• Journal of the Korean Society for Precision Engineering
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• v.31 no.1
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• pp.43-50
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• 2014

This paper introduces a robot platform which can do weeding while traveling between rice seedlings stably against irregular land surface of a paddy field. Also, an autonomous navigation technique that can track on stable state without any damage of the seedlings in the working area is proposed. Detection of the rice seedlings and avoidance knocking down by the robot platform is achieved by the sensor fusion of a laser range finder (LRF) and an inertial measurement unit (IMU). These sensors are also used to control navigating direction of the robot to keep going along the column of rice seedling consistently. Deviation of the robot direction from the rice column that is sensed by the LRF is fed back to a proportional and derivative controller to obtain stable adjustment of navigating direction and get proper returning speed of the robot to the rice column.

• Journal of Korea Society of Digital Industry and Information Management
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• v.20 no.2
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• pp.37-47
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• 2024

The food tech market, which uses artificial intelligence robots for the restaurant industry, is gradually expanding. Among them, the robot barista, a representative food tech case for the restaurant industry, is characterized by increasing the efficiency of operators and providing things for visitors to see and enjoy through a 24-hour unmanned operation. This research was conducted through text mining analysis to examine trends related to robot baristas in the restaurant industry. The research results are as follows. First, keywords such as coffee, cafe, certification, ordering, taste, interest, people, robot cafe, coffee barista expert, free, course, unmanned, and wine sommelier were highly frequent. Second, time, variety, possibility, people, process, operation, service, and thought showed high closeness centrality. Third, as a result of CONCOR analysis, a total of 5 keyword clusters with high relevance to the restaurant industry were formed. In order to activate robot barista in the future, it is necessary to pay more attention to functional development that can strengthen its functions and features, as well as online promotion through various events and SNS in the robot barista cafe.

• Journal of the Korea Society of Computer and Information
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• v.22 no.3
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• pp.89-96
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• 2017

Artificial intelligence and robot technology have been received attention as core technologies of the 4th industrial revolution. This paradigm change of science technology raises the importance of unmanned technology field. This paper categorizes unmanned technology as unmanned ground system, unmanned maritime system, and unmanned aircraft system, And it analyzes 557 cases of open patents and classifies each sort of specific technology elements. After then patent information, which were classified by technology, by patent assignees, and by IPC codes, covers unmanned technology maturity, development direction of research and core technology trends. This research provides directions of unmanned technology research and diverse field technology development through cooperation with various perspectives of quantitative analysis of patents.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.9
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• pp.1069-1075
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• 2013

An effective method is necessary for the real-time analysis of an unmanned military robot. To achieve highly efficient simulations, a subsystem synthesis method has been developed. The subsystem synthesis method separately generates equations of motion for the base body and for the subsystem. The equations of motion are expressed by DAE, which consist of differential equations and algebraic equations. To increase the accuracy and efficiency of solutions, DAE solvers such as the Direct, CS (Constraint Stabilization), and GCP (Generalized Coordinate Partitioning) method are employed. In this study, the subsystem synthesis method is applied for effective multi-body dynamics analysis of an unmanned military robot, and a comparative study of three different DAE solvers is carried out.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.3
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• pp.245-256
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• 2017

In this study, we describe a new approach to real-time implementation of working path control for the forging and casting manufacturing process by vertical type articulated robot system. The proposed control scheme is simple in structure, fast in computation, and useful for real-time control of factory automation based on robot system. Moreover, this scheme does not require any accurate parameter information, nor values of the uncertain parameters and payload variations. Reliability of the proposed controller is proved by simulation and experimental results for robot manipulator consisting of arm with six degrees of freedom under the variation of payloads and tracking trajectories in Cartesian space and joint space. The vertical type articulated robot manipulator with six axes made in SMEC Co., Ltd. has been used for real-time implementation test to illustrate the enhanced working path control performance for unmanned automation of the forging and casting manufacturing process.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.250-258
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• 2015

In this research, we proposed a new approach to implement the real-time motion control of biped robot based on voice command for unmanned FA. Voice is one of convenient methods to communicate between human and robots. To command a lot of robot task by voice, voice of the same number have to be able to be recognition voice is, the higher the time of recognition is. In this paper, a practical voice recognition system which can recognition a lot of task commands is proposed. The proposed system consists of a general purpose microprocessor and a useful voice recognition processor which can recognize a limited number of voice patterns. Given biped robots, each robot task is, classified and organized such that the number of robot tasks under each directory is net more than the maximum recognition number of the voice recognition processor so that robot tasks under each directory can be distinguished by the voice recognition command. By simulation and experiment, it was illustrated the reliability of voice recognition rates for application of the manufacturing process.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.270-277
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• 2019

Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach's leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.89-93
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• 2009

This paper deals with obstacle avoidance for unmanned vehicle using stereo system. The "DARPA Grand Challenge 2005" shows that the robot can move autonomously under given waypoint. RADAR, IMS (Inertial Measurement System), GPS, camera are used for autonomous navigation. In this paper, we focus on stereo system for autonomous navigation. Our approach is based on Singh et. al. [5]'s approach that is successfully used in an unmanned vehicle and a planetary robot. We propose an improved algorithm for obstacle avoidance by modifying the cost function of Singh et. al. [5]. Proposed algorithm gives more sharp contrast in choosing local path for obstacle avoidance and it is verified in experimental results.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.295-301
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• 2017

Recently, autonomous navigation technology, obstacle recognition, and obstacle collision avoidance technology are actively being developed for an unmanned surface vehicle (USV). The path to move from the current location to the destination should be planned, in order for an USV to autonomously operate safely to its destination. The dynamic window approach (DWA) is a well-known navigation scheme as a local path planning. The DWA algorithm derives the linear velocity and angular velocity by evaluating the destination direction, velocity, and distance from the obstacle. However, because DWA algorithm does not consider tracking the path, when using only the DWA algorithm, the ship may navigate away from the path line after avoiding obstacles. In this paper, we propose an improved DWA algorithm that can follow path line. And we implemented the simulation and compared the existing DWA algorithm with the improved DWA algorithm proposed in this paper. As a result, it is confirmed that the proposed DWA algorithm follows the path line better.

• Journal of Drive and Control
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• v.20 no.4
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• pp.27-34
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• 2023

Weeding in orchards is closely associated with productivity and quality. The customary weeding process is both labor-intensive and time-consuming. To solve the problems, there is need for automation of agricultural robots and machines in the agricultural field. On the other hand, orchards have complicated working areas due to narrow spaces between trees and amorphous terrain. Therefore, it is necessary to develop customized robot technology for unmanned weeding work within the department. This study developed a path generation and path control method for unmanned weeding according to the orchard environment. For this, the width of the weeding span, the number of operations, and the width of the weeding robot were used as input parameters for the orchard environment parameters. To generate a weeding path, a weeding robot was operated remotely to obtain GNSS-based location data along the superheated center line, and a driving performance test was performed based on the generated path. From the results of orchard field tests, the RMSE in weeding period sections was measured at 0.029 m, with a maximum error of 0.15 m. In the steering period within row and steering to the next row sections, the RMSE was 0.124 m, and 0.047 m, respectively.