• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.3
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• pp.376-382
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• 2014

E-Actuator is an essential part of an eVGT, it receives the command from the main ECU and controls the vane. An e-Actuator failure can cause an abrupt change in engine output and it may induce an accident. Therefore, it is required to detect anomalies in the e-Actuator in real time to prevent accidents. In this paper, an e-Actuator fault detection method using on-line parameter identification is proposed. To implement on-line fault detection algorithm, many constraints are considered. The test input and sampling rate are selected considering the constraints. And new recursive system identification algorithm is proposed which reduces the memory and MCU power dramatically. The relationship between the identified parameters and real elements such as gears, spring and motor are derived. The fault detection method using the relationship is proposed. The experiments with the real broken gears show the effectiveness of the proposed algorithm. It is expected that the real time fault detection is possible and it can improve the safety of eVGT system.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.824-832
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• 2011

An essential consideration to differentiate prosthetic hand from robot hand is its convenience and usefulness rather than high resolution or multi-function of the robot hand. Therefore, this study proposes a myoelectric hand with a 2 DOF auto wrist module which has 6 essential functions of the human hand such as open, grasp, pronation, supination, extension, flexion, which improves the convenience of the daily life. It consists of the 3 main parts, the myoelectric sensor for input signal without additional attachment to operate the prosthetic hand, hand mechanism with high-torqued auto-transmission mechanism and self-locking module which guarantee the safety under the abrupt emergency and minimum power consumption, and dual threshold based controller to make easy for adopting the multi-DOF myoelectric hand. We prove the validity of the proposed system with experimental results.

• Journal of Mechanical Science and Technology
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• v.19 no.10
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• pp.1835-1845
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• 2005

In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magneto-rheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.

• Journal of Welding and Joining
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• v.31 no.2
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• pp.30-36
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• 2013

Recently the use of ultra high strength steels(UHSS) in structural and safety component is rapidly increasing in the automotive industry. Furthermore, it commonly use in tailor welded blank laser welding process before hot stamping to reduce lightweight vehicle. However TWB process is to be a problem about welded strength after hot stamping because it's welded before heat treatment. Therefore, in this study, laser welds of TWB after heat treatment were analyzed for changes in the characteristics, especially the impact on the oxidation and decarburization in order to prevent pre-coated Al-Si layer welds on the properties for intensive investigation. As a result, the degradation of the TWB weldments changes in the heat treatment conditions alone, without any pre-treatment of the coating layer has confirmed that there is a limitation on the improvement. Furthermore Al-Si elements are overall distributed on the weldment and it specially concentrated along the fusion line. Hardness value of Al-Si segregation area is less than 350Hv and tensile strength showed just 78~83% compared with substrate. Accordingly, we proved that both side Al-Si coating should be removed in order to ensure the strength of the substrate.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.9
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• pp.69-76
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• 2004

Most tasks of the large vertical or ceiling structures have been carried out by human power. Those tasks require us much operation costs and times, safety devices, etc. So the need of automation for those tasks have been rising. That automation needs a wall-climbing mobile vehicle. Most former researches are things about attachment devices and moving mechanisms. A wall-climbing mobile vehicle must be designed by a method different from the case of the vehicle of the horizontal environment. That is because gravity acts as a negative role on the stability of a wall-climbing vehicle. In this thesis, the particular shape characteristics of a wall-climbing mobile vehicle are derived by the wall-environment modeling. In addition, some design constraints of the permanent magnetic wheel as an attachment device was studied. According to those requirements and constraints, one specific wall-climbing mobile vehicle was designed and some experiments were made on the attachment ability of that vehicle.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.199-206
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• 2021

The robot is an effective means to perform repetitive tasks quickly and accurately. It could be more effective in dangerous environments where human is difficult to access. The construction site is a dangerous environment with a high possibility of industrial accidents where heavy work is frequently carried out at a high place. In particular, an accident in the construction site is highly likely to lead to a severe disaster. Of course, various technologies are being developed to monitor the safety of workers in construction sites and prevent accidents, but there is a limit to eliminate the risk of accidents. Therefore, it is necessary to make efforts to replace workers exposed to dangerous environments with equipment or robots that could be controlled remotely in a more active way. In this study, Remote Precise Installation System was proposed to replace the workers exposed to the risk of accident at a high place during the bridge construction. Also, the conceptual design and analytical reviews of this system were carried out. Suppose Remote Precise Installation System is developed according to the derived concept and the target performance. In that case, this system is expected to be applied as a technology that can effectively replace the workers at the bridge construction site.

