• Journal of Mechanical Science and Technology
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• 제18권11호
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• pp.1900-1908
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• 2004

A human-friendly interactive system that is based on the harmonious symbiotic coexistence of human and robots is explored. Based on interactive technology paradigm, a robotic cane is proposed for blind or visually impaired travelers to navigate safely and quickly through obstacles and other hazards faced by blind pedestrians. Robotic aids, such as robotic canes, require cooperation between human and robots. Various methods for implementing the appropriate cooperative recognition, planning, and acting, have been investigated. The issues discussed include the interaction between humans and robots, design issues of an interactive robotic cane, and behavior arbitration methodologies for navigation planning.

• Journal of Magnetics
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• 제21권4호
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• pp.616-621
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• 2016

This paper presents a new multifunctional active guidewire system for medical applications that uses a magnetic microrobot. The study demonstrated that the proposed microrobot system could swim and be controlled under Low-Reynolds-number (Re) environments in blood vessel models. The prototype of the robotic guidewire, which is driven within a three-axis Helmholtz coil system, consists of a guide-wire, spiral blade, drilling tip, and permanent magnet. The spiral-type microrobot showed stable active locomotion between 3 kA/m and 9.1 kA/m under driving frequency up to 70 Hz in a silicone oil (of viscosity 1000 cst). The microrobot produced a maximum moving velocity of $8.08{\times}10^{-3}m/s$ at 70 Hz and 9.1 kA/m. In particular, the robotic guidewire produced 3D locomotion with drilling in the three-axis Helmholtz coil system. We verified active locomotion, towing of guidewire, steering, and drilling of the proposed robotic guidewire system through experimental analyses.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1129-1135
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• 1993

For successful implementation of robotic painting system, a structured design and analysis procedure is necessary. In designing robotic system, both functional and economical feasibility should be investigated. As the robotization is complicated task involving implementation details(such as robot selection, accessory design, and spatial layout) together with operation details, a computerized method should be sought. However, any conventional robotic design system and off-line programming system cannot accomodate such a need. In this research, we develop an interactive design support system for robotization of a cycle painting line. With the developed system called SPRPL(Simulation Package for Robotic Painting Line) users can design the painting objects(via FRAME module), select robot model (ROBOT), design the part hanger (FEEDER), and arrange the workcell. After motion programming (MOTION), the design is evaluated in terms of: a) workspace analysis, b) coating thickness analysis, and c) cycle time (ANALYSIS). By iterative design and evaluation procedure, a feasible and efficient robotic design can be attained. As the developed system has motion planning and analysis features, it can be also used as an off-line robot programming system in operation stage. Including the details of each module, this paper also presents a case study made for an actual painting line.

• 국제학술발표논문집
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• The 4th International Conference on Construction Engineering and Project Management Organized by the University of New South Wales
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• pp.31-37
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• 2011

Construction automation is yet to be improved since construction site still faces a lot of high risks and difficulties. This research focuses on applying robotic beam assembly system in place of construction workers. This system consists of CF (Construction Factory) structure to provide adequate working environment to robot automation. The CF structure not only gives automation environment for a robot but also houses the equipments to protect from outside effects. The robotic beam assembly system also consists of robotic bolting system and robot transport mechanism. It utilizes various tools to insert and join the bolts and nuts. Visual servoing helps precise robot motion by sensing bolt hole and tail of the bolt. ITA system helps non skilled workers to easily perform the assembly work with the robot system. The robot transport mechanism includes sliding rail and cross-wired lift. It carries the robot to a desired position for assembly work.

• Journal of Chest Surgery
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• 제47권3호
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• pp.201-210
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• 2014

During the last decade the role of minimally invasive surgery has been increased, especially with the introduction of the robotic system in the surgical field. The most important advantages of robotic system are represented by the wristed instrumentation and the depth perception, which can overcome the limitation of traditional thoracoscopy. However, some data still exist in literature with regard to robotic lobectomy. The majority of papers are focused on its safety and feasibility, but further studies with long follow-ups are necessary in order to assess the oncologic outcomes. We reviewed the literature on robotic lobectomy, with the main aim to better define the role of robotic system in the clinical practice.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• 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.

• 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.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.802-811
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• 1996

Farmers need alternatives for weed control due to the desire to reduce chemicals used in farming. However, conventional mechanical cultivation cannot selectively remove weeds located in the seedline between crop plants and there are no selective heribicides for some crop/weed situations. Since hand labor is costly , an automated weed control system could be feasible. A robotic weed control system can also reduce or eliminate the need for chemicals. Currently no such system exists for removing weeds located in the seedline between crop plants. The goal of this project is to build a real-time , machine vision weed control system that can detect crop and weed locations. remove weeds and thin crop plants. In order to accomplish this objective , a real-time robotic system was developed to identify and locate outdoor plants using machine vision technology, pattern recognition techniques, knowledge-based decision theory, and robotics. The prototype weed control system is composed f a real-time computer vision system, a uniform illumination device, and a precision chemical application system. The prototype system is mounted on the UC Davis Robotic Cultivator , which finds the center of the seedline of crop plants. Field tests showed that the robotic spraying system correctly targeted simulated weeds (metal coins of 2.54 cm diameter) with an average error of 0.78 cm and the standard deviation of 0.62cm.

• 대한기관식도과학회지
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• 제17권2호
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• pp.83-88
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• 2011

Robotic thyroidectomy has been developed to minimize neck scarring, and several authors have described its feasibility and safety, and have reported surgical outcomes comparable with conventional open thyroidectomy. The da Vinci surgical system robot provides a three-dimensional $10-12{\times}$magnified view of the surgical area. It also provides hand-tremor filtration, fine motion scaling, and precise and multi-articulated hand-like motions. Recently, robotic technology has also been applied to lateral compartment neck dissection in thyroid cancer. We have developed a new novel selective neck dissection procedure by a gasless unilateral axillo-breast (GUAB) approach with a da Vinci Surgical System for well-differentiated thyroid carcinoma to avoid a long visible neck scar. Based on our early experience, robotic selective neck dissection by GUAB approach is a safe, feasible and cosmetically excellent procedure. It can be an alternative to conventional open surgery in the highly selected patients with well-differentiated thyroid carcinoma. The oncologic safety of robotic selective neck dissection should be verified with long-term follow-up data.