• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1997년도 하계 학술대회 논문집
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• pp.238-246
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• 1997

This study was conducted to develop a robotic transplanter for bedding plants. The robotic transplanter consisted of machine vision system, a manipulator, a gripper and plug tray transfer system. The performance of the robotic transplanter was tested and compared by two different transplanting methods, which were to consider the leaf orientation of seedlings and not to. Results of this study were as follows. (1) A cartesian coordinate manipulator for a robotic transplanter with 3 degree of freedom was constructed. The accuracy of position control was $\pm$1 mm. (2) The robotic transplanter with the machine vision system, the manipulator, the gripper and the transfer system was developed and tested with a shovel-type finger. Without considering the orientation of leaves, the success rates of transplanting healthy cucumber seedlings in 72-cell and 128-cell plug-trays were 95.5% and 94.5% respectively. Considering the orientation of leaves, the success rates of transplanting healthy cucumber seedling in 72-cell and 128-cell plug-trays were 96.0% and 95.0% respectively.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1997년도 동계 학술대회 논문집
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• pp.392-400
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• 1997

This study was conducted to develope the machine vision system of a robotic transplanter for bedding plants. Specific objectives of this study were 1) to get coordinates of the healthy seedlings except empty cells and bad seedlings in high-density plug tray, and 2) to get the angle of the leaves of the healthy seedlings to avoid damage to the seedlings by gripper. The results of this study are summarized as follows. (1) The machine vision system of a robotic transplanter was developed. (2) The success rates of detecting empty cell and bad seedlings in 72-cell and 128-cell plug trays were 98.8% and 94.9% respectively. (3) The success rates of calculating the angle of leaves in 72-cell and 128-cell plug trays were 93.5% and 91.0% respectively.

• 생물환경조절학회지
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• 제6권1호
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• pp.55-65
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• 1997

본 연구는 육묘용 로봇 이식기를 개발하기 위한 목적으로 수행되었으며 그 결과는 다음과 같다. 1. 기계시각에 의한 결주 및 불량묘 판별은 72공 플러그묘판의 경우 98.8%, 128공의 플러그묘판의 경우 94.9%, 잎의 방향을 고려한 경우 72공의 플러그묘판의 경우 93.5%, 128공의 경우 91.0%의 정확도를 나타내었다. 2. 로봇 이식기의 기구부와 구동부를 개발하였고, 이를 제어하기 위한 제어기를 개발하였으며, 머니플레이터의 위치제어 정확도는 $\pm$ 1mm로 나타났다. 3. 잎의 방향을 고려하지 않은 이식방법에서의 이식성공률은 72공 플러그묘판의 경우 95.5%, 128공의 플러그묘판의 경우 94.5%로 나타났으며, 잎의 방향을 고려한 이식방법에서의 이식성공률은 72공의 경우 96.0%, 128공의 경우 95.0%로 나타났다.

• Journal of Chest Surgery
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• 제54권4호
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• pp.266-278
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• 2021

Lobectomy is the standard treatment for early non-small cell lung cancer. Various surgical techniques for lobectomy have been developed, and minimally invasive thoracic surgery, such as video-assisted thoracic surgery or robot-assisted thoracic surgery, has been considered as an alternative to conventional open thoracotomy. The recently robotic lobectomy technique has developed since the first case series was published in 2002. Several studies have reported that robotic lobectomy has comparable oncologic and perioperative outcomes to those of video-assisted thoracic surgery lobectomy and open lobectomy. However, robotic lobectomy remains a challenge for surgeons because of the steep learning curve, reduced tactile sensation, difficulty in port placement, and challenges in cooperation between the surgeon and assistant. Many studies have reported on robotic lobectomy, but few have presented surgical techniques for robotic lobectomy. In this article, the surgical techniques and optimal performance of robotic lobectomy are described in detail for all 5 types of lobectomy for surgeons beginning with robotic lobectomy.

