• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.5
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• pp.941-948
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• 2022

Disaster response robots are deployed to disaster sites where human access is difficult and dangerous. The disaster response robots explore the disaster sites prevent a structural collapse and perform lifesaving to minimize damage. It is difficult to operate robots in the disaster sites due to rough terrains where various obstacles are scattered, communication failures and invisible environments. In this paper, we developed a series connectable wheeled robot module. The series connectable wheeled robot module was developed into two types: an active driven robot module and a passive driven robot module. A wheeled robot was built by connecting the two active type robot modules and one passive type robot module. Two robot modules were connected by one DoF rotating joint, allowing the wheeled robot to avoid obstructions in a vertical direction. The wheeled robot performed driving and obstacle avoidance using only pressure sensors, which allows the wheeled robot operate in the invisible environment. An obstacle avoidance experiment was conducted to evaluate the performance of the wheeled robot consisting of two active driven wheeled robot modules and one passive driven wheeled robot module. The wheeled robot successfully avoided step-shaped obstacles with a maximum height of 80 mm in a time of 24.5 seconds using only a pressure sensors, which confirms that the wheeled robot possible to perform the driving and the obstacle avoidance in invisible environment.

• Journal of Korean Society of Steel Construction
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• v.25 no.3
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• pp.255-265
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• 2013

The major goal of this study is to develop the industrialized structural system that can build high-rise buildings using the box-shaped steel frames such as a unit module system. In order to achieve such a goal, we need the advanced details for joints that consist in a single unit. Furthermore we also need to commercialize the unit modular building system through the basic experiments, research of theoretical analysis and the achievement of seismic performance. This study derived to develop the derails in the beam-to-column joint and to carry out structural performance test. Test results, a joint with thickness of 6.0T can be possible to maintain the plastic rotational angle for strength and seismic performance. Therefore, joint with thickness of 6.0T is able to apply when considering reinforcement in the local of stress concentration.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.41 no.8
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• pp.505-510
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• 2017

This paper presents a low-cost robotic device for shoulder rehabilitation, which is capable of treating various shoulder disabilities. A 3-DOF passive shoulder joint tracking module was designed to allow for translational motion of the shoulder joint center during arm swing, which is essential for natural shoulder movement. The weight of the user's arm and the device were compensated for by springs, to enable gravity-free shoulder motion. In order to reduce the device's cost, only one actuator was used, which can be aligned with the user's shoulder joint in various orientations. The device is capable of implementing five representative shoulder motions, including flexion/extension, abduction/adduction, horizontal abd/adduction, internal/external rotation, and oblique raise. The proposed low-cost shoulder rehabilitation robot is expected to provide effective rehabilitation for patients with various shoulder impairments.

• Journal of the Korea Concrete Institute
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• v.28 no.5
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• pp.509-517
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• 2016

In terms of bridge construction, the concrete deck slab is weak members compared to beam members of the bridge supports. Deck slabs must be sound to support and distribute vehicle loads. If slabs are not enough to support the loads, it should be replaced. Bridge deck replacement has been an important industry over the world since the construction is simplified to shorten construction time and to save construction costs. Slab module provides a quickly, easily and reliably construction method in order to avoid high cost and minimum traffic disruption. in addition, slab module shows high reliability since they are factory products. However, slab module should be considered in the performance under various loads. In this study, structural analysis is performed to evaluate the performance of slab module under vehicle loads and temperature loads. Spiral rebar is also utilized around the vertical joints to improve the structural integrity under the lifting loads. In order to confirm the weak area of slab module for the lift condition, numerical analysis has been performed.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.236-241
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• 2015

This paper presents a study on transformable multiple quadruped robots by docking between robots and waist joints. This robot is able to go on a variety of angles because of mecanum wheels. It is also a hybrid design which allows robot use legs to overcome obstacles on complex terrains and wheels to move on flat ground. The robot is applied kinematics of mecanum wheels and walking, and its walking is based on specific patterns. Docking module is located in front and backside of robot, docking algorithm is suggested and fulfilled for docking between 2 robots. A waist joint is at the center of robot body for transformation and after docking and transformation, robot can activate new functions that carry something.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.12
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• pp.2030-2039
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• 2001

