• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.6
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• pp.511-516
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• 2016

Guaranteeing the safety of human workers around robots has become an important issue with the increasing demand for human-robot collaboration in industrial production lines. This study proposes a robot manipulator equipped with a counterbalancing mechanism that reduces the power of actuators required to drive the robot, thus keeping a human worker safer in a human-robot collaborative environment. A counterbalancing torque that exactly cancels out the gravitational torque in the proposed mechanism is generated by restoring the force of a spring in the counterbalancing mechanism. A prototype design and experimental results are presented to verify the effectiveness of the proposed method.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.11a
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• pp.1209-1211
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• 2017

창문을 열고 닫음에 있어서 사람의 신체에 따라, 창문의 위치에 따라 어려움이 발생한다. 또한 최근 대기 오염도가 심해지고 지구 온난화로 인한 한반도 기후 변화로 국지성 집중호우의 빈도가 증가하고 있다. 이로 인해 사용자가 부재중일 때 창이 열려있다면 집 안으로 먼지가 들어올 것이고, 국지성 호우에 의해 비가 들어오는 경우가 생길 수 있다. 본 논문에서는 이 문제점들에 주목하여, 어플과 연계를 통한 원격 창문 개폐 장치를 고안하였다. 본 장치를 이용한다면 신체적인 한계가 있는 어린이, 노약자, 장애인과 같은 이들이 쉽게 창문을 개폐할 수 있을 것이다. 그리고 환기가 필요한 공장, 격납고 등의 높은 위치에 있는 창문을 쉽게 개폐할 수 있어 분진 폭발로 인한 안전사고 역시 예방하는 효과가 있을 것이다. 또한 사용자가 외출할 때 창문을 닫고 나오지 못한 경우 어플을 이용하여 원격으로 닫을 수 있으며, 이를 통해 밖에 황사, 미세먼지가 들어오는 것과 비가 들어오는 것을 차단할 수 있다. 마지막으로 열린 창을 닫는다는 것에서 방범의 효과 역시 가져올 수 있다.

• Journal of Auto-vehicle Safety Association
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• v.12 no.2
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• pp.33-39
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• 2020

This paper presents an Around View Monitoring (AVM) stop-line detection based longitudinal position correction algorithm for automated driving on urban roads. Poor positioning accuracy of low-cost GPS has many problems for precise path tracking. Therefore, this study aims to improve the longitudinal positioning accuracy of low-cost GPS. The algorithm has three main processes. The first process is a stop-line detection. In this process, the stop-line is detected using Hough Transform from the AVM camera. The second process is a map matching. In the map matching process, to find the corrected vehicle position, the detected line is matched to the stop-line of the HD map using the Iterative Closest Point (ICP) method. Third, longitudinal position of low-cost GPS is updated using a corrected vehicle position with Kalman Filter. The proposed algorithm is implemented in the Robot Operating System (ROS) environment and verified on the actual urban road driving data. Compared to low-cost GPS only, Test results show the longitudinal localization performance was improved.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2007.11a
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• pp.921-924
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• 2007

토목, 건축과 관련된 노동현장은 여느 3D 업종들과 마찬가지로 숙련된 기능공의 부재 및 산업재해 발생으로 인해 어려움을 겪고 있으며 이를 극복하기 위한 노력을 계속하고 있다. 대표적인 토목공사인 토공 작업 역시 위험 혹은 유해한 작업환경으로 인해 토공장비의 안전사고 및 생산성과 품질저하가 발생하며 이를 방지하기 위한 장비의 지능화가 절실하게 요구되고 있다. 이를 위해 최근 지능형 굴삭 시스템 개발을 위한 연구가 진행되고 있으며, 토공작업은 일반적으로 광범위한 작업영역을 가지기 때문에 지능형 굴삭시스템의 개발을 위해서는 효율적인 작업을 수행할 수 있도록 하는 작업계획의 수립이 매우 중요하다. 본 연구에서는 작업계획의 대상을 굴삭로봇과 토사로 구분하였으며, 글로벌 영역에서 단위작업 영역, 로컬 영역으로의 분할을 통해 전체 작업 진행에 대해 효율적으로 작업계획을 수립할 수 있도록 구성하여 계획단계에서부터 토공작업 자동화 및 효율와에 기여하고자한다. 토공작업계획 시스템은 토공 작업자 및 감독자의 작업 특성 및 노하우를 컴퓨터, 즉 두뇌에 부여함으로써 숙련된 장비조종자의 작업 방법 및 특성을 반영하여 토공 작업 프로세스 모델링을 구축하고 실제 작업환경상의 센서에 의해 측정된 데이터를 실제 작업환경과 동일하게 모델링된 컴퓨터내의 가상환경을 바탕으로 영역분할, 최적 플랫폼 위치선정 및 작업 순차생성을 통해 최적의 토공작업계획을 수립할 수 있도록 한다.

• Journal of Korea Entertainment Industry Association
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• v.13 no.8
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• pp.525-530
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• 2019

Electroencephalography(EEG) studies that have been in clinical research since the discovery of brainwave have recently been developed into brain-computer interface studies. Currently, research is underway to manipulate robot arms and drones by analyzing brainwave. However, resolution and reliability of EEG information is still limited. Therefore, it is required to develop various technologies necessary for measuring and interpreting brainwave more accurately. Pioneering new applications with these technologies is also important. In this paper, we propose development of a personal authentication system fit for lifecaretainment based on EEG. The proposed system guarantees the resolution and reliability of EEG information by using the Electrooculogram and Electromyogram(EMG) together with EEG.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.520-522
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• 2022

Lone Death is increasing as elderly population increases. Lone elderly is vulnerable in society for many reasons. This paper explores digital solution to protect solitary in society. First, sensor and AI care robot can be used to collect digital data and situation check. Second, digital device is checked regularly and visiting is expanded in digital environment. Third, digital emergency security system should be established. Fourth, user education is to be regularly carried out including complementary education.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.07a
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• pp.433-434
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• 2022

물류 시설에서 사람이 직접 물류를 입출고하는 방식이 일반적이다. 본 연구에서는 물류의 입출고를 인력의 소모 없이 보다 안전하고 효율적으로 하는 것을 전제로 하여 스마트 팩토리 산업에 사용되는 AGV 시스템에 물류 입출고 시스템을 접목하고자 한다. 본 논문은 기존의 인력의 소모와 산업재해 위험이 있는 물류 시설 근로 환경에 AGV를 이용, 인력의 소모를 줄여 물류 입출고 프로세스를 무인화하고자 "AGV 물류 자동화 시스템"을 제안한다. AGV 물류 자동화 시스템은 적외선 센서를 이용해 라인 트레이서를 구현하여 원하는 위치로 AGV를 이동시키고 각종 모터로 물품의 입출고 임무를 수행하도록 한다. 스마트폰의 물류 관리 어플리케이션을 통해 AGV의 제어와 물품의 재고 파악이 가능하도록 하여 물류관리의 효율성과 편의성을 증대시켰다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.12
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• pp.1627-1633
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• 2012

A deep-sea pressure vessel needs to protect the internal electrical equipment from the high external pressure. Thus, the pressure vessel should be designed to be watertight and structurally safe. In this study, a cylindrical-type pressure vessel comprising a hollow cylinder and cover plates at both ends is investigated. For communication between the internal electronic equipment and the external device, holes are bored on the cover plate to install underwater connectors. Considering the type of internal equipment and underwater connector specifications, multiple holes may be required. These holes can affect the structural safety of the pressure vessel cover plate. In this study, the optimum design of the hole arrangement in consideration of the structural safety of the cover plate was performed.

• Korean Journal of Construction Engineering and Management
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• v.5 no.2 s.18
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• pp.162-171
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• 2004

Crack sealing is a maintenance procedure that is commonly used to reduce pavement degradation. If cracks in pavements are not sealed, surface water penetration can reduce the strength of the sub-base layers, which can result in increased deflections of the pavement. Reduced strength of the sub-base also accelerates the deterioration of the surface, due to development of greater cracking and potholes. Crack sealing is performed to reduce water and debris penetration, thereby helping to maintain pavement structural capacity and limiting future degradation. The process of sealing cracks in pavements is however dangerous, costly, and labor-intensive operation. Labor turnover and training are increasing problems related to crack sealing crews, and as traffic volumes increase. Automating crack sealing can reduce labor and road user costs, improve work quality, and decrease worker exposure to roadway hazards. The main objective of this research is to develop an automated system for sealing cracks in pavement. Extension of the algorithms and tools presented in this research is also recommended for future study.

• Resources Recycling
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• v.31 no.4
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• pp.3-11
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• 2022

Owing to the increasing demand for electric vehicles (EVs), appropriate management of their waste batteries is required urgently for scrapped vehicles or for addressing battery aging. With respect to technological developments, data-driven diagnosis of waste EV batteries and management technologies have drawn increasing attention. Moreover, robot-based automatic dismantling technologies, which are seemingly interesting, require industrial verifications and linkages with future battery-related database systems. Among these, it is critical to develop and disseminate various advanced battery diagnosis and assessment techniques to improve the efficiency and safety/environment of the recirculation of waste batteries. Incorporation of lithium-related chemical substances in the public pollutant release and transfer register (PRTR) database as well as in-depth risk assessment of gas emissions in waste EV battery combustion and their relevant fire safety are some of the necessary steps. Further research and development thus are needed for optimizing the lifecycle management of waste batteries from various aspects related to data-based diagnosis/classification/disassembly processes as well as reuse/recycling and final disposal. The idea here is that the data should contribute to clean design and manufacturing to reduce the environmental burden and facilitate reuse/recycling in future production of EV batteries. Such optimization should also consider the future technological and market trends.