• 노인간호학회지
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• 제20권sup1호
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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.

• 로봇학회논문지
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• 제19권2호
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• pp.169-175
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• 2024

In this study, we developed control system for stable teleoperation of supermicrosurgical robot platform. The supermicrosurgical robot platform is designed to perform precise anastomosis with micro vessels ranging from 0.3 mm to 0.7 mm. The robotic assistance could help more precise manipulation then manual surgery with the help of motion scaling and tremor filtering. However, since the robotic system could cause several vulnerabilities, control system for stable teleoperation should be preceded. Therefore, we first designed control system including inverse kinematics solver, clutch error interpolator and finite state machine. The inverse kinematics solver was designed to minimized inertial motion of the manipulator and tested by applying orientational motion. To make robot slowly converges to the leader's orientation when orientational error was occurred during clutch, the SLERP was used to interpolate the error. Since synchronized behavior of two manipulators and independent behavior of manipulator both exist, two layered finite state machines were designed. Finally, the control system was evaluated by experiment and showed intended behavior, while maintaining low pose error.

• Nuclear Engineering and Technology
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• 제55권12호
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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.

• 예술인문사회 융합 멀티미디어 논문지
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• 제6권10호
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• pp.499-508
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• 2016

전 세계적인 K-pop 문화의 확산에 따라 K-pop 스타 관련 시장의 규모가 국내·외로 확장되고 있다. 최근 지속적인 K-pop 문화의 확산을 위해 스타와 직접적인 상호작용을 하는 서비스와 제품들을 출시하고 있다. 본 연구는 팬과 K-pop 스타 사이의 상호작용을 지원하는 소셜 로봇 피규어 기반 서비스를 제안하는 것을 목적으로 한다. 본 연구를 위해 K-pop 문화 현황에 대한 문헌 연구를 수행 한 후, 기존에 출시된 팬과 스타를 연결하는 서비스의 현황을 파악하기 위한 사례 조사를 진행하여 새로운 서비스 개발 방향을 수립하였다. 수립된 개발 방향을 기반으로 소셜 로봇 사례를 분석하여 적용 가능한 기술 및 기술 기반 상호작용 요소를 도출하였다. 이를 기반으로 본 연구는 최종적으로 소셜 로봇 피규어 기반 서비스를 제안하였다. 본 연구에서 제안하는 소셜 로봇 피규어 기반 서비스는 IoT 플랫폼을 기반으로 작동하는 사용자 맞춤형 피규어 활용 서비스로 스마트, 커넥티드 피규어를 사용하는 팬과 스타 간의 양방향 커뮤니케이션을 다양하게 지원한다. 따라서 본 연구는 K-pop 문화의 지속적인 발전에 공헌하고 향후 플랫폼 기반 상호작용이 필요한 스마트, 커넥티드 제품과 이러한 제품을 활용하는 서비스를 개발하기 위한 지침으로 기여할 것으로 기대된다.

• 한국생산제조학회지
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• 제25권6호
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• pp.517-521
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• 2016

General industrial robots are difficult to use for precision assembly because they are operated based on position control. Their position accuracy is also usually higher than the assembly clearance (several tens of ${\mu}m$). In previous researches, force control was suggested as a robotic assembly solution. However, this method is difficult to apply in reality because of speed and cost problems. The RCC provides high speed, but applications are limited because the compliance is fixed, and it cannot detect an assembly condition during a task. A variable passive compliance device (VPCD) was developed herein. The VPCD can detect the assembly condition during tasks. This device can provide proper compliance for successful assembly tasks. The pneumatic system and the Stewart platform with an LVDT sensor were applied for measuring the displacement and variable compliance, respectively. The concept design and analysis were conducted to prove the effectiveness of the developed VPCD.

• 전기학회논문지
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• 제61권12호
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• pp.1911-1919
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• 2012

In this paper, we focus on a robotic sealing process in which three robots are used. Each robot can be considered as a 7 axis redundant robot of which the first joint is prismatic and the last 6 joints are revolute. In the factory floor, robot path planning is not a simple problem and is not automated. They need experienced operators who can operate robots by teaching and playing back fashion. However, the robotic sealing process is well organized so the relative positions and orientations of the objects in the floor and robot paths are all pre-determined. Therefore by adopting robotic theory, we can optimally plan robot pathes without using teaching. In this paper, we analyze the sealing robot by using redundant manipulator theory and propose three different methods for path planning. For sealing paths outside of a car body, we propose two methods. The first one is resolving redundancy by using pseudo-inverse of Jacobian and the second one is by using weighted pseudo-inverse of Jacobian. The former is optimal in the sense of energy and the latter is optimal in the sense of manipulability. For sealing paths inside of a car body, we must consider collision avoidance so we propose a performance index for that purpose and a method for optimizing that performance index. We show by simulation that the proposed method can avoid collision with faithfully following the given end effector path.

• 융합정보논문지
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• 제11권4호
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• pp.46-54
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• 2021

4차 산업 혁명의 실현이 구체화 되면서 기업 업무환경에 대한 패러다임이 전통적 노동환경에서 디지털 노동환경으로 변화되어가고 있다. 특히 RPA(Robotic Process Automation), 챗봇과 같은 기술들은 단순 반복적인 작업을 자동화하여 인간의 노동량을 감소시키고 인간이 더욱 가치 있는 작업 또는 노동에 집중할 수 있도록 지원한다. 본 논문에서는 퍼블릭 클라우드 컴퓨팅 기반의 경비지출관리 솔루션을 활용하고 있는 기관이나 기업들이 이러한 로봇 프로세스 자동화 기술과 챗봇 기술을 접목하여 경비지출 보고서 관리 업무를 간소화하는 클라우드 모듈을 개발한다. 개발된 모듈은 전문가 평가를 진행하여 80.3%의 만족도를 보였고 용이성 측면에서 가장 높은 94%의 만족도를 확인할 수 있었다. 연구 결과를 바탕으로 향후 연구에서는 경비지출관리 업무와 관련된 업무 시스템을 추가로 연계하여 기업 내·외부에서 발행하는 업무를 단일 RPA 환경으로 확장하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.4-12
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• 1996

This keynote presentation covers the subject of intelligent systems development for monitoring and control in various NASA space applications. Similar intelligent systems technology also has applications in terrestrial commercial applications. Discussion will be given of the general approach of intelligent systems and description given of intelligent systems under prototype development for possible use in Space Shuttle Upgrade, in the Experimental Crew Return. Vehicle, and in free-flying space robotic cameras to provide autonomy to these spacecraft with flexible human intervention, if desired or needed. Development of intelligent system monitoring and control for regenerative life support subsystems such as NASA's human rated Bio-PLEX test facility is also described. A video showing two recent world's firsts in real-time vision-guided robotic arm and hand grasping of tumbling and translating complex shaped objects in micro-gravity will also be shown.

• 한국해양공학회지
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• 제33권6호
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• pp.510-517
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• 2019

Efficient path planning is essential for unmanned surface vehicle (USV) navigation. The A^* algorithm is an effective algorithm for identifying a safe path with optimal distance cost. In this study, a modified version of the A^* algorithm is applied for planning the path of a USV in a static and dynamic obstacle environment. The current study adopts the A^* approach while maintaining a safe distance between the USV and obstacles. Two important parameters-path length and computational time-are considered at various start times. The results demonstrate that the modified approach is effective for obstacle avoidance by a USV that is compliant with the International Regulations for Preventing Collision at Sea (COLREGs).

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.173-179
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• 2002

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) fur robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable fur implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.