• KIPS Transactions on Software and Data Engineering
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• v.10 no.12
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• pp.595-602
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• 2021

The robot is developing into a software-oriented shape that recognizes the surrounding situation and is given a task. Cloud Robotics Platform is a method to support Service Oriented Architecture shape for robots, and it is a cloud-based method to provide necessary tasks and motion controllers depending on the situation. As it evolves into a humanoid robot, the robot will be used to help humans in generalized daily life according to the three robot principles. Therefore, in addition to robots for specific individuals, robots as public goods that can help all humans depending on the situation will be universal. Therefore, the importance of information security in the Cloud Robotics Computing environment is analyzed to be composed of people, robots, service applications on the cloud that give intelligence to robots, and a cloud bridge that connects robots and clouds. It will become an indispensable element for In this paper, we propose a Security Scheme that can provide security for communication between people, robots, cloud bridges, and cloud systems in the Cloud Robotics Computing environment for intelligent robots, enabling robot services that are safe from hacking and protect personal information.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2051-2056
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• 2003

In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.301-308
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• 2020

In this paper, we deal with the static modeling of a continuum robot that can perform surgical interventions. The proposed continuum robot is made of stainless steel wires and a multi lumen flexible tube using a thermoplastic elastomer. This continuum robot could be most severely deformed in physical contact with narrow external environments, when a lateral external force acts at the distal tip of the continuum robot. In order to predict the shape and displacement under the lateral external force loading, the forward kinematics, the statics modeling, the force-moment equilibrium equation, and the virtual work-energy method of the continuum robot are described. The deflection displacements were calculated using the virtual work-energy method, and the results were compared with the displacement obtained by the conventional cantilever beam theories. In conclusion, the proposed static modeling and the virtual work-energy method can be used in arrhythmia procedure simulations.

• Journal of Ocean Engineering and Technology
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• v.30 no.5
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• pp.405-414
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• 2016

This paper presents an internal oil leakage detection problem for a hydraulic single-rod cylinder. We derive the dynamics of the hydraulic cylinder as a state space model, and then design a T—S fuzzy model-based fault detection observer. We adopt an H_∞ observer design scheme so that the observer is robust against disturbance and relatively sensitive to the leakage fault. Sufficient design conditions are derived in the form of linear matrix inequalities. A numerical example is provided to verify the proposed techniques.

• Nuclear Engineering and Technology
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• v.54 no.4
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• pp.1374-1381
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• 2022

Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A^* algorithm is used for path planning. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-type tube arrays and experimenting with Model SG.

• Annual Conference of KIPS
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• 2022.11a
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• pp.429-431
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• 2022

하지 웨어러블 로봇의 근력 보조 성능을 극대화하기 위해서는 착용자의 보행 상태를 인식하는 보행 위상 추정 기술이 필수적으로 요구된다. 본 논문에서는 착용자의 보행 속도 변화 및 착용자 간 보행 특성 차이에도 강인하게 보행 위상을 추정할 수 있는 LSTM 기반 보행 위상 강건 인식 기술을 개발하였다. 웨어러블 고관절 보조 로봇을 착용한 총 5명의 트레드밀 및 실외 overground의 보행 센서 정보를 바탕으로 학습을 수행하였다. 저속 및 고속 보행을 포함한 다양한 보행 속도에서 정밀한 보행 위상 추정이 가능한 웨어러블 센서 조합을 도출하였고, 보행 위상 인식 정밀성은 5-Fold Cross Validation 기준 RMSE 약 1.68% 수준의 결과를 얻을 수 있었다.

• Nuclear Engineering and Technology
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• v.55 no.11
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• pp.4191-4203
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• 2023

Robotics applications are greatly needed in hazardous locations, e.g., fusion and fission reactors, where robots must perform delicate and complex tasks under ionizing radiation conditions. The drawback is that some robotic parts, such as active electronics, are susceptible to radiation. It can lead to unexpected failures and early termination of the robotic operation. This paper analyses the ionizing radiation effect from 0.09 to 1.5 Gy/s in robotic components (microcontrollers, servo motors and temperature sensors). The first experiment compares the performance of various microcontroller types and their actuators and sensors, where different mitigation strategies are applied, such as using Radiation-Hardened (Rad-Hard) microcontrollers or shielding. The second and third experiments analyze the performance of a 3-Degrees of Freedom (DoF) robotic arm, evaluating its components' responses and trajectory. This study enhances our understanding and expands our knowledge regarding radiation's impact on robotic arms and components, which is useful for defining the best strategies for extending the robots' operational lifespan, especially when performing maintenance or inspection tasks in radiation environments.

• The Journal of Korea Robotics Society
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• v.19 no.3
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• pp.311-317
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• 2024

Large-scale three-wheeled cleaning robots are utilized to clean large spaces such as warehouses and manufacturing plants where significant floor contamination occurs. Although there are autonomous cleaning robots, user-operated cleaning robots are often preferred because they are easy to repair and inexpensive. Therefore, workers have to spend extra time on cleaning, which reduces work efficiency. In this paper, we propose an autonomous driving system designed to automate the operation while maintaining the structure of existing cleaning robots. The contributions of this paper are as follows: 1) Hardware modules that control the driving and steering components. 2) A LiDAR-based autonomous driving system and path point generation system considering the mechanical characteristics of the cleaning robot. 3) The proposed system is implemented on an actual cleaning robot and driving tests are performed. As a result, when path planning is performed to cover the cleaning area, the average RMSE for each straight path is 0.0802 m, which is smaller than the minimum cleaning overlap of 0.3 m that occurs during the straight cleaning of the robot. This shows that the proposed system effectively covers the entire cleaning area.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.37 no.4
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• pp.259-265
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• 2024

Shape memory alloy (SMA)-textile actuators have attracted significant attention across various fields, including soft robotics and wearable technology. These smooth actuators are developed by combining SMA and simple textile fibers and then knitting them into two loop patterns known as the knit (K-loop) and plain (P-loop) patterns. Both loops are distinguished by opposite bending characteristics owing to loop head geometry. However, the knitting processes for these actuator sheets require expertise and time, resulting in high production costs for knitted loop actuation sheets. This study introduces a novel method by which to assess the strain in SMA textile-based actuators, which experience large deformations when subjected to voltage. Owing to the highly nonlinear constitutive equations of the SMA material, developing an analytical model for numerical analysis is challenging. Therefore, this study employs a novel approach that utilizes a linear constitutive equation to analyze large deformations in SMA material with nonlinear geometry considerations. The user-defined material (UMAT) subroutine integrates the linear constitutive equation into the ABAQUS software suite. This equivalent unit cell (EUC) model is validated by comparing the experimental bending actuation results of K-loops and P-loops.

• Journal of information and communication convergence engineering
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• v.11 no.3
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• pp.207-215
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• 2013

In this paper, we address the challenging computer vision problem of obtaining a reliable facial expression analysis from a naturally interacting person. We propose a system that combines a 3D generic face model, 3D head tracking, and 2D tracker to track facial landmarks and recognize expressions. First, we extract facial landmarks from a neutral frontal face, and then we deform a 3D generic face to fit the input face. Next, we use our real-time 3D head tracking module to track a person's head in 3D and predict facial landmark positions in 2D using the projection from the updated 3D face model. Finally, we use tracked 2D landmarks to update the 3D landmarks. This integrated tracking loop enables efficient tracking of the non-rigid parts of a face in the presence of large 3D head motion. We conducted experiments for facial expression recognition using both framebased and sequence-based approaches. Our method provides a 75.9% recognition rate in 8 subjects with 7 key expressions. Our approach provides a considerable step forward toward new applications including human-computer interactions, behavioral science, robotics, and game applications.