on its two moving frames, and adopts a dry cleaning method using rotating brushes and a circular motion guide. In addition, a mechanized brush bristles and a voltage-balancing contactor are devised to increase cleaning efficiency and to prevent arc generation under live-line conditions, respectively. Moreover, a manual tool for its installation and removal is presented. We confirmed its effectiveness through experiments.

• The Journal of Korea Robotics Society
• /
• v.16 no.1
• /
• pp.64-71
• /
• 2021

This paper describes a robotic teleoperation system to perform an accurate needle insertion into a cornea for a separation between the stromal layer and Descemet's membrane during deep anterior lamellar Keratoplasty (DALK). The system can reduce the hand tremor of a surgeon by scaling the input motion, which is the control input of the slave robot. Moreover, we utilize corneal applanation to estimate the insertion depth. The proposed system was validated by performing the layer separation using 25 porcine eyes. The average depth of needle insertion was 742 ± 39.8 ㎛ while the target insertion depth was 750 ㎛. Tremor error was reduced from 402 ± 248 ㎛ in the master device to 28.5 ± 21.0 ㎛ in the slave robot. The rate of complete success, partial success, and failure were 60, 28, and 12%, respectively. The experimental results showed that the proposed system was able to reduce the hand tremor of surgeons and perform precise needle insertion during DALK.