• Journal of the Korean Society of Safety
• /
• v.37 no.4
• /
• pp.1-10
• /
• 2022

The purposes of this study were to suggest 1) a future direction for Korea's machine tool industry and 2) how to secure the safety and reliability of emerging intelligent or automated machine tooling. The study concludes that, overseas, the machine tool industry is growing again while promoting innovation by converging with ICT. Accordingly, Korea also promotes ICT innovation to advance the machine tool industry, which is at the core of the national economy. As a result, unlike in the past, the frequency of serious injuries like entrapment accidents has recently decreased, while the proportion of collision accidents has increased. In addition, a new type of accident has become possible. Since ICT is network-based, the distinction between work and rest can become ambiguous; there is a risk of hacking, working hours and places are flexible and there are risk factors for diseases like chronic fatigue due to overload of specific personnel. As robots and automation are introduced, there is also a high probability of problems caused by physical and psychological burdens on system operators and resulting fatigue.

• The Journal of Korea Robotics Society
• /
• v.18 no.1
• /
• pp.127-134
• /
• 2023

Recently, various input shapers have been introduced to reduce residual vibrations of flexible robots. However, there have been no studies on the design of an input shaper that can suppress residual vibration at an arbitrarily specified duration. In this paper, a novel input shaper called an SD (specified-duration) shaper is proposed for an undamped or underdamped system, which can suppress residual vibration at an arbitrarily given specified duration. If the specified duration is larger than a half period, a positive SD shaper composed of all positive impulses is designed, and if the specified duration is smaller than a half period, a negative SD shaper including a negative impulse is designed. As the specified duration is increased every half period after a half period, the number of impulses of the positive SD shaper is increased one by one, and the robustness of the SD shaper to modeling errors is increased. The performance of the SD shaper is analyzed through simulation studies for an undamped and underdamped second-order systems. The validity of the SD shapers is demonstrated experimentally using an experimental device that can generate container transport motions.

• Journal of the Korean Society for Precision Engineering
• /
• v.11 no.1
• /
• pp.80-88
• /
• 1994

In the automation of rigid parts mating process with the intelligent robots, Peg-In-Hole is the most available task since inserting is some analytic and needs suitable range of forces that can be controlled by induatrial manipulators. In this Peg-In-Hole process, it is very important to identify the contact state between tow parts, peg and hole, to build the strategies for robot motion that leads to avoid the jamming condition occurs during insertion process. In this paper, we adpopted 3 parameters for identification, lFzl, lFxy/Fzl, and lMxy/Fxyl, derived from axes value of Whitney's jamming diagram. Also, we defined the fuzzy membership functions for these parameters and developed the identification algorithm based on fuzzy inference method of max-product. As an experimental result, we obtained about 96% of identification ratio that could be raised up to industrial requirements by further research.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2021.10a
• /
• pp.404-406
• /
• 2021

In modern society, artificial intelligence and automation are being applied in various fields due to the development of the 4th industrial revolution and IoT technology. In particular, systems with a high proportion of image processing, such as automated processes, intelligent CCTV, medical industry, robots, and drones, are susceptible to external factors noise. In this paper, we propose a digital filter based on noise estimation and weights to reconstruct an image in a complex noise environment. The proposed algorithm classifies the types of noise using noise judgment, and determines the noise level of the filtering mask to switch the filtering process to obtain the final output. In order to verify the performance of the proposed algorithm, simulation was conducted, compared with the existing filter algorithm, and the results were analyzed.

• Smart Media Journal
• /
• v.11 no.7
• /
• pp.94-103
• /
• 2022

Weeds bring disadvantages to crops since they can damage them, and a clean treatment with less pollution and contamination should be developed. Artificial intelligence gives new hope to agriculture to achieve smart farming. This study delivers an automated weeds growth point detection using deep learning. This study proposes a combination of semantic graphics for generating data annotation and U-Net with pre-trained deep learning as a backbone for locating the growth point of the weeds on the given field scene. The dataset was collected from an actual field. We measured the intersection over union, f1-score, precision, and recall to evaluate our method. Moreover, Mobilenet V2 was chosen as the backbone and compared with Resnet 34. The results showed that the proposed method was accurate enough to detect the growth point and handle the brightness variation. The best performance was achieved by Mobilenet V2 as a backbone with IoU 96.81%, precision 97.77%, recall 98.97%, and f1-score 97.30%.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2024.01a
• /
• pp.307-309
• /
• 2024

세계적으로 물류 자동화 시장은 2026년까지 약 44조원으로 예상되며, 연평균 10.6%의 성장률을 기록할 것으로 예측된다. 특히 국내 시장은 2025년까지 연평균 성장률 11.5%로 1조원 이상으로 전망되고 있다. 2025년까지 물류 자동화 시장은 270억 달러로 급성장할 것으로 예상되며, 반도체 분야에서 로봇이 상품 입고, 보관, 상품 피킹, 분류, 출고 작업을 담당하는 트렌드가 강조된다. 본 논문은 반도체 물류 분야를 대상으로 작은 크기와 민첩성을 갖춘 로봇을 개발하여 작업 공간을 효율적으로 활용하고 인력을 최소화하려는 목적이다. 수직 및 수평 로봇은 효율적인 자동화 시스템을 제공하며, UI를 사용하여 AGV, 선반, 스카라 로봇을 하나의 통합 시스템으로 개발하고자 한다. 특히 코드 인식, 초음파 센서, 아두이노 MCU, 스카라 로봇, AGV 등을 활용한 로봇 시스템을 개발하여 반도체 물류 작업을 효율적으로 수행하고자 한다. 다양한 분야에서 활용 가능한 스카라 로봇을 개발하기 위해 마이크로 스텝과 풀리, 타이밍 벨트를 이용한 구동 방식 등을 채택한다. 반도체 물류 센터에서의 자동화는 물류 공간의 확대와 인건비 절감을 기대할 수 있으며, 로봇 및 드론을 활용하여 인건비 절감과 효율성 향상을 통해 기업 비용 절감에 기여할 것으로 예상된다.

• Nuclear Engineering and Technology
• /
• v.56 no.2
• /
• pp.498-505
• /
• 2024

In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.14 no.4
• /
• pp.512-516
• /
• 2004

Context-aware computing has been attracting the attention as an approach to alleviating the inconvenience in human-computer interaction. This paper proposes a context-aware system architecture to be implemented on an SoC(System-on-a-Chip). The proposed architecture supports sensor abstraction, notification mechanism for context changes, modular development, easy service composition using if-then rules, and flexible context-aware service implementation. It consists of the communication unit, the processing unit, the blackboard, and the rule-based system unit, where the first three components reside in the microprocessor part of the SoC and the rule-based system unit is implemented in hardware. For the proposed architecture, an SoC system has been designed and tested in an SoC development platform called SystemC and the feasibility of the behavoir modules for the microprocessor part has been evaluated by implementing software modules on the conventional computer platform. This SoC-based context-aware system architecture has been developed to apply to mobile intelligent robots which would assist old people at home in a context-aware manner.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2017.05a
• /
• pp.463-466
• /
• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.

• Journal of IKEEE
• /
• v.24 no.2
• /
• pp.638-648
• /
• 2020

Currently, the method of user-follwoing in intelligent cooperative robots usually based in vision system and using Lidar is common and have excellent performance. But in the closed space of Corona 19, which spread worldwide in 2020, robots for cooperation with medical staff were insignificant. This is because Medical staff are all wearing protective clothing to prevent virus infection, which is not easy to apply with existing research techniques. Therefore, in order to solve these problems in this paper, the ultrasonic sensor is separated from the transmitting and receiving parts, and based on this, this paper propose that estimating the user's position and can actively follow and cooperate with people. However, the ultrasonic sensors were partially applied by improving the Median filter in order to reduce the error caused by the short circuit in communication between hard reflection and the number of light reflections, and the operation technology was improved by applying the curvature trajectory for smooth operation in a small area. Median filter reduced the error of degree and distance by 70%, vehicle running stability was verified through the training course such as 'S' and '8' in the result.