• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.187-192
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• 2007

In this paper we present a 3-DOF manipulator of which task is to unload the product from a micro factory. The micro factory developed by KITECH presses sheet metal to produce a micro valve that is used for micro pump. Our research is focused on the development of a small-sized unloading manipulator which works in the narrow workspace between the dies. We have implemented pick-and-place task with vacuum pressure and 3-DOF motion with stepping motors. We present the design procedures and analysis required in each module.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.2
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• pp.107-113
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• 2010

In this paper, a prototype of cooperative work model for multi-robots system is introduced and the evolutionary approach is applied to generate the motions for the cooperative works of multi-robots system using genetic algorithm. The cooperative tasks can be performed by a humanoid robot and a mobile robot to deliver objects from shelves. Generation of the humanoid motions such as pick up, rotation, and place operation for the cooperative works are evolved. Modeling and computer simulation for the cooperative robots system are executed in Webots environments. Experimental results show the feasible and reasonable solutions for humanoid cooperative tasks are obtained.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.270-275
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• 2021

Most of the initial forms of cooperative robots were intended to repeat simple tasks in a given space. So, they showed no significant difference from industrial robots. However, research for improving worker's productivity and supplementing human's limited working hours is expanding. Also, there have been active attempts to use it as a service robot by applying AI technology. In line with these social changes, we produced a mobile manipulator that can improve the worker's efficiency and completely replace one person. First, we combined cooperative robot with mobile robot. Second, we applied speech recognition technology and deep learning based object detection. Finally, we integrated all the systems by ROS (robot operating system). This system can communicate with workers by voice and drive autonomously and perform the Pick & Place task.

• Advances in Computational Design
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• v.4 no.3
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• pp.197-210
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• 2019

Motion generation of a four-bar linkage is a type of mechanism synthesis that has a wide range of applications such as a pick-and-place operation in manufacturing. In this research, the use of meta-heuristics for motion generation of a four-bar linkage is demonstrated. Three problems of motion generation were posed as a constrained optimization probably using the weighted sum technique to handle two types of tracking errors. A simple penalty function technique was used to deal with design constraints while three meta-heuristics including differential evolution (DE), self-adaptive differential evolution (JADE) and teaching learning based optimization (TLBO) were employed to solve the problems. Comparative results and the effect of the constraint handling technique are illustrated and discussed.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_2
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• pp.249-254
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• 2023

The use of robots in automated factories requires accurate bin-picking to ensure that objects are correctly identified and selected. In the case of atypical objects with multiple reflections from their surfaces, this is a challenging task. In this paper, we developed a random 3D bin picking system by integrating the low-cost vision system with the robotics system. The vision system identifies the position and posture of candidate parts, then the robot system validates if one of the candidate parts is pickable; if a part is identified as pickable, then the robot will pick up this part and place it accurately in the right location.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.926-931
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• 1987

The present study is devoted to the development of a simplified teaching method whereby the control data of the 3-dimensional operations of a playback-type trial robot can be stored in a personal computer. The control data of the 3-dimensional operations are given using an instruction wand handled by an operator. The operator's task is only to track a desired robot path with the wand. The 3-dimensional position of the wand are measured by ultrasonic devices, the principle of which was developed for this study and is introduced in detail. In order to clarify the applicability of this method, experts were performed with respect to a continuous-path teaching and a pick-and-place task teaching which are typical jobs of robot operators.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.12
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• pp.38-44
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• 1995

This paper presents a method to measure the position and orientation of a Cylindrical Object(unknown the eiameter and length) lying on a floor, using a camera. The two extreme cross section of the cylinder will be viewed as distorted ellipese or circular are, while its limb edge will be shown as two straight lines. The diameter of the cylinder is determined from the geometric properties of the two straight lines, which in turn provides information regarding the length of the cylinder. From the 3-dimensional measurement, the 3D coordinates of the center points of the two extreme cross sections are determined to give the position and orientation of the cylinder. This method is used for automated pick-and-place operations of cylinder, such as sheet coils, or drums in warehouses.

