• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.8
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• pp.1089-1098
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• 2018

In this paper, we propose an autonomous feeding robot and its obstacle classification system using ultrasonic sensors to secure the driving safety of the robot and efficient feeding operation. The developed feeding robot is verified by operation experiments in a cattle shed. In the proposed classification algorithm, not only the maximum amplitude of the ultrasonic echo signal but also two gradients of the signal and the variation of amplitude are considered as the feature parameters for object classification. The experimental results show the efficiency of the proposed classification method based on the Support Vector Machine, which is able to classify objects or obstacles such as a human, a cow, a fence and a wall.

• Journal of electromagnetic engineering and science
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• v.14 no.4
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• pp.336-341
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• 2014

Dosimetry of radiating electromagnetic wave from mobile devices to human body has been evaluated by measuring Specific Absorption Rate (SAR). Usual SAR measurement system scans the volume by robot arm to evaluate RF power absorption to human body from wireless devices. It is possible to fast estimate the volume SAR by software deleting robot moving time with the 2D surface SAR data acquired by arrayed probes. This paper shows the principle of fast SAR measurement and the measured data comparison between the fast SAR system and the robot scanning system. Data of the fast SAR is well corresponding with data of robot scanning SAR within ${\pm}3$ dB, and its dynamic range covers from 10 mW/kg to 30 W/kg with 4.8 mm probe diameter.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.362-365
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• 1993

This paper proposes a method for determining navigation path of an autonomous mobile robot in surrounding environment using a fuzzy algorithm. This fuzzy algorithm includes three type (MIN-TIME, ECONOMY, SAFETY) motion mode for the given robot to get the ability to meet the ambiguous situation which the robot will encounter. Each node is applied to the game situation. This paper conclude with some results of computer simulation concerning an evaluation of this method.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.2
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• pp.145-153
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• 1995

This paper proposes a fuzzy algorithm for determining navigation path of an autonomous mobile robot in uncertain environment. The proposed fuzzy algorithm includes three type (MIN-TIME, ECONOMY, SAFETY) motion modes for the robot to get the ability to meet the ambiguous situation which the robot encounters. Ech ode is applied to both static and dynamic environmental situation. This paper concludes by showing the efficiency of the proposed method through some computer simulation results.

• Journal of Drive and Control
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• v.19 no.1
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• pp.1-7
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• 2022

Recently, a re-painting robot was developed to semi-automatically conduct blasting work in bridge spaces to improve work productivity and worker safety. In this study, a vision sensor-based monitoring module was developed to automatically move the re-painting robot along the path. The monitoring module provides direction information to the robot by analyzing the boundary between the painting surface and the metal surface. To stably measure images in unstable environments, various techniques for improving image visibility were applied in this study. Then, the driving performance was verified in a similar environment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.180-185
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• 2004

Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.

• Journal of Radiation Industry
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• v.7 no.2_3
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• pp.121-126
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• 2013

The new algorithm technique is necessary to incorporate for analyzing and evaluating extreme condition like a nuclear accident. In this study, the combined methodology for measuring the three-dimensional space was compared with SIFT (Scale Invariant Feature Transform) and SURF (Speeded-Up Robust Feature) algorithm. The suggested method can be used for the acquisition of spatial information using the robot vision in the districted area of the nuclear facilities. As a result, these data would be helpful for identify the damaged part, degree of damage and determination of recovery sequences.

• Journal of Biomedical Engineering Research
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• v.24 no.2
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• pp.127-132
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• 2003

In this paper. the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantages of good compliance , high Payload-to-weight and payload-to-volume ratios. high speed and force capabilities. Using pneumatic actuators. which have low stiffness. the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into Positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory. the Pneumatic service robot is evaluated and verified.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.2
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• pp.370-376
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• 2022

Smart ships related studies are being conducted in various fields owing to the development of technology, and an engine room patrol robot that can patrol the unmanned engine room is one such study. A patrol robot moves around the engine room based on the information learned through artificial intelligence and checks the machine normality and occurrence of abnormalities such as water leakage, oil leakage, and fire. Study on engine room patrol robots is mainly conducted on machine detection using artificial intelligence, however study on movement and control is insufficient. This causes a problem in that even if a patrol robot detects an object, there is no way to move to the detected object. To secure maneuverability to quickly identify the presence of abnormality in the engine room, this study experimented with whether a patrol robot can determine the shortest path by applying the A* algorithm. Data were obtained by driving a small car equipped with LiDAR in the ship engine room and creating a map by mapping the obtained data with SLAM(Simultaneous Localization And Mapping). The starting point and arrival point of the patrol robot were set on the map, and the A* algorithm was applied to determine whether the shortest path from the starting point to the arrival point was found. Simulation confirmed that the shortest route was well searched while avoiding obstacles from the starting point to the arrival point on the map. Applying this to the engine room patrol robot is believed to help improve ship safety.

• Journal of the Korean Society of Safety
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• v.8 no.4
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• pp.61-64
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• 1993

Until now, Industrial robotic sa(ety problems are not considered as a indust rial safety problems. In order to reduce industrial robotic safety problem, analyzing problem, risk control, and developing industrial robotic standard s are necessary. In this study, SAFEMIR(Safety Management for Industrial Robotic) is developed for preventing mul-function in industrial robotics. This system is consisted of Da ta Base Management System Module and Expert System Module which Is a part of Articial In telligence. Borland C++ and Foxpro 2.0 are used for implementing this system.