• 한국산업융합학회 논문집
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• 제18권3호
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• pp.167-172
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• 2015

In this paper, we propose a new approach to design and control a smart gripper of robot system. A control method for flexible grasping a object in partially unknown environment was proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases. The first step is scanning process which two first joints were moved to mid-position of the detected range by a state-variable feedback position controller, after the scanning was finished. The contact force of fingertip was then controlled using the detection sensor of the servo controller for finger joint control. The proposed grasping planning was tested on rectangular bar.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.445-452
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• 2012

With the increasing number of high-rise and large-scale buildings, modern buildings are becoming intelligent, and are incurring high construction costs and requiring careful maintenance. Maintenance works for high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. The resulting accidents may produce very high social and economic losses. To address this problem, herein, this paper proposes robotic building maintenance system using multi-robot concept, in specific, cleaning a building facade which is directly subjected to minimize human labor; that improves the process efficiency and economic feasibility. The sensor for detecting contamination of building's outer-wall glass is proposed; Kalman filter was used for estimating robots' status with the contamination of the window glass. Task allocation of the sensor based multi-robots for an effective way of task execution is introduced and the feasibility was verified through the simulations.

• 한국정밀공학회지
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• 제30권8호
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• pp.870-877
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• 2013

There has been much recent research interest in developing numerous kinds of human-machine interface. This field currently requires more accurate and reliable sensing systems to detect the intended human motion. Most conventional human-machine interface use electromyography (EMG) sensors to detect the intended motion. However, EMG sensors have a number of disadvantages and, as a consequence, the human-machine interface is difficult to use. This study describes a muscle volume sensor (MVS) that has been developed to measure variation in the outline of a muscle, for use as a human-machine interface. We developed an algorithm to calibrate the system, and the feasibility of using MVS for detecting muscular activity was demonstrated experimentally. We evaluated the performance of the MVS via isotonic contraction using the KIN-COM$^{(R)}$ equipment at torques of 5, 10, and 15 Nm.

• 한국전산구조공학회논문집
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• 제24권4호
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• pp.399-404
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• 2011

과적차량은 도로관련 사회간접자본과 국가 경제적 측면, 교통류, 도로안전 등 다양한 측면에서 악영향을 미치고 있다. 이에 따라, 본 논문에서는 지능형 과적차량 단속시스템 개발을 위하여 유비쿼터스 센서네트워크(USN) 시스템을 구성하였다. 그리고 WIM(Weight-in-motion) 시스템과 달리 도로자체의 변형을 측정하여 주행중인 차량의 축을 감지한 후, 도로 하면에 부착된 변형률센서를 통하여 얻은 신호와 해석방법을 이용하여 차량의 중량을 계산하는 방안을 제시하였다. 또한 유전자알고리즘 기법의 차량하중 분석방법을 위한 시뮬레이션 실험을 실시하였고, USN구성을 위한 센서의 무선화 테스트를 실시하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.865-866
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• 2011

• 한국정밀공학회지
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• 제30권4호
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• pp.368-374
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• 2013

Maintenance works for current high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. Herein, this paper proposes robotic building maintenance system using motion control, in specific, reducing a system jerk which is directly subjected to improve the process performance and economic feasibility. The sensor for detecting straight and curvature section of the building facade, moreover rail-joint segment can be detected and be utilized for reducing jerk of the system. Analysis of the proposed system error caused by excessive vibration, e.g. jerk motion is introduced. To enhance the stability and safety of the system, herein, the strategy is proposed for enhancing the performance of the system based on anti-jerk motion control algorithm which comes out increasing the stability and sustainability of the integrated system, as well.

• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• 한국멀티미디어학회논문지
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• 제19권2호
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• pp.469-478
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• 2016

This paper designs an application for detecting various objects using a smart phone with camera sensor, then implements the application that detects the number of faces in front of a user by using the Face API provided by android and generates a speech to the user. For implementing the application, the GoF strategy pattern is applied to design the application. It provides some advantages; first, the algorithm development schedule can separate the whole application development schedule; next, it makes easier to add the algorithm. For example, another detecting algorithm for the other objects (character, motion detection) that may be developed in the future, or it may be replaced by a more high-performance algorithm. With the propose method, a general smart phone can make some advantages that can provide information of various objects (such as moving people and objects, and detected character from signboards) to the person who is visually impaired.

• 한국정보통신학회논문지
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• 제17권12호
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• pp.2976-2983
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• 2013

전력부족현상으로 대기전력에 대한 관심이 증가하고 있다. 대부분의 전자기기는 본래의 기능을 사용하지 않는 대기상태로 존재하며, 대기상태 중에서도 많은 전력을 소비한다. 이러한 대기상태로 인한 전력소비를 방지하기 위해 많은 나라에서 스마트 플러그에 관한 연구가 진행되었다. 그러나 이러한 스마트 플러그의 경우, 기능의 특성상 고가의 경우가 많으며, 사용자의 수동제어 또는 동작감지 센서 및 사용자 패턴에 의해 대기전력을 차단하게 된다. 이러한 기능은 동작감지 센서의 오작동, 사용자 패턴의 다양화에 따라 장점을 가지지 못한다. 본 연구에서는 사용자 스마트폰의 블루투스 기능과 연동하는 멀티플러그 타입의 스마트 플러그를 개발하였다. 사용자의 스마트폰을 이용하여 사용자 위치판단을 하고, 사용자 위치에 따라 능동적으로 스마트 플러그에서 각 전자기기의 대기전력을 차단함으로 전자기기들의 대기전력으로부터 소비되는 전력을 줄일 수 있음을 확인하였다.

• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.365-371
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• 2009

A intelligent mobile hexapod robot with various types of sensors and wireless camera is introduced. We show this mobile robot can detect objects well by combining the results of active sensors and image processing algorithm. First, to detect objects, active sensors such as infrared rays sensors and supersonic waves sensors are employed together and calculates the distance in real time between the object and the robot using sensor's output. The difference between the measured value and calculated value is less than 5%. This paper suggests effective visual detecting system for moving objects with specified color and motion information. The proposed method includes the object extraction and definition process which uses color transformation and AWUPC computation to decide the existence of moving object. We add weighing values to each results from sensors and the camera. Final results are combined to only one value which represents the probability of an object in the limited distance. Sensor fusion technique improves the detection rate at least 7% higher than the technique using individual sensor.