• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.743-746
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• 2003

The service robot, with stereo vision system and dual manipulator of four degree of freedom, has been designed. A fuzzy controller has been implemented for effectively actuating the manipulator of the robot. The fuzzy controller determines operation mode(single or dual manipulators) and orientation from the information of object position and distance. Through actual experimentation, we have confirmed that the robot system with human-like movement of grabber has been executed a rapid and effective motion.

• KEPCO Journal on Electric Power and Energy
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• 제8권2호
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• pp.49-53
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• 2022

The distribution live-line work method is an operation method of working in a state in which electricity flows through overhead distribution lines to minimize inconvenience to electric customers due to power failure. In June 2016, to strengthen the safety of electrical workers, Korea Electric Power Corporation announced that it would in principle abolish the rubber glove method, in which workers wore protective equipment such as rubber gloves and performed their maintenance work. In addition, KEPCO announced that it would develop a short-range live working method using smart sticks and an advanced live-line maintenance robot system where workers work without touching wires directly. This paper is a preliminary study for the development of the live-line maintenance robot system, and deals with the results of analyzing the technical feasibility of whether the live works performed by workers can be replaced by robots or not.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1217-1222
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• 2004

This paper describes the development of tele-robotic interface for the hot-line maintenance robot system. One of main issues in designing human-robot interface for the hot-line maintenance robot system is to plan the control procedure for each part of the robotic system. Another issue is that the actual degree of freedom (DOF) in the hot-line maintenance robot system is much greater than that of available control devices such as joysticks and gloves in the remote-cabin. For this purpose, a virtual simulator, which includes the virtual hot-line maintenance robot system and the environment, is developed in the 3D environment using CAD data. It is assumed that the control operation is done in the remote cabin and the overall work process is observed using the main-camera with 2 DOFs. For the input device, two joysticks, one pedal, two data gloves, and a Head Mounted Display (HMD) with tracker sensor were used. The interface is developed for each control mode. Designed human-interface system is operated using high-level control commands which are intuitive and easy to understand without any special training.

• Journal of Advanced Marine Engineering and Technology
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• 제17권3호
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• pp.60-69
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• 1993

The speed control associated with dc servo motors for direct-drive applications of mobile robot is considered in this study. Robot is moved by power wheeled steering of two dc servo motors mounted to it. In order to cooperate with micro-computer and to achieve the high-performance operation of dc servo motor, speed control system is composed of a digital Phase Locked Loop and H-type drive circuit. And the motor is driven by Pulse Width Modulations. In controlling PWM, it is modified to compose of H-type drive circuit with feedback diodes and switching transistor and design of control sequence so that it may show linear characteristics. As a result, speed characteristics of motor showed linear features. In order to get data on design of PLL control system, the parameters of 80[W[ motor & robot device is measured by simple software control. The PLL speed control system is schemed and designed by leaner drive circuit and measured parameters. A complete speed control system applied to 80[W] dc servo motor showed good linearity, stability and high response. Also, it is verified that the PLL speed control system has good compatibility as a mobile robot driver.

• 한국CDE학회논문집
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• 제17권3호
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• pp.198-207
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• 2012

This paper presents an overview of automated robotic system for skull drilling, which is performed to access for some neurosurgical interventions, such as brain tumor resection. Currently surgeons use automatic-releasing cranial perforators. The drilling procedure must be performed very carefully to avoid penetration of brain nerve structures; however failure cases are reported. The presented prototype system utilizes both preoperative and intraoperative information. Preoperative CT image is used for robot path planning. A NeuroMate robot with a six-DOF force sensor at the end effector is used for intraoperative operation. Intraoperative cutting force from the force sensor is the key information to revise an initial registration and preoperative path plans. Some possibilities are verified by path simulation but cadaver experiments are required for validation of this prototype.

