• 한국CDE학회논문집
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• 제17권3호
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• pp.198-207
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• 2012

This paper presents an overview of automated robotic system for skull drilling, which is performed to access for some neurosurgical interventions, such as brain tumor resection. Currently surgeons use automatic-releasing cranial perforators. The drilling procedure must be performed very carefully to avoid penetration of brain nerve structures; however failure cases are reported. The presented prototype system utilizes both preoperative and intraoperative information. Preoperative CT image is used for robot path planning. A NeuroMate robot with a six-DOF force sensor at the end effector is used for intraoperative operation. Intraoperative cutting force from the force sensor is the key information to revise an initial registration and preoperative path plans. Some possibilities are verified by path simulation but cadaver experiments are required for validation of this prototype.

• 한국HCI학회논문지
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• 제5권2호
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• pp.7-14
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• 2010

센서 네트워크에 의해 수집되는 다양한 도시 데이터는 도시를 이해하고 분석하는데 있어서 필수적인 수단으로 자리매김하고 있다. 특히 Ubiquitous Sensor Network(USN) 기술들은 u-City 구현에 있어 중추신경망을 제공하였다. 이 연구는 도시 에너지의 사용량에 관한 정보를 USN을 이용하여 수집하고, 이를 도시공간정보와 연계된 직관적 가시화 환경을 통해 제공함으로써 u-City에서 에너지 공급계획을 수립, 모니터링하고, 궁극적으로 실사용자가 능동적으로 에너지를 절약할 수 있도록 도와주는 애플리케이션 구현을 목적으로 한다. 특히 3차원 지리정보환경의 층위에 다층적인 에너지 모니터링 정보를 동적으로 조합하면서 다양한 사용자의 관점에 대응하는 환경을 제시하였다. 또한 도시공간정보에 기반을 둔 논리적 LOD를 제공함으로써 효과적인 실시간 에너지 사용 모니터링 도구를 제공한다. 이를 위하여 관련 선행연구를 분석하여 어플리케이션 구현을 위한 시스템의 개념과 구성을 정의하고 데이터 구조 및 가시화방안을 구체화하였다. 본 논문에서는 특히 시스템 구현에 요구되는 공간정보, E-GIS 데이터, 에너지 사용량 센서 데이터를 효과적으로 조합하는 가시화 방법론, 직관적 표현방법, 데이터 구조 및 어플리케이션의 연구결과를 제시하고 Social Sensor Networking을 이용한 모니터링 확장 적용방안에 대해 연구한다.

• 한국멀티미디어학회논문지
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• 제23권11호
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• pp.1372-1382
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• 2020

This paper proposes a core technology for a micro river monitoring terminal device suitable for flood monitoring in small rivers and valleys. Our proposed device is basically equipped with a 77GHz radar, gyro and accelerometer sensors. To measure the flow velocity and water level, we proposed a signal processing technique that extracts pure water energy components from the observed Doppler velocity and reflection intensity from the radar. And to determine the stability of the river structure equipped with our device, we constantly monitor the displacement of the measured values of the gyro and accelerometer sensors. Experimental result verified that our method detects pure water energy in various river environments and distinguishes between flow velocity and water level well. And we verified that vibration and position change of structures can be determined through a gyro sensor. In future research, we will work to build a secure digital twin river network by lowering the cost of supplying RF-WAV devices. Also we expect our device to contribute to securing a preventive golden time in rivers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.124-129
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• 1992

The goal of the proposed Intelligent Assisting System - IAS is to assist human operators in an intelligent way, while leaving decision and goal planning instances for the human. To realize the IAS the very important issue of manipulation skill identification and analysis has to be solved, which then is stored in a Skill Data Base. Using this data base the IAS is able to perform complex manipulations on the motion control level and to assist the human operator flexibly. We propose a model for manipulation skill based on the dynamics of the grip transformation matrix, which describes the dynamic transformation between object space and finger joint space. Interaction with a virtual world simulator allows the calculation and feedback of appropriate forces through controlled actuators of the sensor glove with 10 degrees-of-freedom. To solve the sensor glove calibration problem, we learn the nonlinear calibration mapping by an artificial neural network(ANN). In this paper we also describe the experimental system setup of the skill acquisition and transfer system as a first approach to the IAS. Some simple manipulation examples and simulation results show the feasibility of the proposed manipulation skill model.

