• 한국벤처창업학회:학술대회논문집
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• 2016.04a
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• pp.150-153
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• 2016

본 연구의 목적은 제3의 산업혁명을 이끌고 있는 3D프린터에 대해 미래 중추적 역할을 담당할 3D프린팅 교육생의 3D프린터 사용의도를 기술수용모델(TAM)에 기반하여 검증하기 기초연구이다. 본 목적을 달성하기 위하여 서울의 3D프린팅 교육기관 교육전문가 조사를 실시하였으며, 차후 교육 대상자를 설문조사하여 3D프린터에 대한 기술수용의도를 파악하고 분석하고자 한다. 또한, 분석한 결과를 통해 미래 제조업 창업의 핵심 역할을 담당할 3D프린터 사용 활성화를 위한 연구기반을 마련하고자 한다. '3D프린팅 넥스트 레볼루션'의 저자 크리스토퍼 바넷은 언젠가는 3D프린팅이 우리의 삶을 혁명적으로 바꿀 것이라고 예상하고 있다. 3D프린터를 통해 개개인은 맞춤형 제품을 만들어 낼 것이 틀림없다. 치과 의료, 운송 및 항공, 로봇, 군용, 우주, 건축, 요리 등에서 다양하게 3D프린터를 활용한 제품들이 미래에 쏟아져 나올 것으로 예상한다. 생산의 민주화를 이끌 3D프린터는 기존 산업에 큰 기회와 동시에 위협을 주고 있다. 크라우드 및 네트워크를 통한 3D데이터 거래와 지구촌 여러 곳에 3D프린터가 활용된다면, 기존 산업에 혁명적인 변화가 있으리라 짐작된다. 전문가 인터뷰 결과를 기반으로 3D프린터 사용의도에 영향을 주는 5가지 요인으로 3D모델링 경험, 비용, 품질, 유희성, 혁신성이 나타났다. 5가지 독립변인은 TAM모델의 인지된 사용 유용성과 3D프린터에 대한 기술수용의도를 파악해 보고자 한다. 3D프린터 교육기간, 전공 및 학과, 개인의 경험과 혁신성의 차이가 3D프린터 기술수용 여부에 영향을 줄 것으로 예상된다. 서울지역 3D프린터 관련 교육기관에서 교육을 받았거나 받고 있는 학생을 대상으로 연구를 할 계획이며, 지역을 확대한 연구가 차후 필요할 것이다.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2401-2403
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• 2002

Given a certain target point, the mobile robot's navigation could be mainly considered about two areas, 'how fast and accurate' and 'how safe'. Such problems regarding the velocity and stability possess close relationship with the path in which the mobile robot navigates in. Thus, the system proposed in this research paper was constructed so the mobile robot can obtain the optimum path by utilizing the information according to the environmental map, based on the Global Path Planning. Also by inducing the Local Path Planning method, it was constructed so that the robots can avoid the obstacles, which were not shown in the environmental map on-line. Particularly, by fusing the Local and Global Path Planning together, it is possible for the robots to plan similar path. At the same time, the focus was on the materialization of effective mobile robot's navigation. It was made possible by utilizing the Fuzzy Logic Control. Also, the validity of the algorithm proposed was proven through the trial experiment.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.1
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• pp.33-40
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• 2000

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2360-2362
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• 1998

This paper presents a new collison-free trajectory problem for SCARA robot manipulator. we use artificial potential field for collison detection and avoidance. The potential function is typically defined as the sum of attractive potential pulling the robot toward the goal configuration and a repulsive potential pushing the robot away from the obstacles. In here, end-effector of manipulator is represented as a particle in configuration space and moving obstacles is simply represented, too. we consider not fixed obstacle but moving obstacle in random. So, we propose new distance function of artificial potential field with moving obstacle for SCARA robot. At every sampling time, the artificial potential field is update and the force driving manipulator is derived from the gradient vector of artificial potential field. To real-time path planning, we apply very simple modeling to obstacle. Some simulation results show the effectiveness of the proposed approach.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.866-870
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• 1995

To make a mobile robot to get to a goal point, path which connects the mobile robot and the goal point is needed and a path planning is necessary. There are various kinds of a path planning. Well known methods are skeleton method, cell decomposition method and potential field method. But each method has both fortes and defects. In this paper, we propose a new method of path planning to find a path for mobile robot. It is obtained by modifying a Voronoi diagram. An original Voronoi diagram can make a safe path but its result is not satisfied. First defect of path, finded by the original Voronoi diagram, is sulplus of safty which make a path longer. Second defect is that the original Voronoi diagram method has a problem of connecting the Voronoi daigram with start/goal point of mobile robot. These defects are removed in proposed algorithm in this paper. We define a function to show the quality of paths. And by computer simulation, paths are compared and its result are shown.

