• Proceedings of the KIEE Conference
• /
• 2003.11c
• /
• pp.464-467
• /
• 2003

본 논문에서는 워터마킹을 응용한 동적 캐릭터 기술을 제안한다. 오디오 신호에 임의의 동작을 위한 일련의 동작코드를 들리지 않게 삽입하면, 이 캐릭터는 선행 처리된 오디오 파일이 재생될 때 마이크를 통해 얻은 소리를 처리하고 은닉된 코드를 추출함으로써 그 코드에 지정된 행동을 할 수 있다. 예를 들어 로봇이 동작코드가 은닉된 음악에 맞추어 지시된 춤을 출 수 있는 것이다. 이를 위해 우리는 워터마킹 기술을 적절히 응용하였으며, 제안된 기술은 공기(air)를 매질로 삼는 아날로그 채널에서 발생하는 잡음, 로봇과 음원의 거리에 따른 음의 감쇄, 그리고 동기화 등과 같은 문제들을 해결하였다. 여러 가지 상황에 따른 제안된 기술의 실험을 통해 제안된 기술의 성능을 입증하였다.

• Journal of the Korea Institute of Building Construction
• /
• v.23 no.2
• /
• pp.209-220
• /
• 2023

Ensuring accuracy within tolerance is crucial for a marking robot; however, rebar displacement frequently occurs during the structural work process, necessitating corrections to layout lines or rebar locations. To guarantee precision and automation, the marking robot must be capable of measuring rebar error and determining appropriate adjustments for marking lines and rebar placement. Consequently, this study proposes a method for measuring rebar location error using a LiDAR sensor and implementing a layout assessment process based on the measurement results. The rebar recognition experiment using the LiDAR sensor yielded an average error of 5mm, demonstrating a reliable level of accuracy for wall rebars. Additionally, this research proposed a process that enables the robot to evaluate rebar and marking corrections based on the error range. The findings of this study can contribute to the automated operation of marking robots while accounting for construction errors, potentially leading to improvements in structural quality.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.145-148
• /
• 1986

To perform the marking on metal with high speed and non-contact using the laser beam of high energy, laser marking system is designed and fabricated applying the galvanometer scanner capable of high speed-precise beam positioning controlled by microprocessor. Laser is a Q-switched Nd:YAG producing multi-mode, wavelength, 1060nm. Optical system is composed of beam expander, scanning mirror and flat field lens. Consequently, the laser marking is satisfactorily achieved regardless of kinds of metal.

• Journal of the Korea Institute of Building Construction
• /
• v.22 no.6
• /
• pp.689-700
• /
• 2022

Layout work for building structures requires high precision to construct structural elements in the correct location. However, the accuracy and precision of the layout position are affected by the worker's skill, and productivity can be reduced when there is information loss and error. To solve this problem, it is necessary to automate the overall layout operation and introduce information technology, and layout process automation using construction robots can be an effective means of doing this. This study develops a prototype of an automated layout robot for building structures and evaluates its basic performance. The developed robot is largely composed of driving, marking, sensing, and control units, and is designed to enable various driving methods, and movement and rotation of the marking unit in consideration of the environment on structural work. The driving and marking performance experiments showed satisfactory performance in terms of driving distance error and marking quality, while the need for improvement in terms of some driving methods and marking precision was confirmed. Based on the results of this study, we intend to continuously improve the robot's performance and establish an automation system for overall layout work process.

• Proceedings of the Korean Society of Disaster Information Conference
• /
• 2023.11a
• /
• pp.83-84
• /
• 2023

4족 보행 로봇을 투입하기 위해서는 로봇을 운반할 수 있는 차량이 필요하며 특히 본 연구에서는 군용 작전 지휘 차량을 벤치 마킹하여 화재 진압용 TCMV(Tactical Command Monitoring Vehicle)를 개발하고자 하였다. TCMV를 통해 4족보행 로봇이 화재 현장에 진압할 수 있도록 시나리오를 개발하고 있으며, 아울러 TCMV의 요구사양을 정의 하기 위하여 소방관을 중심으로 의견을 수렴하여 화재 진압의 전략을 개발하고 있다. 추후 TCMV에 적합한 차량과 각종 모니터링 시스템을 구축해 4족 보행 로봇의 화재 진압 기능과 구조 기능을 극대화 하며 새로운 화재 진압 전술이 될 것으로 기대된다.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2023.11a
• /
• pp.233-234
• /
• 2023

Construction robot-based automation can contribute to productivity and quality improvement by replacing manpower in tasks that have simple repetitive properties or require high precision. In this respect, layout work is one of the most effective tasks in introducing robot-based automation technology. The development of a robotic layout system for building structures has recently been promoted in Korea, and a prototype of a marking robot has been produced. However, for commercialization, the technology improvement is required through the analysis of major improvement directions. Therefore, this study aims to derive the improvement priorities of the marking robot based on the evaluation of researchers who participated in the development process. As a result, there was a high demand for improvement in factors such as the robot's precise positioning method and robot size and weight. The results of this study are expected to serve as guidelines for the efficient input of limited resources in the future technology development process.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.21 no.6
• /
• pp.22-29
• /
• 2022

In this study, an automatic marking system for fabric inspection machines was developed. The main objectives of the study were to promote intelligence and automation for the inspection process, as well as to increase textile industrial productivity. Generally, when a worker manually inspects and marks a fabric, human error and reduced efficiency are unavoidable. To overcome these problems, we developed an automatic marking system that uses robots. This system incorporates a vision camera to automatically recognize defects, and an optical fiber sensor to detect the side of the fabric. To verify the performance, the control system sends a command directly to the robot to mark the fabric. Finally, the actual production confirmed that the proposed system could perform the desired motion.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.4
• /
• pp.304-311
• /
• 2004

In this paper we present a technique of discrete-time sliding mode controller design for assigning eigenvalues of sliding mode and determining a convergence rate to sliding surface. First the sliding mode coefficient is designed via Ackermann s formula. Then a linear controller is designed to enforce sliding mode such that the resulting closed loop yields the desired eigenvalues. As we use a linear control instead of nonlinear control, chattering is nearly eliminated. Simulation and experimental results are included to show the effectiveness of the proposed method for Laser Marking System.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.16 no.3
• /
• pp.1626-1629
• /
• 2015

In this paper, the development trend of Army force power in Korea is observed and analyzed. It can be checked that unmanned technology has been actively researched and many diverse defense Acquisition system are under development in Future Combat System. Some of such examples are enough worth to be benchmarked for Korea's related research and development activities for future unmanned combat systems. The result of survey and analysis on development trend on Army force power the further establishment of domestic technology research direction as well as viable benchmarks for the future unmanned combat systems.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.41 no.5
• /
• pp.99-109
• /
• 2004

This paper proposes a new method for tracking image contents, which are re-distributed on the Internet using a web-robot and fingerprinting scheme. The fingerprinting is an extended technique of watermarking and embeds identity of the customer into the content as a fingerprint in a way that is very difficult to erase. The fingerprint in the content can be used widely in the field of the copyright protection technique because it identifies the content itself and includes the information about the original customer. In this paper we discuss an active image tracking system using a web-robot and fingerprinting scheme. In the proposed system the information of the original customer is embedded as a fingerprint into the image content before distribution and also stored into DB. The distributed contents are collected by the web-robot and fingerprinting information is extracted from the contents. Finally the identifying of contents is done by comparing the extracted fingerprint with the selling history of the content.