• Journal of the East Asian Society of Dietary Life
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• v.27 no.3
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• pp.280-294
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• 2017

Premix frying powders were prepared by supplementation with 0%, 3%, 6%, 9%, or 12% egg white powder. The following quality characteristics of the fried batter were assessed: proximate composition and amino acid content of premix frying powder; viscosity and pick-up ratio of frying batter; moisture content, lipid content, color, texture and DPPH radical scavenging activity; and sensory evaluation items. Addition of egg white powder in place of wheat flour resulted in lower moisture content (p<0.01) and lower carbohydrate content (p<0.001), higher crude protein content (p<0.001), higher ash protein content (p<0.001), and higher amino acid content (p<0.01) in the premix frying powder. Lower viscosity and higher pick-up ratio (p<0.001) of the frying batter were observed. The resultant fritters had the higher moisture content and higher lipid content (p<0.001). They also showed the lighter color, and had lesser redness and yellowness (p<0.001). Considering texture, the fritters were harder, had higher fracturability and higher adhesiveness (p<0.001), lower springiness (p<0.001), were less chewy (p<0.01), and had lower cohesiveness (p<0.001). Examination of DPPH radical scavenging activity showed higher antioxidant activity (p<0.001) upon addition of egg white powder. Sensory evaluation of the fried batters showed the best outcomes for the group containing 6% white egg powder, in terms of appearance (p<0.05), flavor (p<0.001), taste (p<0.01), texture (p<0.01), and overall quality (p<0.001). Based on the results of this research, we postulate that the addition of 6% egg white powder to premix frying powder will not only improve customer preference and product quality but also enhance the nutrition and functionality of the product.

• Applied Microscopy
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• v.10 no.1_2
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• pp.7-17
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• 1980

Electron microscope radioautography introduced by Liquier-Milward (1956) is now used routinely in many laboratories. Most of the technical difficulties in specimen preparation have been overcome. This method is modified from loop method for improvement of EM radioautographic techniques. The advantages of this method are: 1. the use of single specimens on small corks and of a large wire loop, allows the experimenter to avoid the blemishes in the membrane; 2. the surfactant dioctyl sodium sulphosuccinate is added to diluted ILford L4, thus greatly prolonging the period of time over which good emulsion layers can be made; 3. corks can be handled in perspex holder which allows about 20 specimens to be developed simultaneously. The steps of the method comprise: 1. Cut ribbons of ultrathin sections of silver interference colour 2. Pick them up on formvar-coated 200 mesh grids 3. Prestaining of tissues 4. Coat the specimens with a thin layer of carbon by evaporation (30-60A) 5. Mount the specimens on corks (about 1cm apical diameter) using double-sided scotch tape 6. Emulsion coating; a. Take a 250m1 beaker, place it on the pan of a sliding weight balance and weigh it. Add 10 grams extra to the beam. Add pieces of ILford L4 emulsion to the beaker until the balance is swinging freely. Add the 20ml of distilled water that was previously measured out. b. Surfactant dioctyl sodium sulphosuccinate is added to diluted ILford L4. 7. Prepare a series of membranes of gelled emulsion with the wire loop and apply one to each cork-borne specimen. 8. Put the specimens away to expose by pushing the corks into short length of PVC tubing, each tube having a small hole in the side 9. Place the tubes in small boxes together with silica gel. 10. Exposure 11. Developer - Kodak Microdol X for 3 minutes 12. Fixer - A perspex holder can be manufactured which allows 20 specimens to be developed simultaneously. 12. Fixer - 30% sodium thiosulfate for 10 minutes 13. Examination with Siemens Elmiskop 1A electron microscope

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.12 s.243
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• pp.1645-1652
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• 2005

Pick-and-place systems using suction cups have been being widely used and continuously developed in production automation. There are, however, some drawbacks in constructing such systems. One of them is that it generates high level noise due to air compressors. And the system must have complex constitutions of mechanical component such as air compressors, air tubes, air valves, etc. Moreover, it needs continuous air supply to maintain vacuum in suction cups. If there is a failure in any suction cup, the total suction system may fail owing to air leakage. To overcome these drawbacks, we propose PMS (Permanent Magnet Suction) mechanism which has permanent magnets for vacuuming suction cups with no air compressor. The basic concept of PMS mechanism is to rotate permanent magnets with fixed angle. Simple rotation of permanent magnets changes the direction of the magnetic force applied at the suction cups. Since each suction cup has no direct connection with any of the others, the air leakage at one suction cup is not critical. The proposed suction mechanism was designed and fabricated. With some experiments, the feasibility and performance of the PMS mechanism was shown. The strong points of the PMS mechanism are in its simple structure, generating low noise, high energy efficiency, and no need of continuous energy supply.