• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.5
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• pp.230-238
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• 2023

Small and medium-sized food manufacturing enterprises are largely reliant on manual labor, from inputting raw materials to palletizing the final product. Recently, there has been a trend toward smartness and digitization through the implementation of robotics and sensor data technology. In this study, we examined the effectiveness of improvement through 3D simulation on two repetitive work processes within a food manufacturing company. These processes involve workers whose speed cannot match the capacity of the applied equipment. Two manual processes were selected: the weighing and packing process performed by workers after skewer assembly, and the manual batch process of counting randomly delivered frozen foods, packing (both internal and external), and palletizing. The production volume, utilization rate, and number of workers were chosen as verification indicators. As a result of the simulation for improving the 3D process, production increased by 13.5% and 56.8% compared to the existing process, respectively. This was particularly evident in the process of applying palletizing robots. In both processes, as the utilization rate and number of input workers decreased, robots could replace tasks with high worker fatigue, thereby reducing work overload. This study demonstrates the potential to visually compare the process flow improvement using 3D simulations and confirms the possibility of pre-validation for improvement.

• Journal of the Korean Society of Safety
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• v.32 no.1
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• pp.1-8
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• 2017

In industry AGV's(automated guided vehicles) that can detect and follow guidelines drawn on the factory floor using magnetic or optical sensors are widely used. However, such AGV's without preview capability cannot effectively avoid collision with obstacles that may occasionally pass through the guideline. Furthermore, without preview information, they consume much energy at the right angle corners as they have to make sudden directional change. Also, the risk of dropping payloads increases in such situations. In this study, infrared preview sensors were adopted to a mobile robot for detecting not only the current position but also the forward position of the guideline and the preview control technique was applied to optimally control the mobile robot's motion using the information from the infrared preview sensors. Then the effectiveness of this approach was investigated through a series of experiments. The experimental result shows that the proposed approach is effective for safety enhancement as well as for better efficiency.

• Journal of the Korea Safety Management & Science
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• v.4 no.3
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• pp.13-23
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• 2002

The use of industrial robots has been one of the most important innovations in production technology in recent years. It is true that robotic techniques, as applied to hazardous operation in industry, have reduced the risk of injury and occupational disease among workers. However, new types of occupational safety and health risks, associated with unpredictable motion patterns and erratic idle times and serious injuries and deaths have occurred due to operator misperception of these robot design and performance characteristics. This paper provides an overview of ergonomic and safety issues which are important in the design of robotic workspaces. Particularly, this study uses MORT(Management oversight and risk tree analysis)as the system's safety technique applied to robotics.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.7
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• pp.799-807
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• 2014

This paper describes the development of an indoor locomotion assistive robot, Ball-Chair, comprising a novel drive system. This robot facilitates locomotion assistive operation in narrow spaces, in which common wheelchairs cannot move easily. The Ball-Chair has two main features: its structural feature and driving mechanism. The exoskeleton frames of the Ball-Chair have been designed with octagonal shapes resembling a circle, for minimizing its volume and weight. Additionally, all its driving parts (including the ball) are mounted within of the robot to enhance its safety. The Ball-Chair features a reverse ball-mouse driving mechanism comprising two driving omni-wheels in the x- and y-axes. By controlling the speed of each omni-wheel, a holonomic driving system that can facilitate omnidirectional locomotion has been achieved using only two wheels. The effective movement of the Ball-Chair in any direction within narrow indoor spaces was experimentally verified. The paper outlines the development procedure in detail.

• Journal of Chest Surgery
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• v.39 no.6 s.263
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• pp.482-485
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• 2006

Video-assisted thoracoscopic surgery has gained a broad acceptance for various thoracic lesions because it is the minimally invasive surgery with little tissue trauma, less pain, improved cosmetic results and short recovery time. However, there are some limitations for this method, such as restricted visual sensory information to a two-dimensional image and limited maneuverability of the tips of the instruments. To overcome these limitations, advanced technology has been introduced and the da $Vinci^{TM}$ Surgical System (Intuitive Surgical Inc, Mountain View, CA, USA) became available in 2001. In Korea, the da $Vinci^{TM}$ Surgical System was introduced in Severance hospital (Yonsei University College of Medicine) in May 2005, and approved by KFDA in July 2005. Herein, we report the first experience of robot-assisted thoracic surgery with the da $Vinci^{TM}$ Surgical System in extirpation of a large teratoma in anterior mediastinum.