• 월간 기계설비
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• no.12 s.209
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• pp.34-43
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• 2007

환경부는 산하 수처리선진화사업단에서 수돗물 수질개선대책의 일환으로 연구개발한 옥내급수관 진단, 세척 및 갱생기술을 적용, 서울시와 공동으로 시범사업을 실시한다고 밝혔다. 이 사업은 서울 둔촌동 주공아파트 2개동 80세대를 대상으로 약 1억2000만원의 예산을 들여 지난 8월 말부터 시행, 수돗물 녹물발생 방지를 위한 갱생기술의 완성도를 검증·확인한다는 것. 기존 옥내급수관 갱생기술은 평균 관직경 15mm인 소형관에 대한 정밀시공이 어려워 녹이 재발하는 경우가 많았다. 하지만 이번에 개발된 기술은 수도관 내부의 녹 제거 및 관 내부 표면이 균일토록 코팅할 뿐 아니라 시공 후 마이크로 로봇을 이용, 관 내부 촬영 및 절연도 체크를 통해 코팅 완성도를 확인, 녹 재발 가능성을 미연에 방지한다. 이번 기술이 검증되면 환경부는 선박배관, 빌딩, 냉각수배관, 소화용배관, 산업용배관 등에도 확대 적용하고 해외진출을 통해 물산업 육성 아이템으로 발전시킬 계획이다. 한편 환경부는 지난 2005년 수도법을 개정, 건축연면적 6만$m^2$이상 다중이용건축물과 연면적5,000$m^2$이상 국.공립 공공시설은 준공 5년 후부터 매년 수질검사를 실시, 결과에 따라 수도관을 세척·갱생 또는 교체토록 올해 1월부터 의무화 하고 있다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.10
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• pp.1479-1485
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• 2015

Robot's technology was very simple and repetitive in the past. Nowadays, robots are required to perform intelligent operation. So, path planning has been studied extensively to create a path from start position to the goal position. In this paper, potential field algorithm was used for path planning in dynamic environments. It is used for a path plan of mobile robot because it is elegant mathematical analysis and simplicity. However, there are some problems. The problems are collision risk, avoidance path, time attrition. In order to resolve path problems, we amalgamated potential field algorithm with the artificial neural network system. The input of the neural network system is set using relative velocity and location between the robot and the obstacle. The output of the neural network system is used for the weighting factor of the repulsive potential function. The potential field algorithm problem of mobile robot's path planning can be improved by using artificial neural network system. The suggested algorithm was verified by simulations in various dynamic environments.

• Journal of the Semiconductor & Display Technology
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• v.17 no.1
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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.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.1
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• pp.123-129
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• 2012

Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, the impurities which are stuck to the inner face of the pipe are removed (diameter: 300 mm or 400 mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), an in-pipe cleaning robot of GACF with the 6-link sliding mechanism will be proposed, which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300 mm. In addition, for the pipe with diameter of 400 mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn(R) when the link of sliding mechanism is stretched to fit into the 400 mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS$^{(R)}$ Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.

• Journal of the Economic Geographical Society of Korea
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• v.24 no.3
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• pp.283-299
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• 2021

As the intelligent revolution triggered by digital technology, unmanned vehicles such as self-driving cars, robots, and drones appeared, which brought about innovative changes in the industry. Gyeonggi Local government has established both an ordinance and a basic plan regarding unmanned vehicles. It is time to prepare a data-based policy by understanding the current state of the unmanned vehicle industry in the province. As a result of the survey, the unmanned vehicle industry in Gyeonggi Province is 25% of the nationwide, and more than 88% is concentrated in the southern part of Gyeonggi Province. The land sector such as the robot and autonomous vehicles are focused on 71.4% and the aviation sector such as drones are 26.7%. However, unmanned vehicle companies in Gyeonggi-do are mostly small-sized businesses with less than 10 years of experience and are in the stage of introduction and growth level. They have a plan to improve technology through continuous R&D by hiring human resources. Therefore, Gyeonggi-do needs to consider policy support for sustainable growth of start-up and small enterprises and for fostering professional manpower and technical skills as well as for establishing an unmanned vehicle industry network to create, share, and spread knowledge.