• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.4
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• pp.361-367
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• 2015

This paper presents the design concept of an intrinsic continuum robot for safe man-machine interface and characteristic behaviors of its end-effector based on real experiments. Since pneumatic artificial muscles having similar antagonistic actuation to human muscles are used for main backbones of the proposed robot as well as in the role of the actuating devices, variable stiffness of robotic joints can be available in the actual environment. In order to solve the inherent shortcoming of an intrinsic continuum robot due to bending motion of the backbone materials, a Kalman filter scheme based on a triaxial accelerometer and a triaxial gyroscope was proposed to conduct an attitude estimation of the end-effector of the robot. The experimental results verified that the proposed method was effective in estimating the attitude of the end-effector of the intrinsic continuum robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.3
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• pp.289-296
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• 2016

This study presents the kinematics of an intrinsic continuum robot actuated by pneumatic artificial muscles. The single section of a developed continuum robot consisted of three muscles in parallel. The contraction of each muscle according to applied air pressure produced spatial motions of a distal plate with respect to a base plate. Based on the bending behaviors of artificial muscles, the orientation and position of the end-effector of a continuum robot were formulated using a transformation matrix. The orientation and position was also determined for a single section of the distal plate. A Jacobian matrix relating the contraction rate or the pressure rate of the muscles to the velocity vector of the end-effector was calculated considering the assembled position of actuators between neighboring sections of the robot. Experimental results showed that the motions of the intrinsic continuum robot were accurately estimated by the proposed kinematics.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.323-330
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• 2008

This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.619-622
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• 1986

컴퓨터 기술의 발달에 따라 디지탈 전산기는 연산처리 능력이 더욱 빨라지고, 더욱 큰 기억용량을 갖게 되었다. 따라서 산업공정, 화학프랜트, 원자력발전 및 항공분야 등의 복잡한 연속 동특성계에 대한 실시간 시뮬레이션이 가능하게 되었다. 특히 복잡한 연속 동특성계의 시뮬레이션 목적으로 Multiprocessor 형태의 전산기가 개발되었다. 이 Multiprocessor형태의 전산기는 D/A 변환기와 A/D 변환기를 갖추므로써 실시간 실물 모의시험(A real time hardware-in-the-loop simulation) 시의 컴퓨터와 외부장비와의 데이타 전달이 용이하여 졌다. 본 연구에서는 비행체의 비행자세를 제어하기 위한 조종장치의 설계해석 및 성능시험을 위하여 Multiprocessor를 이용하여 실시간 실물 모의실험이 가능함을 보였다. 본 시뮬레이션에 사용된 전산기는 AD10 전산기이다.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.147-152
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• 1992

This paper describes a new approach that can extract the relative shift vectors between two aerial image sequences for implementing the visual navigation system. This method minimizes the noise included in the aircraft attitude information that represents the changes of the aircraft attitude using the statistical method and Kalman Filtering method. This result can be used to find the relative shift vectors which are independent of the attitude changes indicating the true trajectories of aircraft. We applied this method to the image about which we had already known the information of aircraft attitude, and that result showed that the errors were minimized successfully.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.164-171
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• 2021

This paper proposes a continuum mechanism for manually controlled endoscopic surgical instruments. The wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. However, the conventional wire-driven mechanism has inherent problems caused by redundancy, such as deflection and low precision. It does not have operating force and manipulability for surgery. Therefore, a method to increase the force of the continuum mechanism using a multi-wire with simple mechanical structure is proposed. Moreover, for intuitive operation, a hand-controller mechanism that can manipulate the length of the wire without complex process is proposed. Finally, we show that the proposed mechanism and methods are applicable to endoscopic surgical tools through simple experiments.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.301-308
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• 2020

In this paper, we deal with the static modeling of a continuum robot that can perform surgical interventions. The proposed continuum robot is made of stainless steel wires and a multi lumen flexible tube using a thermoplastic elastomer. This continuum robot could be most severely deformed in physical contact with narrow external environments, when a lateral external force acts at the distal tip of the continuum robot. In order to predict the shape and displacement under the lateral external force loading, the forward kinematics, the statics modeling, the force-moment equilibrium equation, and the virtual work-energy method of the continuum robot are described. The deflection displacements were calculated using the virtual work-energy method, and the results were compared with the displacement obtained by the conventional cantilever beam theories. In conclusion, the proposed static modeling and the virtual work-energy method can be used in arrhythmia procedure simulations.

• Journal of the Korean Society for Nondestructive Testing
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• v.34 no.1
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• pp.60-67
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• 2014

In this study, an automated cable non-destructive testing(NDT) system was developed to monitor the steel cables that are a core component of cable-stayed bridges. The magnetic flux leakage(MFL) method, which is suitable for ferromagnetic continuum structures and has been verified in previous studies, was applied to the cable inspection. A multi-channel MFL sensor head was fabricated using hall sensors and permanent magnets. A wheel-based cable climbing robot was fabricated to improve the accessibility to the cables, and operating software was developed to monitor the MFL-based NDT research and control the climbing robot. Remote data transmission and robot control were realized by applying wireless LAN communication. Finally, the developed element techniques were integrated into an MFL-based cable NDT system, and the field applicability of this system was verified through a field test at Seohae Bridge, which is a typical cable-stayed bridge currently in operation.

• Transactions of the KSME C: Technology and Education
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• v.5 no.2
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• pp.89-95
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• 2017

LCD robot vertical frame lets a arm assembly with glass substrate move up and down, so it must have high stiffness and strength. We applied new manufacturing process by using design optimization process such as topology and size optimization in order to satisfy the request of high stiffness and light weight. The proposed model should be evaluated for endurance strength. Therefore fatigue assessment for weak point of aluminum welding area of vertical frame studied with hot spot stress approach. And the actual stress measuring from test was compared and evaluated with the dynamic stress calculated from multi-body dynamics considering flexible body.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.3
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• pp.164-173
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• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.