• Proceedings of the KIEE Conference
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• 2005.05b
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• pp.45-50
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• 2005

Nowadays, economical and social environments are changing to the type of an advanced country for development of techniques in power industry. So most of workers are recently avoiding the 3D works and asking for safety of working environment, etc. in highly dangerous parts such as hot line working on distribution lines, especially. Therefore, most advanced countries are using the support-arm or robotic systems on distribution line works for securing the construction reliability, economical feasibility and protection of linemen from the electric shock and so forth. In special Japanese electric power companies are using the robotic system named manipulator. In Korea, a support-arm has been developed for safety and facility in live working on distribution lines but not widely supplied. In this paper we will introduce development cases of support arm and manipulator robot for live working on distribution lines.

• Journal of Engineering Education Research
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• v.25 no.6
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• pp.23-37
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• 2022

This study evaluated the engineering students' ethical sensitivity to an AI emotion recognition robot scenario and explored its characteristics. For data collection, 54 students (27 majoring in Convergence Electronic Engineering and 27 majoring in Computer Software) were asked to list five factors regarding the AI robot scenario. For the analysis of ethical sensitivity, it was checked whether the students acknowledged the AI ethical principles in the AI robot scenario, such as safety, controllability, fairness, accountability, and transparency. We also categorized students' levels as either informed or naive based on whether or not they infer specific situations and diverse outcomes and feel a responsibility to take action as engineers. As a result, 40.0% of students' responses contained the AI ethical principles. These include safety 57.1%, controllability 10.7%, fairness 20.5%, accountability 11.6%, and transparency 0.0%. More students demonstrated ethical sensitivity at a naive level (76.8%) rather than at the informed level (23.2%). This study has implications for presenting an ethical sensitivity evaluation tool that can be utilized professionally in educational fields and applying it to engineering students to illustrate specific cases with varying levels of ethical sensitivity.

• Nuclear Engineering and Technology
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• v.55 no.12
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• pp.4695-4702
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• 2023

Nuclear power plants play a pivotal role in the global energy infrastructure, fulfilling a substantial share of the world's energy requirements in a sustainable way. The management of these facilities, especially the handling of spent nuclear fuel (SNF), necessitates meticulous inspections to guarantee operational safety and efficiency. However, the prevailing inspection methodologies lean heavily on human operators, which presents challenges due to the potential hazards of the SNF environment. This study introduces the design of a novel Pre-Batched Inspection Strategy (PBIS) that integrates robotic automation and image processing techniques to bolster the inspection process. This methodology deploys robotics to undertake tasks that could be perilous or time-intensive for humans, while image processing techniques are used for precise identification of SNF targets and regulating the robotic system. The implementation of PBIS holds considerable promise in minimizing inspection time and enhancing worker safety. This paper elaborates on the structure, capabilities, and application of PBIS, underlining its potential implications for the future of nuclear energy inspections.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.6
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• pp.744-750
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• 2015

In this paper, development of mobile robot for the inspection of hull surface was mentioned. In the sea, it is difficult to proceed with the visual inspection of hull side and thus mobile robot for checking the status could be run with strap-on its surface. To do this, permanent magnet module to generate magnetic force between hull surface and mobile robot, and structure to minimize variance of the force under curvature circumstance were considered on the design. Based on the design, mobile robot with four NdFeB, four driving wheels and image aquisition module was applied. Load experiment to check the adhesive force, slip test during stop state and driving test to measure driving speed were executed. From the experiments 13 Kgf adhesive force was obtained and slip was not happened until 8 Kgf load on the inclined plate. Driving speed of mobile robot was measured at 0.82 m/s corresponding to 6.5 ampere. We confirmed the effectiveness of developed mobile robot by experiments to check its characteristics.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.4
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• pp.389-394
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• 2023

In recent years, use of machine automation is rising in the industry. Ships also obtain machine condition information from sensor as digital information. However, on ships, crew members regularly surveil the engine room to check the condition of equipment and their information through analog gauges. This is a time-consuming and tedious process and poses safety risks to the crew while on surveillance. To address this, engine room surveillance using an autonomous mobile robot is being actively explored as a solution because it can reduce time, costs, and the safety risks for crew. Analog gauge reading using an autonomous mobile robot requires digitization for the robot to recognize the gauge value. In this study, image processing techniques were applied to achieve this. Analog gauge images were subjected to image preprocessing to remove noise and highlight their features. The center point, indicator point, minimum value and maximum value of the analog gauge were detected through image processing. Through the straight line connecting these points, the angle from the minimum value to the maximum value and the angle from the minimum value to indicator point were obtained. The obtained angle is digitized as the value currently indicated by the analog gauge through a formula. It was confirmed from the experiments that the digitization of the analog gauge using image processing was successful, indicating the equivalent current value shown by the gauge. When applied to surveillance robots, this algorithm can minimize safety risks and time and opportunity costs of crew members for engine room surveillance.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.434-439
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• 1993

This paper present a sensor based obstacle avoidance method which is based on a VFH(Vector Field Histogram) method. The basic idea of obstacle avoidance is to find a minimum obstacle direction and distance. From the minimum sonar index and the target direction high level system determine steering angle of mobile robot. The sonar sensor system consists of 12 ultra sonic sensor, and each sensor have its direction and safety value. This method has advantage on calculation speed and small memory. This method is implemented on indoor autonomous vehicle'ALiVE-2'.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.731-735
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• 1990

The mobile robot, named as KAEROT, is designed to go up and down stairs in nuclear facilities. To get a proper stable motion, kinematic modeling and analysis are seriously considered and new climbing algorithm is proposed focused on the stability. A couple of small wheels of one planetary wheel have to contact the surface ol stairs all the time to give the guarantee for stability and safety. To confirm the validity of the proposed algorithm, simulation is carried out. The results make evident of feasibility for the algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.891-897
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• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.116-123
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• 2017

Wearable robots are receiving great attention from the public, as well as researchers, because its motivation is to improve the quality of lives of people. Above all, complete paraplegic patients due to spinal cord injury (SCI) might be the most adequate target users of the wearable robots, because they definitely need physical assistance due to the complete loss of muscular strength and sensory functions. Furthermore, the medical care of complete paraplegics by using the wearable robots have significantly reduced the mortality rate and improved the life expectancy. The requirements of the wearable robot for complete paraplegics are actuation torque, locomotion speed, wearing sensation, robust gait stability, safety, and practicality (i.e., size, volume, weight, and energy efficiency). A WalkON Suit is the wearable robot that has satisfied the requirements of the wearable robot for complete paraplegics and participated in the powered exoskeleton race of Cybathlon 2016. In this paper, configuration of the WalkON Suit, human-machine interface, gait pattern, control algorithm, and evaluation results are introduced.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.497-502
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• 1997

In this study an automatic rolling-coil labeling system using robot vision system and peripheral mechanism is proposed and implemented, which instead of the manual labor to attach labels Rolling-coils in a steel mill. The binary image process for the image processing is performed with the threshold, and the contour line is converted to the binary gradient which detects the discontinuous variation of brightness of rolling-coils. The moments invariant algorithm proposed by Hu is used to make it easy to recognize even when the position of the center are different from the trained data. The position error compensation algorithm of six degrees of freedom industrial robot manipulator is also developed and the data of the position of the center rolling-coils, which is obtained by floor mount camera, are transferred by asynchronous communication method. Therefore, even if the position of center is changed, robot moves to the position of center and performs the labeling work successfully. Therefore, this system can be improved the safety and efficiency.