• Journal of Korean Society of Industrial and Systems Engineering
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• v.34 no.3
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• pp.1-7
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• 2011

The stocker system is another name of automated storage and retrieval system (AS/RS) and being popularly used as main material handling tools in Liquid Crystal Display (LCD) and semiconductor fabrication facilities. Recently the use of the stocker system has been extended to transportation from conventional storage and retrieval in LCD fabrication facilities. Toolsets are connected in the ground level of the stocker system and 4~6 stories of the shelves are placed in the upper or lower ground level. As a consequence of the more sophisticated design, move requests imposed on the system greatly increased. For solving this problem, the industry adopted the dual-robot stocker system that two robots are moving along the same guide line in the stocker system. This research develops a closed-form solution to estimate a delivery rate of the dual robot stocker system under given design and operation parameters. Using this stochastic model, industry practitioners could analyze performance levels under given various design parameters, and ultimately the model helps optimizing the design parameters.

• International Journal of Automotive Technology
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• v.6 no.5
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• pp.545-554
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• 2005

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified by behaviors in terms of a velocity field and the closed-loop was passive with respect to the supply rate given by the environment input. However, the PVFC was only applied to a single manipulator. The proposed control law was derived geometrically and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a virtual passivity-based algorithm to apply decentralized control to multiple 3­wheeled mobile robotic systems whose subsystems are under nonholonomic constraints and convey a common rigid object in a horizontal plain. Moreover, it is shown that multiple robot systems ensure stability and the velocities of augmented systems converge to a scaled multiple of each desired velocity field for cooperative mobile robot systems. Finally, the application of proposed virtual passivity-based decentralized algorithm via system augmentation is applied to trace a circle and the simulation results is presented in order to show effectiveness for the decentralized control algorithm proposed in this research.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.4
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• pp.749-754
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• 2021

In order to solve problems such as a decrease in the agricultural population and an aging population, research on agricultural robots is being actively conducted for the purpose of automating various agricultural tasks. The harvesting process is the most labor-intensive process among farm work and this process consumes about 2-3 times more compared to other processes. Since the transport of agricultural crops requires the most labor costs and there is a risk of injury during the operation, automating the transport operation through an agricultural robot can improve safety and significantly improve productivity. Therefore, this paper proposes an agricultural robot that is optimized for farm worksites and capable of autonomous driving.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.3
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• pp.565-570
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• 2021

Agriculture in South Korea is losing productivity due to the lack of manpower as aging population increases. To overcome this, the agricultural robot market is growing rapidly, and research is being conducted on remote control and autonomous driving of agricultural robots. This work designs the appearance and structure of agricultural robots and implements the devices and control systems for driving. By utilizing and optimizing LiDAR sensors, we applied object recognition technology, which is an essential function for autonomous driving. This can reduce labor costs and improve productivity of transportation tasks that require the most labor in agriculture.

• Journal of Dental Rehabilitation and Applied Science
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• v.26 no.3
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• pp.285-296
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• 2010

Robot-assisted illuminating equipment based on image-processing technology was developed and then its accuracy was measured. The current system was designed to detect facial appearance using a camera and to illuminate it using a robot-assisted system. It was composed of a motion control component, a light control component and an image-processing component. Images were captured with a camera and following their acquisition the images that showed motion change were extracted in accordance with the Adaboost algorithm. Following the detection experiment for the oral cavity of patients based on image-processing technology, a higher degree of the facial recognition was obtained from the frontal view and the light robot arm was stably controlled.

• 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.

• KIISE Transactions on Computing Practices
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• v.21 no.11
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• pp.689-698
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• 2015

Currently, the itemized box loading operation at the Agriculture Products Processing Center which distributes agricultural products for the region is carried out manually. The process of loading agricultural products requires great manpower and had been resolved through the part-time employment of the residents of farm villages. However, recently it has become quite difficult to secure manpower as the aging within the rural community has been intensified. Hence, the necessity for countermeasures such as facility automation or use of robots have become necessary. This study suggests an automatic robot system for the itemized loading of apple boxes at the Agriculture Products Processing Center. The suggested method is to design and develop equipment such as a conveyer, robot, and bar code reader. In addition, a sorting plan, operational control, generation of control information, and software module that could monitor the inside of the Agriculture Products Processing Center is needed. After test-operating and evaluating the developed system, the existing manual work would be replaced with the automated robot system in order to enhance work efficiency and resolve safety issues.

• Agribusiness and Information Management
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• v.6 no.1
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• pp.30-36
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• 2014

This study was conducted to determine the major patent and analyze the patent trend of unmanned and automated agricultural production for the open field operation. As a result of conducting a search for patent applications related to these technologies, 1,080 valid patents were selected by evaluating the relevance of the patents and removing noise patents. As a result of the country-based analysis using the selected valid patents, it was found out that the largest number of patent applications were filed in the United States with 541 cases, followed by Japan with 326 cases, the European Union with 128 cases, and Korea with 85 cases. Upon classifying the valid patents into core technology, the path generation and tracking technology accounts for 33% with 353 cases; the implementing control with environmental condition technology accounts for 22% with 236 cases; the robot design technology accounts for 21% with 228 cases; the plant and environment sensing technology accounts for 19% with 206 cases; the yield and quality monitoring technology accounts for 5% with 58 cases. Finally, 10 core patents were selected by performing a patent index evaluation. The United States registered all of the 10 core patents. The results showed that Korea falls behind in the open field-related unmanned and automated agricultural production, compared to other developed agricultural countries.

• Design & Manufacturing
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• v.14 no.1
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• pp.8-14
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• 2020

In general, auto parts production assembly line is assembled and produced by automatic mounting by an automated robot. In such a production site, quality problems such as misalignment of parts (doors, trunks, roofs, etc.) to be assembled with the vehicle body or collision between assembly robots and components are often caused. In order to solve such a problem, the quality of parts is manually inspected by using mechanical jig devices outside the automated production line. Automotive inspection technology is the most commonly used field of vision, which includes surface inspection such as mounting hole spacing and defect detection, body panel dents and bends. It is used for guiding, providing location information to the robot controller to adjust the robot's path to improve process productivity and manufacturing flexibility. The most difficult weighing and measuring technology is to calibrate the surface analysis and position and characteristics between parts by storing images of the part to be measured that enters the camera's field of view mounted on the side or top of the part. The problem of the machine vision device applied to the automobile production line is that the lighting conditions inside the factory are severely changed due to various weather changes such as morning-evening, rainy days and sunny days through the exterior window of the assembly production plant. In addition, since the material of the vehicle body parts is a steel sheet, the reflection of light is very severe, which causes a problem in that the quality of the captured image is greatly changed even with a small light change. In this study, the distance between the car body and the door part and the door are acquired by the measuring device combining the laser slit light source and the LED pattern light source. The result is transferred to the joint robot for assembling parts at the optimum position between parts, and the assembly is done at the optimal position by changing the angle and step.

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