• Journal of the Korean Society for Precision Engineering
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• v.11 no.5
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• pp.171-179
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• 1994

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 implemen- tation details (such as robot selection, accessory design, and spatial layout) together with operation details, the computer aided design and analysis method should be sought. However, conventional robotic design systems and off-line programming systems cannot accommodate these inquiries in a unified fashion. 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) workpace analysis, b) coating thickness analysis, and c) cycle time (ANALYSIS).

• Smart Structures and Systems
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• v.1 no.4
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• pp.325-338
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• 2005

Utilizing robotic based reconfigurable nodal structural health monitoring systems has many advantages over static or human positioned sensor systems. However, creating a robot capable of traversing a variety of civil infrastructures is a difficult task, as these structures each have unique features and characteristics posing a variety of challenges to the robot design. This paper outlines the design and implementation of a novel robotic platform for deployment on ferromagnetic structures as an enabling structural health monitoring technology. The key feature of this design is the utilization of an attachment device which is an advancement of the common magnetic base found in the machine tool industry. By mechanizing this switchable magnetic circuit and redesigning it for light weight and compactness, it becomes an extremely efficient and robust means of attachment for use in various robotic and structural health monitoring applications. The ability to engage and disengage the magnet as needed, the very low power required to do so, the variety of applicable geometric configurations, and the ability to hold indefinitely once engaged make this device ideally suited for numerous robotic and distributed sensor network applications. Presented here are examples of the mechanized variable force magnets, as well as a prototype robot which has been successfully deployed on a large construction site. Also presented are other applications and future directions of this technology.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.700-705
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• 2003

In this paper, an extended process model is proposed for the application of flexible belt grinding equipment as utilized in robotic grinding. The analytical and experimental results corresponding to grinding force, material removal rate (MRR) and contact area in the robotic grinding shows the difference between the conventional grinding and the flexible robotic grinding. The process model representing the relationship between the material removal and the normal force acting at the contact area has been applied to robotic programming and control. The application of the developed model in blade grinding demonstrates the effectiveness of proposed process model.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.139-145
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• 2006

A multi-variable Golden-Section adaptive controller is proposed for the tracking control of robotic manipulators with unknown dynamics. With a small sample time, the unknown dynamics of the robotic manipulator are denoted equivalently by a characteristic model of a 2-order multivariable time-varying difference equation. The coefficients of the characteristic model change slowly with time and some of their valuable characteristic relationships emerge. Based on the characteristic model, an adaptive algorithm with a simple form for the control of robotic manipulators is presented, which combines the multi-variable Golden-Section adaptive control law with the weighted least squares estimation method. Moreover, a compensation neural network law is incorporated into the designed controller to reduce the influence of the coefficients estimation error on the control performance. The results of the simulations indicate that the developed control scheme is effective in robotic manipulator control.

• Architectural research
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• v.12 no.2
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• pp.85-92
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• 2010

In recent years, construction projects have been forced to cope with lack of skilled labor and increasing hazard circumstance of human operations. A construction robotic system has been frequently accomplished as one alterative for overcoming these difficulties in increasing construction quality, enhancing productivity, and improving safety. However, while the complexity of such a system increases, there are few ways to carry out an assessment of the system. This paper introduces a knowledge-based multi-criteria decision-making process to assist decision makers in systematically evaluating an automated system for a given project and quantifying its system performance index. The model employs linguistic terms and fuzzy numbers in attempts to deal with the vagueness inherent in experts' or decision makers' subjective opinions, considering the contribution resulted from their knowledge on a decision problem. As an illustrative case, the system, called Robotic-based Construction Automation, for constructing steel erection of high-rise buildings was applied into this model. The results show the model's capacities and imply the application to other extended types of construction robotic systems.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.398-405
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• 2004

A human-friendly interactive system that is based on the harmonious symbiotic coexistence of humans and robots is explored. Based on the interactive technology paradigm, a robotic cane is proposed for blind or visually impaired pedestrians to navigate safely and quickly through obstacles and other hazards. Robotic aids, such as robotic canes, require cooperation between humans 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 Korean Society of Industrial and Systems Engineering
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• v.24 no.64
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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.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.94-97
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• 2004

독립된 자율로봇에서 머신비젼의 구동을 위해 본 논문에서는 DARS(Distributed Autonomous Robotic System)에 적용하기 위한 디지털 이미지 프로세싱을 연구하고, DARS의 개별 로봇에 이를 임베디드화하는 것을 연구한다. 따라서 로봇을 구동하기 위해 필요한 데이터를 CMOS 카메라로부터 수신하여 영상을 스캔한 후, 원영상을 신경망 알고리즘을 통해 클러스터링하여 필요한 데이터를 추출한다. 또 이를 사용자 컴퓨터 단말기 상에 디스플레이하고, 최종적으로 DARS의 자율 이동 로봇이 영상 데이터를 인지하여 특정한 선택 동작을 수행하도록 한다.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.61.2-61
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• 2002

$\textbullet$ Introduction $\textbullet$ Dynamics of robotic manipulator $\textbullet$ Time-varying sliding surface $\textbullet$ Fuzzy rule, Membership function $\textbullet$ Application to a two degree robotic manipulator $\textbullet$ Conclusion

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.45-48
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• 1986

In this paper, time optimal positioning control of the robotic manipulator is discussed. The equations for dynamic model of the robotic manipulator are nonolinear, and each link is highly coupled. A feedback linearizing and decoupling transformation makes the dynamic model linearized and decoupled, and optimal control input for the linear and decoupled system is derived.