• 한국의류산업학회지
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• 제14권1호
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• pp.24-36
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• 2012

This study examines consumer's acceptance intention of sensor-based smart clothing empolying the extended TAM. Technology innovativeness, information innovativeness and trust were used as external variables and perceived palyfulness was included in the extetended TAM. Data were collected from the adults over 20 years old living in Daegu from March 14 to 18, 2011. 193 useful copies of data were analyzed to investigate a structural model and test research hypotheses using AMOS 7.0. The study results showed that the extended TAM for smart clothing was validated empirically in predicting the individual's acceptance of sensor-based smart clothing and 10 hypotheses among 12 hypotheses were supported. Technology innovation, information innovation, and trust were confirmed as antecedent variables in affecting extended TAM. Perceived usefulness and perceived playfulness directly influenced acceptance intention and indirectly influenced acceptance intention mediating attitude. Perceived usefulness affected perceived playfulness and attitude affected acceptance intention. This study will help marketers and managers of fashion companies devise effective tools in planning marketing strategies related to smart clothing.

• 반도체디스플레이기술학회지
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• 제17권1호
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• pp.54-61
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• 2018

In this study, two aspects were analyzed about the robot for removal of explosive devices. First, the cost analyses were performed to provide a reasonable solution for the acquirement of the system. It is processed by an engineering estimate method and the process was consisted of two ways : a system development expense and a mass production unit price. In additions, the resultant cost analyses were compared between the cases excluding and including a mines detection system. As results, in the case of the acquirement of the robot system for removal of explosive devices, it is recommended that the performance by improving the mines detection ability should be considered preferentially rather than the cost because the material cost for the mines detection system is negligible compared to the whole system cost. Second, as a way for improving the system performance by the mine detection function, the carbon nanotube (CNT) based sensor technology was studied in terms of sensitivity and simple productivity with presenting its preliminary experimental results. The detection electrodes were formed by a photolithography method using a photosensitive CNT paste. As results, this method was shown as a scalable and expandable technology for the excellent mines detection sensors.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2387-2392
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• 2003

In this paper, We designed the local path planning direction algorithmusing fuzzy controller applied fuzzy logic. Algorithm decieded a direction angle by theposition of obstacle, the distance with obstacle, the progress direction of robot, the speed of vehicles and the perception area of sensor. The robot designed with proposed algorithm carried out soft moving without any particular operation, and we could observe that it had very soft curved moving as if an expert drove.

• 대한임베디드공학회논문지
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• 제3권3호
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• pp.126-135
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• 2008

The development of an unmanned vehicle basically requires the robust and reliable performance of major functions which include global localization, lane detection, obstacle avoidance, path planning, etc. The implementation of major functional subsystems are possible by integrating and fusing data acquired from various sensory systems such as GPS, vision, ultrasonic sensor, encoder, and electric compass. This paper focuses on implementing the functional subsystems, which are designed and developed by a graphical programming tool, NI LabVIEW, and also verifying the autonomous navigation and remote control of the unmanned vehicle.

• 한국정밀공학회지
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• 제20권8호
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• pp.144-152
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• 2003

The purpose of this paper is to establish an effective inspection system by using OMM (On-Machine Measurement) system based PC-NC. This system can reduce manufacturing lead time because part is inspected each process. Inspection process planning is accomplished by determining the number of measuring points, their location, measuring path using fuzzy logic, Hammersley method, traveling salesperson problem. Inspection with contacted sensor improve quality as inspection feature is developed to based machining feature. This method is tested by simulation and experiment, then analyzed measuring data and geometry tolerance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.152-152
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• 2000

In this paper, we propose a new approach to intelligent motion and autonomous maneuvering of mobile robots using hybrid system. In high Level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot as a low vevel are specified in the abstracted motions, The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments.