• Nuclear Engineering and Technology
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• v.56 no.5
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• pp.1913-1924
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• 2024

This paper presents the design and operation of an autonomous robot for pyroprocess automation, which requires unique approaches beyond those used in industrial applications to achieve the desired performance. Maintaining an extremely dry atmosphere is crucial to handle various materials, including chloride, and an autonomous system ensures this dry environment. The drying room dehumidifier was carefully selected and designed to generate dry air, and different types of dry air conditioning performance were evaluated, including assessing worker accessibility inside the mock-up to determine the system's feasibility. Containers used for process materials were modified to fit the gripper system of the gantry robot for automation. The loading and unloading of process materials in each equipment were automatically performed to connect the process equipment with the robotic system. The gantry robot primarily operated through macro motion to approach waypoints containing process materials, eliminating the need for precise approach motion. The robot's tapered jaw design allowed it to grasp the target object even with imperfect positioning. Robot motions were programmed using a robot simulator for initial positioning and motion planning, and real accuracy was tested in a mock-up facility using the OPC platform.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.1
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• pp.65-69
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• 2015

A vision-based blank alignment unit for a press automation line is introduced in this paper. A press is a machine tool that changes the shape of a blank by applying pressure and is widely used in industries requiring mass production. In traditional press automation lines, a mechanical centering unit, which consists of guides and ball bearings, is employed to align a blank before a robot inserts it into the press. However it can only align limited sized and shaped of blanks. Moreover it cannot be applied to a process where more than two blanks are simultaneously inserted. To overcome these problems, we developed a press centering unit by means of vision sensors for press automation lines. The specification of the vision system is determined by considering information of the blank and the required accuracy. A vision application S/W with pattern recognition, camera calibration and monitoring functions is designed to successfully detect multiple blanks. Through real experiments with an industrial robot, we validated that the proposed system was able to align various sizes and shapes of blanks, and successfully detect more than two blanks which were simultaneously inserted.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1845-1848
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• 2005

The automatic $CO_2$ welding is a manufacturing process to produce high quality joints for metal and it could provide a capability of full automation to enhance productivity. Despite the widespread use in the various manufacturing industries, the full automation of the robotic $CO_2$ welding has not yet been achieved partly because the mathematical model for the process parameters of a given welding task is not fully understood and quantified. Several mathematical models to control welding quality, productivity, microstructure and weld properties in arc welding processes have been studied. However, it is not an easy task to apply them to the various practical situations because the relationship between the process parameters and the bead geometry is non-linear and also they are usually dependent on the specific experimental results. Practically, it is difficult, but important to know how to establish a mathematical model that can predict the result of the actual welding process and how to select the optimum welding condition under a certain constraint. In this research, an attempt has been made to develop an intelligent algorithm to predict the weld geometry (top-bead width, top-bead height, back-bead width and back-bead height) as a function of key process parameters in the robotic $CO_2$welding. A sensitivity analysis has been conducted and compared the relative impact of three process parameters on bead geometry in order to verify the measurement errors on the values of the uncertainty in estimated parameters.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.7
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• pp.2414-2433
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• 2021

This article focuses on providing remedial solutions for COVID disease through the data collection process. Recently, In India, sudden human losses are happening due to the spread of infectious viruses. All people are not able to differentiate the number of affected people and their locations. Therefore, the proposed method integrates robotic technology for monitoring the health condition of different people. If any individual is affected by infectious disease, then data will be collected and within a short span of time, it will be reported to the control center. Once, the information is collected, then all individuals can access the same using an application platform. The application platform will be developed based on certain parametric values, where the location of each individual will be retained. For precise application development, the parametric values related to the identification process such as sub-interval points and intensity of detection should be established. Therefore, to check the effectiveness of the proposed robotic technology, an online monitoring system is employed where the output is realized using MATLAB. From simulated values, it is observed that the proposed method outperforms the existing method in terms of data quality with an observed percentage of 82.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.6
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• pp.580-589
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• 2014

Demands for automation in the cell production process of IT products are becoming increasingly sophisticated. In particular, the dual-arm robot has drawn attention as a solution because it has a flexibility and works similarly to humans. In this paper, we propose an automation system for cellular phone packing processes using two dual-arm robots. Applied robots are designed with specifications to meet the requirements of cellular phone packing jobs. In addition, a robotic cell production system is proposed by applying a method of task allocation for efficient packing of cellular phones. Specifically, a task is assigned to reduce takt-time and to avoid collision between two robots. Finally, we discuss some experimental results that include the packing job of five unit boxes with seven kinds of accessories.