Recently, various inpipe inspection robots are developed and its effective values are increased in industrial use. However, it is so difficult to make a inpipe inspection robot system which has flexible mobility and accuracy of inspection in pipelines. Especially, it is very important to know the exact crack position. In this paper, we are to present a lately developed inpipe inspection robot system which can resolve the above Problems. The robot is configured as an articulated structure like a snake. Two active driving vehicles are located in front and rear of the inspection robot respectively and passive modules such as a nondestructive testing module and a control module are chained between the active vehicles. Special feature of the robot system is a ground interface, which is able to show informations of robot and pipelines. By using this, so called virtual map in this paper, user is able to know the pipelines'feature and crack position.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.2
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• pp.27-32
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• 2010

This paper suggests the new performance evaluation system which is suitable for high speed EFEM(Equipment Front End Module) device using a semiconductor process. An EFEM consisting of multi-joint robots is the mainstay of semiconductor automation, shuffling silicon wafers or quartz photo-masks between ultra-clean storage carriers and a variety of processing, measurement and testing systems. The theoretical and experimental studies for the development of performance evaluation system have been carried out. The presented results from the above investigation show considerably developed performance evaluation system for the high speed EFEM Especially, it is efficient for prepareing the WTO/TBT(Technical Barriers to Trade) Agreement and the PL(Product Liability) law.

• Korean Journal of Computational Design and Engineering
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• v.17 no.1
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• pp.35-44
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• 2012

Many automobile manufacturers are doing experiment on manufacturing environments by using an augmented reality technology. However, system layout and process simulation by using the virtual reality technology have been performed actively more than by using the augmented reality technology in practical use so far. Existing automobile assembly by using the augmented reality requires the precise calibrating work after setting the robot because the existing augmented reality system for the automobile assembly system configuration does not include the end tip deflection and the robot joints deflection due to the heavy weight of product and gripper. Because the robot is used mostly at the automobile assembly, the deflection problem of the robot joint and the product in the existing augmented reality system need to be improved. Moreover camera lens calibration has to be performed precisely to use augmented reality. In order to improve this problem, this paper introduces a method of the software based calibration to apply the augmented reality effectively to the automobile assembly system. On the other hand, the camera lens calibration module and the direct compensation module of the virtual object displacement for the augmented reality were designed and implemented. Furthermore, the developed automobile assembly system oriented AR-system was verified by the practical test.

• Proceedings of the International Microelectronics And Packaging Society Conference
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• 2002.09a
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• pp.21-30
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• 2002

According the difference of flex substrate, (reel tape), there are three kind assembly types of LCD driver IC is COG, TCP and COF, respectively. The TCP is the maturest in these types for stability of raw material supply and other specification. And TCP is the major assembly type of LCD driver IC and the huge demand from Taiwan's large TFT LCD panel house since this spring. But due to its package structure and the raw material applied in this package, there is some limitation in fine pitch application of this package type, (TCP). So, COF will be very potential in compact and portable application comparison with TCP in the future. There are three kinds assembly methods in COF, one is ACF by using the anisotropic conductive film to connect the copper lead of tape and gold bump of IC, another is eutectic bonding by using the thermo-pressure to joint the copper lead of tape and gold bump of IC, and last is NCP by using non-conductive paste to adhere the copper lead of tape and gold bump of IC. To have a global realization, this paper will briefly review the status of Taiwan's large TFT panel house, the internal driver IC design house, and the back-end assembly house in the beginning. The different material property of raw material, PI tape is also compared in the paper. The more detail of three kinds of COF assembly method will be described and compared in this paper.

• Current Optics and Photonics
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• v.5 no.5
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• pp.532-537
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• 2021

We present a compact endoscopic probe in a needle form which has a fast beam-scanning capability for optical coherence tomography (OCT). In our study, a beam-scanning OCT imaging needle was fabricated with a 26G syringe needle (0.46 mm in outer diameter) and a thin OCT imaging probe based on the stepwise transitional core (STC) fiber. The imaging probe could freely rotate inside the needle for beam scans. Hence, OCT imaging could be performed without rotation or translation of the needle body. In our design, the structural integrity of the needle's steel tubing was preserved for mechanical robustness. Probing the optical signal was performed through the needle's own window formed at the end. For hand-held operation of our imaging needle, a light and compact scanner module (130 g and 45 × 53 × 60 mm³) was devised. Connected to the imaging needle, it could provide rotational actuation driven by a galvanometer. Because of its finite actuation range, our scanner module did not need a fiber rotary joint which might add undesirable complexity. The beam scan speed was 20 Hz and supported 20 frames per second at the maximum for endoscopic OCT imaging.