• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.38-44
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• 2018

In this paper, we propose Intelligent Driver Assistance System (I-DAS) for driver safety. The proposed system recognizes safety and danger status by analyzing blind spots that the driver cannot see because of a large angle of head movement from the front. Most studies use image pre-processing such as face detection for collecting information about the driver's head movement. This not only increases the computational complexity of the system, but also decreases the accuracy of the recognition because the image processing system dose not use the entire image of the driver's upper body while seated on the driver's seat and when the head moves at a large angle from the front. The proposed system uses a convolutional neural network to replace the face detection system and uses the entire image of the driver's upper body. Therefore, high accuracy can be maintained even when the driver performs head movement at a large angle from the frontal gaze position without image pre-processing. Experimental result shows that the proposed system can accurately recognize the dangerous conditions in the blind zone during operation and performs with 95% accuracy of recognition for five drivers.

• Journal of Electrical Engineering and Technology
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• v.6 no.6
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• pp.806-816
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• 2011

Interest about social security has recently increased in favor of safety for infrastructure. In addition, advances in computer vision and pattern recognition research are leading to video-based surveillance systems with improved scene analysis capabilities. However, such video surveillance systems, which are controlled by human operators, cannot actively cope with dynamic and anomalous events, such as having an invader in the corporate, commercial, or public sectors. For this reason, intelligent surveillance systems are increasingly needed to provide active social security services. In this study, we propose a core technique for intelligent surveillance system that is based on swarm robot technology. We present techniques for invader enclosing using swarm robots based on multiple distributed object environment. The proposed methods are composed of three main stages: location estimation of the object, specified object tracking, and decision of the cooperative behavior of the swarm robots. By using particle filter, object tracking and location estimation procedures are performed and a specified enclosing point for the swarm robots is located on the interactive positions in their coordinate system. Furthermore, the cooperative behaviors of the swarm robots are determined via the result of path navigation based on the combination of potential field and wall-following methods. The results of each stage are combined into the swarm robot-based invader-enclosing technique on multiple distributed object environments. Finally, several simulation results are provided to further discuss and verify the accuracy and effectiveness of the proposed techniques.

• Journal of Korean Neurosurgical Society
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• v.49 no.4
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• pp.248-251
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• 2011

Objective : In the field of spinal surgery, a few laboratory results or clinical cases about robotic spinal surgery have been reported. In vivo trials and development of related surgical instruments for spinal surgery are required before its clinical application. We investigated the use of the da $Vinci^{(R)}$ Surgical System in spinal surgery at the craniovertebral junction in a human cadaver to demonstrate the efficacy and pitfalls of robotic surgery. Methods : Dissection of pharyngeal wall to the exposure of C1 and odontoid process was performed with full robotic procedure. Although assistance of another surgeon was necessary for drilling and removal of odontoid process due to the lack of appropriate end-effectors, successful robotic procedures for dural sutures and exposing spinal cord proved its safety and dexterity. Results : Robot-assisted odontoidectomy was successfully performed in a human cadaver using the da $Vinci^{(R)}$ Surgical System with few robotic arm collisions and minimal soft tissue damages. Da $Vinci^{(R)}$ Surgical System manifested more dexterous movement than human hands in the deep and narrow oral cavity. Furthermore, sutures with robotic procedure in the oral cavity demonstrated the advantage over conventional procedure. Conclusion : Presenting cadaveric study proved the probability of robot-assisted transoral approach. However, the development of robotic instruments specific to spinal surgery must first precede its clinical application.

• Journal of the Korea Convergence Society
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• v.11 no.5
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• pp.175-182
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• 2020

The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.7
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• pp.1417-1426
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• 2011

Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

• Journal of Digital Convergence
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• v.19 no.6
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• pp.393-398
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• 2021

As society becomes more complex and advanced, the risk of accidents is inevitably increased, and this is an opportunity to increase the occurrence of not only congenital disabilities but also acquired disabilities. In this situation, the use of rehabilitation robots, a complex of advanced technologies, is expected to increase steadily in the future. So the authors would take a look the technological trends and future development prospects of domestic and foreign rehabilitation robots. Until now, disability assistive robot technology has been mainly developed in the field of supporting disability with walking disabilities or work limitations rather than cognitive disabilities. However, another issue of population aging is that cognitive impairment has the potential to increase, so development of a disability assistance robot that secures user safety must be actively promoted. It is thought that empirical results should be derived and converged