• Journal of Digital Convergence
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• v.19 no.7
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• pp.129-138
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• 2021

Many organizations are applying robotic process automation (RPA) to automate repetitive and rule based tasks to enhance the accuracy and efficiency of works. Some members are willing to join the projects hoping to eliminate annoying and meaningless tasks, but others are resisting this innovation fearing that they may lose their jobs. In this study, both positive and negative antecedents are posited to influence the performance in adopting RPA. The effects of relative advantage, compatibility, change management effect, innovation resistance and satisfaction, conclusively to performance improvement were examined via a survey of 109 employees involved in the 11 RPA projects in a manufacturing company, and the structural equation model analysis. The research considering the consumer characteristics of the innovation resistance model can be followed for the development of individualized change management strategy.

• The Journal of the Korea Contents Association
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• v.9 no.12
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• pp.1-9
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• 2009

A doll created by various materials is a miniature based on human model, and it has been one of components in a puppet show to take some responsibility for human's culture activity. However, demand and supply keeps on the decrease in the puppet show industry, since professional puppeteer has been reduced rapidly, and also it is difficult to initiate into the skill. Therefore, many studies related Robotic Marionette for automation of puppet show have been internationally accompanied, and more efficient structure design and process development are required for better movement and express of puppet with motor based controller. In this research, we suggest the effective way to enable to express the marionette's motion using motion data based on motion capture and 3D graphic program, and through applying of 3D motion data and proposal of simulation process, it will be useful to save time and expenses when the Robotic Marionette System is practically built.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.3-8
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• 2002

An intelligent polishing robot automation system is developed. Automatic Tool Change System(A.T.C.), Tool Posture Angle Control, and Robot Program for Polishing Application are developed and integrated into a robotic system that consists of a robot, pneumatic finding tool, and finding abrasives (papers and special films). A.T.C. is specifically designed to exchange whole grinding tool set for complete unmanned operation. Tool Posture Angle Control is developed to give a certain skew angle rather than right angle to tools on the surface for best finishing results. A.T.C. and Tool Posture Angle Control is controlled by a PC and the robot controller. Also, there have been some considerations on enhancing the performance of the system. Some elastic material is inserted between the grinding pad and the holder for better grinding contact. The robot path data is generated automatically from the NC data of previous machining process.

• International conference on construction engineering and project management
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• 2005.10a
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• pp.520-526
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• 2005

Automation in construction has been restricted to special classes of tasks. Curtain walls can be handled like standard construction materials; they are heavy but breakable, and are large but require precise installation. These characteristics make the installation of curtain walls ideal for robotic automation. There are two methods for developing construction robots: The first is approving the robot performance and applying it to the current construction methods. The second is admitting the limitation of the current robot technology and trying to optimize the current method of construction to apply the robot system. In this study, we derived the performance requirements of a curtain wall-installation robot. We also tested this robot at a real construction site and evaluated its performance. Finally, the results were analyzed, and we proposed additional research.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.05a
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• pp.167-169
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• 2011

Construction Automation as a way to solve the problems of lack of skilled labor by decrease in construction population productivity and quality decrease. We are on the way to develop a construction automation system adequate for domestic circumstances in Korea; it is called RCA(Robotic-crane based Construction Automation) system. Climbing hydraulic robot system is a part of RCA system and makes Construction Factory(CF) climb next floor. The controller can control movement needs to be developed for CF safety. Synchronous control the actual field was applied to the controller logic and synchronous control of the process through which the safety has been verified. The purpose of this study that control of climbing hydraulic robot system behavior on real-time, and to improve safety for overall construction automation system through synchronous motion controller.