• 로봇학회논문지
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• 제17권4호
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• pp.397-406
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• 2022

This paper presents an autonomous mobile robot (AMR) system and operation algorithms for logistic and factory facilities without magnet-lines installation. Unlike widely used AMR systems, we propose an EKF-based loosely coupled fusion of LiDAR measurements and visual markers. Our method first constructs occupancy grid and visual marker map in the mapping process and utilizes prebuilt maps for precise localization. Also, we developed a waypoint-based navigation pipeline for robust autonomous operation in unconstrained environments. The proposed system estimates the robot pose using by updating the state with the fusion of visual marker and LiDAR measurements. Finally, we tested the proposed method in indoor environments and existing factory facilities for evaluation. In experimental results, this paper represents the performance of our system compared to the well-known LiDAR-based localization and navigation system.

• 한국콘텐츠학회논문지
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• 제5권5호
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• pp.85-91
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• 2005

최근 홈네트워크 시스템에 홈로봇이 적용되어 보다 다양한 서비스를 제공하고 있다. 홈로봇은 무선 홈 네트워크 시스템을 기반으로 자율주행을 하며 기본적으로 홈디바이스의 제어뿐만 아니라 홈모니터링을 통한 방범 방재 서비스 및 각종 엔터테인먼트 서비스를 수행한다. 하지만 기존의 홈로봇은 모든 기능을 로봇에 탑재하여 로봇 단말의 크기가 커지고 수행할 콘텐츠나 어플리케이션의 관리가 용이하지 못하며 새로운 기능 추가에 많은 어려움을 겪고 있다. 또한 로봇의 위치인식 기능에 있어서도 많은 개선점이 필요한 실정이다. 본 논문에서는 로봇의 복잡한 연산처리를 외부 디지털 디바이스에게 분담하여 로봇의 자원을 효율적으로 이용하고 새로운 기능에 대한 추가도 용이하도록 하며 RFID를 통해 로봇의 위치를 인식함으로써 보다 개선된 홈로봇 시스템을 제안한다.

• 제어로봇시스템학회논문지
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• 제20권6호
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• pp.619-624
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• 2014

This paper introduces a robot-based learning system which is designed to teach multiplication to children. In addition to a small humanoid and a smart device delivering educational content, we employ a type of mixed-initiative operation which provides enhanced multi-modal cognition to the r-learning system through human intervention. To investigate major factors that influence people's intention to use the r-learning system and to see how the multi-modality affects the connections, we performed a user study based on TAM (Technology Acceptance Model). The results support the fact that the quality of the system and the natural interaction are key factors for the r-learning system to be used, and they also reveal very interesting implications related to the human behaviors.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.815-819
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• 1996

In this work, regular rotational gaits of the quadruped crawling robot required to change its moving direction without affecting be its orientation and its static stability margin are studied. The regular rotational gaits provide the quadruped crawling robot with omnidirectional characteristics. However, the ideal foothold region for each of legs of the quadruped crawling robot is assumed for simplicity. Nonetheless, it is expected that the results of this paper will provide the insight for both design of legs of the crawling robot with omnidirectional characteristics as well as its operation of the crawling robot system with specified stability margin.

• Journal of Biosystems Engineering
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• 제26권4호
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• pp.391-398
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• 2001

A robot system for clone replication and gridding, which is a preliminary state of the genome research, was developed and evaluated its performance. This gridding robot system consisted of 1) a gridding heat that replicated the clone, 2) a manipulator, as a part of body of robot, which transferred the gridding head along x-, y-, z-axis, 3) a well plate arranging board, 4) a sterilization unit, and 5) a control unit. Performance of the system was evaluated with 1) repeatability of the robot system, 2) clone replication efficiency, 3) time requirement of the replication, and 4) sterilization efficiency. The repeatability error of the robot system showed 0.219 mm and 0.094 mm in the direction of x- and y-axis, respectively. The success rate of the clone replication with the gridding head was 100% on the membrane filter. The time required for the replication was four minutes and fifty-five seconds from the four 96 well plates to a 384 well plate meanwhile the required time with well experienced hand labor was three minutes thirty-five seconds. The gridding operation of clone could not be done by hand labor and the required time with robot system for the gridding on the membrance filter with the control program 5$\times$5: 1 copy and 384 gridding pins was twenty minutes and twenty-five seconds. The efficiency of the sterilization was considered to be satisfactory since no growth of fungi was found around the area of replication in the membrane filter.