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.2
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• pp.363-368
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• 2021

Ship engine rooms have improved automation systems owing to the advancement of technology. However, there are many variables at sea, such as wind, waves, vibration, and equipment aging, which cause loosening, cutting, and leakage, which are not measured by automated systems. There are cases in which only one engineer is available for patrolling. This entails many risk factors in the engine room, where rotating equipment is operating at high temperature and high pressure. When the engineer patrols, he uses his five senses, with particular high dependence on vision. We hereby present a preliminary study to implement an engine-room patrol robot that detects and informs the machine room while a robot patrols the engine room. Images of ship engine-room equipment were classified using a convolutional neural network (CNN). After constructing the image dataset of the ship engine room, the network was trained with a pre-trained CNN model. Classification performance of the trained model showed high reproducibility. Images were visualized with a class activation map. Although it cannot be generalized because the amount of data was limited, it is thought that if the data of each ship were learned through transfer learning, a model suitable for the characteristics of each ship could be constructed with little time and cost expenditure.

• Asian Pacific Journal of Cancer Prevention
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• v.17 no.9
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• pp.4327-4333
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• 2016

Purpose: To systematically review efficacyand safety of robotic gastrectomy (RG) compared with conventional laparoscopic gastrectomy (LG) for gastric carcinoma. Materials and Methods: A systematic literature search was carried out using PubMed, Cochrane Library, CBM, CNKI, WanFang, VIP and other sources like relevant references to obtain comparative studies assessing the effectiveness and safety between RG and LG published between 2013 and 2016. Then the literature was screened and the data were extracted by 2 independent reviewers. The quality of the literature was assessed, and the data analyzed using Stata/SE 14 software. Fixed effects or random effects models wereapplied according to heterogeneity. Results: A total of 12 non-randomized observational clinical studies involving 3,580 patients were included, of which 1,096 had undergone RG and 2,484 had received LG. The results of the meta-analysis showed in terms of effectiveness, RG was associated with less blood loss, less time to first flatus and greater number of harvested lymph nodes, but there were no significant differences in proximal and distal resection margins, compared with LG. In terms of efficiency, RG was associated with shorter hospital stay, but longer operative time. In terms of safety, there were no statistically significant differences in complications, mortality and conversions between RG and LG. Conclusions: RG can achieve comparable or better short-term and radical effects than LG, with respect to effectiveness, efficiency and safety in treatment of gastric carcinoma. Future studies involving RG should focus on decreasing operative time and reducing cost. Moreover, there is a need for randomized controlled trials comparing the two techniques with long-term follow-up.

• Korean Journal of Construction Engineering and Management
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• v.19 no.6
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• pp.115-123
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• 2018

The primary objective of this study is to develop an all-in-one based steel pipe pile cutting robot prototype that improves the conventional steel pipe pile head cutting work in safety, quality, and productivity. For this, the following research works are conducted sequentially; 1)literature review and expert survey, 2)selection of core technology using AHP analysis, 3)deduction of detail design, 4)verification of structural stability, 5)development of full-scale prototype. As a result leveling laser and laser detector(94.46), plasma cutter(96.72), rotary grapple(98.45) are selected as a core technologies. As an outcome, it is analyzed that gripper, cylinder pivot bracket and gripper base are structurally stable. Their maximum stresses are shown as 43.0%, 19.4%, 5.3% compared to their yield strength respectively. The development of full-scale prototype in this study will be utilized for the development of the all-in-one attachment based steel pipe pile cutting robot commercialization model.

• Convergence Security Journal
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• v.17 no.3
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• pp.59-64
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• 2017

Korea is experiencing a rapid increase in the number of elderly living alone accompanying the aging society problem, a nd is making efforts to solve the problem through the policy of 'living alone u-care service'. The purpose of this study is to propose a better u-Care service improvement method by applying new technology to improve the user experience of ucare service for the health and safety of the elderly living alone. First, the improvement of u-Care service for elderly livin g alone by applying IoT technology. It provides remote monitoring service using health information data measured through wearable device, and transmits personal health status to medical institution by using personal device such as smart phone, so that remote medical consultation or telemedicine can be connected in the future. Second, improvement of u-Care service through consideration of emotional stability of elderly living alone as well as simple safety and health care through applica tion of emotional service robot technology.It is expected that it will be able to help independent living of one person's elde rly person in the future by providing caring function service to existing u-care service providing service.