• Journal of Korean Gerontological Nursing
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• v.20 no.sup1
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• pp.144-153
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• 2018

Purpose: The purpose of this study was to review the influence of robot systems on nursing and robotics technology. Methods: The research design was a review article. The literature was done to help understand the current status and effects of robotic technology in the healthcare field, both domestic and overseas. The keywords searched were 'Nursing', 'Robot', and 'Patient safety' in Pubmed, CINAHL etc, and 'Nursing Activity', 'Nursing Care Integration Service' in RISS and KISS. Results: In healthcare, robotics is used in five areas; personal care robots, mobility and transfer robots, cognitive and emotional robots, nursing assist robots and care robots in palliative home care settings. Nurses' demands for utilization of robotic systems are high. Especially, if robotics is used for indirect and non-value-added nursing activities, efficiency may increase. Therefore, robotics should be used to help nurses focus on bedside care and perform better nursing care. Conclusion: Future robots and technology can help nurse to provide optimal nursing to patients, and will improve the quality life of patients. It is suggested that nursing research should be actively pursued in the future. Especially, it is an urgent field to improve nursing quality and reduce the burden of nurses.

• The Journal of Korea Robotics Society
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• v.19 no.3
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• pp.236-243
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• 2024

This paper introduces a dual manipulator system designed to automate the packaging process of industrial coils, which exhibit higher variability than other structured industrial fields due to diverse commercial requirements. The conventional solution involves the direct-teaching method, where an operator instructs the robot on a target configuration. However, this method has distinct limitations, such as low flexibility in dealing with varied sizes and safety concerns for the operators handling large products. In this sense, this paper proposes a two-step approach for coil packaging: motion planning and assembly execution. The motion planning includes a Rapidly-exploring Random Tree algorithm and a smoothing method, allowing the robot to reach the target configuration. In the assembly execution, the packaging is considered a peg-in-hole assembly. Unlike typical peg-in-hole assembly handling two workpieces, the packaging includes three workpieces (e.g., coil, inner ring, side plate). To address this assembly, the paper suggests a suitable strategy for dual manipulation. Finally, the validity of the proposed system is demonstrated through experiments with three different sizes of coils, replicating real-world packaging situations.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.2
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• pp.481-491
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• 2015

Since the crack in the surface of the concrete acts as the main reason influencing the life span of the structure, regular inspections and maintenance are required. The sealing required for maintenance of the concrete surface is a method of repairing the crack in the surface in the beginning, and is effective in preventing additional cracks and expansion that occurs with time. However, sealing on large sized structures such as tall buildings or bottom parts of bridges are difficult to ensure safety of the workers due to inadequate working environments. Due to this reason, the importance of the need for sealing automation for the maintenance of large sized concrete structures is emerging. This study proposes two control methods to apply robot systems to the sealing of cracks on the bottom parts of concrete bridges. First is the method of automatically tracking the trajectory of cracks. The robot gets the trajectory of the cracks using video information obtained from cameras. Comparing the previous several points and new point, the next point can be estimated. Thus, the trajectory of the crack can be tracked automatically. The other method is sealing by maintaining steady force to the contacting surface. The concrete surface exposed to an external environment for a long time gets an irregular roughness. If robots are able to carry out sealing while maintaining a steady contact force on these rough surfaces, complete equal sealing can be maintained. In order to maintain this equal force, a force control method using impedance is proposed. This paper introduces two developed control methods to apply to sealing robots, and conducts a Lab Test and Field Test after applying to a robot. Based on the test results, opinions on the possibilities of field application of the robot applied with the control methods are presented.

• Journal of Digital Contents Society
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• v.19 no.3
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• pp.561-567
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• 2018

In this paper, we apply this method to the entire process of smart disaster safety management based on the $4^{th}$ industrial revolution to minimize human, social, economic and environment damage from accidents and disasters, prevention evaluation and disaster information collection analysis and real-time detection of field situation. Prevention of $5^{th}$ generation communication system by analysis, contrast by education and training using virtual reality and augmented reality disaster safety management decision support system intelligent robot for recovery, disaster, discovery, reconnaissance relief, and scale analysis of damages were proposed.