• Journal of the Korea Institute of Building Construction
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• v.12 no.2
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• pp.220-229
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• 2012

In recent years, the number of high-rise buildings has been on the rise. As buildings have become larger in scale, significantly different issues related to their construction and maintenance have emerged. In addition, the automation and mechanization of the cleaning work for the curtain wall, one of the most frequently-performed tasks in building maintenance, is required as a fundamental measure. For this reason, a guide-rail cleaning robot system is emerging as one of the measures in response to external factors, including gust. Therefore, this is a preliminary study for the automation and mechanization of the curtain wall cleaning of high-rise buildings, and aims to derive the basic units and prepare for the concept of the guide rail. It is expected to serve as precedent research for the development and operation of a curtain-wall cleaning robot, and to prepare the basis for an final design of optimal guide rail.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.4
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• pp.2370-2378
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• 2015

This paper proposes an algorithm using Lagrange interpolation method to realize trajectory planning for torque minimization of robot manipulators. For the algorithm, position constraints of robot manipulators should be given and the stability of robot manipulators should be satisfied. In order to avoid Runge's phenomenon, we set up time interpolation points using Chebyshev interpolation points. After that, we found suitable angle which corresponds to the points and then we got trajectories of joint's angle, velocity, acceleration using Lagrange interpolation method. We selected performance index for torque consumption optimization of robot manipulator. The method went through repetitive computation process to have minimum value of the performance index by calculated trajectory. Through the process, we could get optimized trajectory to minimize torque and performance index and guarantee safety of the motion for manipulator performance.

• Journal of the Korea institute for structural maintenance and inspection
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• v.24 no.1
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• pp.74-79
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• 2020

Safety inspection of cable-supported bridge has increasingly attention as many cable-supported bridges are currently constructed/operated. Whilst cables as a main component in cable-supported bridge should be inspected regularly, traditional method (visual inspection) has limitation to check the condition of cables properly due to restricted factors. It is evidently necessary to develop cable-inspection robot to overcome this concern. In this respect, the main aim in this study is to manufacture the improved robot compared with the existing robot. The improved functions of the robot in this study were that the robot can be operated in large cable diameter (greater than 200 mm) and climbing ability of the robot increases. In addition, electro-magnetic sensor as a non-destructive method in the robot was added to detect damaged cables and performance of the sensor was evaluated in indoor and field experiments. Consequently, the robot was able to move on the cable with ~0.2m/s and to detect damaged cables using the sensor. It was also confirmed that performance of the robot in field test is similar to that in indoor test.

• Journal of Digital Contents Society
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• v.19 no.3
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• pp.561-567
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• 2018

In this paper, we apply this method to the entire process of smart disaster safety management based on the $4^{th}$ industrial revolution to minimize human, social, economic and environment damage from accidents and disasters, prevention evaluation and disaster information collection analysis and real-time detection of field situation. Prevention of $5^{th}$ generation communication system by analysis, contrast by education and training using virtual reality and augmented reality disaster safety management decision support system intelligent robot for recovery, disaster, discovery, reconnaissance relief, and scale analysis of damages were proposed.

• The Journal of Sustainable Design and Educational Environment Research
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• v.19 no.4
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• pp.78-87
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• 2020

This study proposed the basic data that contributes to inducing an effective construction plan through the application of the 4th industrial technology to construct a school building that can guarantee the five goals of construction management: cost, process, quality, safety, and environmental management. To this end, 3D printing, drones, robot automation, and augmented reality technologies that are highly usable in construction sites were identified for construction workers. As part of this, related literature and research data were investigated. The selected 4th industrial technology was investigated and analyzed on how it was used for cost, process, quality, safety, and environmental management in a detailed school construction process. As a result of the analysis, significant results were found for the application plan of the 4th industrial technology in school construction for cost, process, quality, safety, and environmental management.