• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.34 no.1
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• pp.1-5
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• 1998

This study presents intelligent deburring system which can transfer the exper's skill to deburring robot through neural network. The expert's skill is expressed as associate mapping between the characteristics of the burr and human expert's action. Under the fundamental idea that the state of the deburring process can be extracted via the visual sense of the human, we employ vision system for the perception and identification of the changing burr. From the demonstration of human experts, force data are measured and fitted impedance model. Finally the characteristics of the burr and coressponding force are associated by the neural network which is trained through many demonstrations. The proposed method is verified in the deburring process of welding burr.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.2
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• pp.363-368
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• 2021

Ship engine rooms have improved automation systems owing to the advancement of technology. However, there are many variables at sea, such as wind, waves, vibration, and equipment aging, which cause loosening, cutting, and leakage, which are not measured by automated systems. There are cases in which only one engineer is available for patrolling. This entails many risk factors in the engine room, where rotating equipment is operating at high temperature and high pressure. When the engineer patrols, he uses his five senses, with particular high dependence on vision. We hereby present a preliminary study to implement an engine-room patrol robot that detects and informs the machine room while a robot patrols the engine room. Images of ship engine-room equipment were classified using a convolutional neural network (CNN). After constructing the image dataset of the ship engine room, the network was trained with a pre-trained CNN model. Classification performance of the trained model showed high reproducibility. Images were visualized with a class activation map. Although it cannot be generalized because the amount of data was limited, it is thought that if the data of each ship were learned through transfer learning, a model suitable for the characteristics of each ship could be constructed with little time and cost expenditure.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.333-335
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• 2006

In this page, we developed the inspection system for automobile parts using the laser vision sensor. Laser vision sensor has gotten 2 dimensions information and third dimension information of laser vision camera using the vision camera. Used JIG and ROBOT for inspection position transfer. Also, computer integration system developed that control system component pal1s and manage data measurement information. Compare sensor measurement result with CAD Data and verified measurement result effectiveness taking advantage of CAD to get information of measurement object.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.13-14
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• 2015

본 연구에서는 의료용으로 활용될 수 있는 초소형 마이크로 로봇을 위한 무선 전력 및 동력 전달 방법을 제안하였다. 기존의 무선전력전송 기술과 자기장 차폐 기술을 이용하여 무선전력으로 발생한 전류에 발생되는 Lorentz Force을 로봇에 적용할 수 있는 방법으로서, 효율적인 전력과 동력의 전달을 위한 설계 방법을 제안 하였고, 시뮬레이션과 측정을 통해 검증하였다.

• Journal of the Korean Society for Precision Engineering
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• v.1 no.1
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• pp.30-33
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• 1984

옛날부터 인간의 꿈이였던 로보트는 현실로 되어 초기적이긴 하난 그 일부가 산업용로보트로 실현되고 있음은 모두 주지하는 사실일 것이다. 산업용로보트(Industrial Robot) 라는 용어는 1960년 미국산업지인 American metal market 에서 사용되었던 것이 그 시초라고 한다. 그러나 산업용로보트의 개념은 그 보다 6년전 1954년 G.C. Devol에 의하여 출원된 특허 "Porgrammed article transfer"에서 처 음으로 제시되어 있다. 이 특허를 토대로 미국의 Consulted Central 사가 1958년에 Digital 제어로 된 automatic programmed appratus 인 한 proto type을 발표하게 되었는데 이것이 오늘날 산업용로보트의 시작이라 하고 있다.작이라 하고 있다.

• Journal of IKEEE
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• v.22 no.1
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• pp.216-222
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• 2018

Long-range wireless power transmission technology goes beyond mere cell phones and small appliances, and is the core technology of 4'th industrial revolution such as robot, electric car, and IoT sensor network. In this paper, we will explore the evolution of long-range wireless power transmission technologies that have already become commercially available, with rapid advances in technology, beyond the traditional short-range technology that has become technologically common. Through this, it is intended to check the domestic research level and progress by identifying core technologies and technical challenge.

• Journal of Electrical Engineering and Technology
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• v.6 no.6
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• pp.874-882
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• 2011

The decoupling design for the one-degree-of-freedom controller system is treated within the $H_{\infty}$ framework. In the present study, we demonstrate that the $H_{\infty}$ performance problem in the decoupling design is reduced into interpolation problems on scalar functions. To guarantee the properness of decoupling controllers and the overall transfer matrix, the relative degree conditions on the interpolating scalar functions are derived. To find the interpolating functions with relative degree constraints, Nevanlinna-Pick algorithm with starting function constraint is utilized in the present study. An illustrative example is given to provide details regarding the solution.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.233-242
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• 2002

A kinematic modeling method is proposed which models the sliding and skidding at the wheels as pseudo joints and utilizes those pseudo joint variables as augmented variables. Kinematic models of various type of wheels are derived based on this modeling method. Then, the transfer method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models of mobile robots. The kinematic models of five different types of planar mobile robots are derided to show the effectiveness of the proposed modeling method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.10a
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• pp.203-209
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• 1996

The authors apply the transfer influence coefficient method to the 3-dimensional vibration analysis of beam with multi-joints and formulate a general algorithm to analysis the longitudinal, flexural and torsional coupled forced vibration. In this paper, a structure, which is mainly founded in the robot arms, cranes and so on, has some crooked parts, subsystems and joints but has no closed loop in this system. It is modeled as the beam of a distributed mass system with massless translational, rotational and torsional springs in each node, and joint elements of release or roll at which node the displacement vector is discontinuous. The superiority of the present method to the transfer matrix method in the computation accuracy was confirmed from the numerical computation results. Moreover, we confirmed that boundary and intermediate conditions could be controlled by varying the values of the spring constants.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.637-640
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• 2005

We propose a sound source localization method using the Head-Related-Transfer-Function (HRTF) to be implemented in a given platform. HRTFs contain not only the information regarding proper time delays but also phase and magnitude distortions due to diffraction and scattering by the shading object. Therefore, a set of HRTFs for any given platform provides a substantial amount of information as to the whereabouts of the source. In this study, we introduce new phase criterion in order to find the sound source location in accordance with the HRTF database empirically obtained in an anechoic chamber with the given platform. Using this criterion, we analyze the estimation performance of the proposed method in a household environment.