• 반도체디스플레이기술학회지
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• 제7권4호
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• pp.1-5
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• 2008

There is a need to enlarge the mother glass substrate in OLED to raise its productivity and to realize OLED TV. On the other hand, some difficulties may arise regarding the deflection of a large glass substrate during its handling operation due to its thinness $(0.5\sim0.7t)$, which is not even enough to allow it to stand its own mass. This thesis proposes a conceptual plan for the application of the clamping- and bending-end conditions to the glass substrate handler. To verify proposed plan, the non-contact 3 dimensional measuring instrument is developed. The composition of the 3 dimensional measuring instrument measures shape of the product using X-Y stage robot and laser distance sensor. X-Y stage robot and laser distance sensor are controlled by LabVIEW language. To calibrate measuring instrument, the direction conversion of the Euler angle was used. In order to confirm deflection of the glass substrate, the experiment was carried out at the bending end boundary condition and the proposed effect was verified.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.182-187
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• 2001

This study deals with CARS (Computer Aided ROMUM System) which is a computer version of ROMUM (RObot Modularization of the Unit Motion). ROMUM was a method developed by the concept of modularization of the unit motion of robots. Because CARS is a computer assisted method of menu-driven type for human interface, this method can be easily applied for analyzing the work motion and measuring the execution time of robots. Therefore, it will be helpful for reducing the analysis effort and time of robot work.

• 제어로봇시스템학회논문지
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• 제19권3호
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• pp.227-232
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• 2013

BCI (Brain Computer Interface) is technology to control external devices by measuring the brain activity, such as electroencephalogram (EEG), so that handicapped people communicate with environment physically using the technology. Among them, EEG is widely used in various fields, especially robot agent control by using several signal response characteristics, such as P300, SSVEP (Steady-State Visually Evoked Potential) and motor imagery. However, in order to control the robot agent without any constraint and precisely, it should take advantage of not only a signal response characteristic, but also combination. In this paper, we try to use the fusion of motor imagery and P300 from EEG for practical use of robot control in BCI environment. The results of experiments are confirmed that the recognition rate decreases compared with the case of using one kind of features, whereas it is able to classify each both characteristics and the practical use technology based on mobile robot and wireless BCI measurement system is implemented.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권4호
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• pp.280-285
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• 2011

Recently, with the development of service robots and the concept of ubiquitous, the position estimation of mobile objects has received great interest. Some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter. The RFID receiver gets the synchronization signal from the mobile robot and the ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can acquire the ultrasonic signals from only one or two beacons, due to the obstacles located along the moving path. In this paper, a position estimation scheme using fewer than three sensors is developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.372-374
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• 2009

In this research, an obstacle avoidance method is proposed. The common usage of a robot is indoor and the obstacles to the indoor robot is studied. The accurate detection of direction after overcoming the obstacles is necessary for performance of autonomous navigation and mission project. The sensors such as Laser, Ultrasound, PSD can be used to measure the obstacles. In this research, a PSD sensor is used to detect obstacles. It detects the height and width of obstacles located on the floor. Before measuring the obstacles, a calibration of the sensor was done and it produced a better accuracy. We have plotted an error graph using data obtained from the repeated experiments. The graph is fitted to a polynomial curve. The polynomial equation is used for the robot navigation. And in this research, a model of the error of the direction of the robot after overcoming obstacles was obtained also. The prototype of the obstacle and the error of the direction after overcoming the obstacles are modelled using a neural networks. The input of the neural network composed with the height of the obstacles, the speed of robot, the direction of wheels and the error of the direction. To implement the suggested algorithm, we set up a robot which is operated by a notebook computer. Experiment showed the suggested algorithm performed well.

• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.964-969
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• 2012

Robot hands capable of grasping or handling various objects are important for service robots to effectively aid humans. In particular, controlling a contact force and providing a compliant motion are essential when the hand is in contact with objects. Many dexterous robot hands equipped with force/torque sensors have been developed to perform force control, but they suffer from the complexity of control and high cost. In this paper, a low-cost robot hand based on SEA (Series Elastic Actuator), which is composed of compression spring, stretch sensor, and wire, is proposed. The grasping force can be estimated by measuring the compression length of spring, which would allow the hand to perform force control. A series of experimentations are carried out to verify the performance of force control of the proposed robot hand, and it is shown that it can successfully control the contact force without any additional force/torque sensors.

• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.368-374
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• 2011

This paper proposes a robot control human interface using Markov model (HMM) based hand signal recognizer. The command receiving humanoid robot sends webcam images to a client computer. The client computer then extracts the intended commanding hum n's hand motion descriptors. Upon the feature acquisition, the hand signal recognizer carries out the recognition procedure. The recognition result is then sent back to the robot for responsive actions. The system performance is evaluated by measuring the recognition of '48 hand signal set' which is created randomly using fundamental hand motion set. For isolated motion recognition, '48 hand signal set' shows 97.07% recognition rate while the 'baseline hand signal set' shows 92.4%. This result validates the proposed hand signal recognizer is indeed highly discernable. For the '48 hand signal set' connected motions, it shows 97.37% recognition rate. The relevant experiments demonstrate that the proposed system is promising for real world human-robot interface application.

• Smart Structures and Systems
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• 제10권6호
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• pp.501-515
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• 2012

We design and test a shape memory alloy (SMA)-based actuation system that can be used to propel a fish robot. The actuator in the system is composed of a 0.1 mm diameter SMA wire, a 0.5 mm-thick glass/epoxy composite strip, and a fixture frame. The SMA wire is installed in a pre-bent composite strip that provides initial tension to the SMA wire. The actuator can produce a blocking force of about 200 gram force (gf) and displacement of 3.5 mm at the center of the glass/epoxy strip for an 8 V application. The bending motion of the actuator is converted into the tail-beat motion of a fish robot through a linkage system. The fish robot is evaluated by measuring the tail-beat angle, swimming speed, and thrust produced by the tail-beat motion. The tail-beat angle is about $20^{\circ}$, the maximum swimming speed is about 1.6 cm/s, and the measured average thrust is about 0.4 gf when the fish robot is operated at 0.9 Hz.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.61.5-61
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• 2001

The laser tracking system(LTS) presents the most promising technique for dynamic position measurement of industrial robots. This system combine the advantage of high accuracy with a contactless measurement technique. It is the measurement system of position in three dimensions using distance data obtained by laser interferometer and real time angle by tracking mirror assembly. After measuring the tracking error of the beam projected on the center of retroreflector in robot end effector, this system tracks the end effector continuously by adjusting tracking mirror angle to minimize this error ...

• 한국기계가공학회지
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• 제5권4호
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• pp.21-26
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• 2006

Characteristics of texture and groove precision lapping plate are experimentally investigated by Measuring frictional forces. It is found that the frictional coefficient decreases as the embedding of diamond particles progresses. The groove precision lapping plate with concentric micro-channels indicates superior capability in embedding micrometer-sized diamond particles and uniformity in diamond embedding compared with the texture precision lapping plate with a series of circular micro-channels.