• Journal of Biosystems Engineering
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• 제22권3호
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• pp.317-324
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• 1997

This study was conducted to develope a machine vision system for a robotic transplanter for bedding plants. Specific objectives of this study were 1) to get coordinates of the healthy seedlings in high-density plug tray, and 2) to get the angle of the leaves of the healthy seedlings to avoid the damage to seedlings by gripper. Results of this study were summarized as follows. (1) The machine vision system of a robotic transplanter was developed. (2) Success rates of detecting empty cell and bad seedlings for 72-cell and 128-cell plug-trays were 98.8% and 94, 9% respectively. (3) Success rates of calculating the angle of leaves fer 72-cell and 128-cell plug-trays were 93.5% and 91.0% respectively.

• 한국정밀공학회지
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• 제12권5호
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• pp.136-148
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• 1995

In this study, a model integration method is pressented as a new method for development of a parametric simulation model. This method enable us to integrate the special simulation models for each production subsystem into a large simulation model. Not only this large simulation model but also each special simulation model for each production subsytem can be used independently. Using this integration method man can reduce the development time and cost for simulation model development. To show the usefulness of this method, a simulation model for a production system with robots is developed by this model integration method. This simulation model is realized by the integration of two special simulation models, one model for a machining subsystem and the other model for a transport subsystem. The modeled production system consists of the robotic cells for machining and a transport subsystem which enable the material flow among the robotic cells. The flow of workpiece in each robotic cell is not fixed. All machines in a robotic cell are only served by robots.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1379-1389
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• 2000

In this study, a design process of robotic cell is presented. This paper focuses only on the automation of workpiece handling with robot. The presented design process enables us to analyze effectiv ely the original production system and to redesign it as an optimum production system with robots. An original production system is analyzed with respect to its economical and technological requirements for automation. If automation of the given production system is feasible, the conceptual design for automation is firstly derived. Next, the detail design is derived for the optimum conceptual design. Finally, an optimum system solution is determined after the economical and technical evaluation of all the derived detail designs. The all specifications of each element of the redesigned production system and its layout are determined at the detail design phase. This paper shows a low cost supporting tool for layout design of robotic cell with SCARA type robots.

• 산업경영시스템학회지
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• 제24권64호
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• pp.21-28
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• 2001

This paper suggests a new heuristic to improve robotic cells efficiency with a finite buffer. An efficient heuristic for parts sequencing with this configuration is developed. Analyzing robot\\`s movements and defining the events for the completion times of robot\\`s segmental activities enable us to develop a mathematical model that can be used to estimate, the completion time in the robotic cell. The robotic cell is consisting of two computer numerical control machines and a finite buffer to manufacture multiple parts. The developed heuristic can be used to estimate an optimum or near optimum parts sequences for this configuration. Numerical examples are followed to show the validity of the heuristic.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1165-1168
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• 1995

This paper describes the evaluation of a robot based filament winding cell consisting of an industrial robot (ASEA IRB 6/2) and an in-house fabricated mandrel drive mechanism, both being coordinated by a personal computer. As in many manufacturing processes, tradeoffs exist between accuracy and speed. The accuracy versus speed relationships of the robotic winding cell were experimentally determined for discrete, fine and medium movement modes while traversing a segmented delivery eye path for a cylindrical mandrel in three configurations (in-line, offset and angled with respect to the axis of rotation). the results show that the robot winding cell is appropriate for very accurate winding of fibre strands if the mandrel axis is concentric with the mandrel drive axis and the discrete mode(i.e. low speed) of the robot is used.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.411-416
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• 1990

A modelling process of a robotic assembly cell and a method for analysis of the assembly cell operation through simulation are presented. An assembly cell including industrial robots is the subject of the model. The states of the assembly cell elements are taken as the state variables and the relationships between the states are described mathematically using the operators. An algorithm for the cell operation is developed from the relationships between the states and the information on the assembly task, and efficient analyses are performed by the simulation results.