• 대한기계학회논문집A
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• 제20권1호
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• pp.213-221
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• 1996

An assembly sequence is considered to be optimal when is minimizes assembly cost while satisfying assembly constraints. To derive such an optimal sequence for robotic assembly, this paper proposes a method using a simulated annealing algorithm. In this method, an energy funciton is derived inconsideration of both the assembly constraints and the assembly cost. The energy function thus derived is iteratively minimized until no further change in energy occurs. During the minimization, the energy is occationally perturbed probabilistically in order to escape from local minima. The minimized energy yields an optimal assembly sequence. To show the effectiveness of the proposed method, case studies are presented for industrial products such as an electrical relay and an automobil alternator. The performance is analyzed by comparing the results with those of a neural network-based method, based upon the optimal solutions of an expert system.

• 한국축산시설환경학회지
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• 제6권2호
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• pp.113-119
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• 2000

A Robotic milking cluster system with the manipulator for an automatic milking system was designed and built for farmer to work easily and comfortably during milking processing. The cluster system was composed of screws, cams and links for power transmission, DC motors, the Quick Basic one-chip microprocessor, the vision system for image processing, and tea-cups. Software, written in Visual C+ and Quick Basic, combined the function of image capture, image processing, milking cluster control, and control into one control. The unit was made to transfer from four fixed points to four teats with four teat-cups. Performance tests of the cluster unit, the fully integrated system, were conducted to attach and detach the teat-cup on the teat of a artificial cow. The transfer programming provided for a teat-cup milking loop during the system starts and comes back the original fixed point at the manipulator of it for milking. It transferred the teat-cup with a success rate of more than 70%. The average time it took ot perform the milking loop was about 20 seconds.

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1067-1071
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• 2013

A 3D visual sensing method using a laser structured beam is presented for robotic tracking applications in a simple and reliable manner. A cylindrical shaped laser structured beam is proposed to measure the pose and position of the target surface. When the proposed laser beam intersects on the surface along the target trajectory, an elliptic pattern is generated. Its ellipse parameters can be induced mathematically by the geometrical relationship of the sensor coordinate and target coordinate. The depth and orientation of the target surface are directly determined by the ellipse parameters. In particular, two discontinuous points on the ellipse pattern, induced by seam trajectory, indicate mathematically the 3D direction for robotic tracking. To investigate the performance of this method, experiments with a 6 axis robot system are conducted on two different types of seam trajectories. The results show that this method is very suitable for robot seam tracking applications due to its excellence in accuracy and efficiency.

• International Journal of Automotive Technology
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• 제6권5호
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• pp.545-554
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• 2005

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified by behaviors in terms of a velocity field and the closed-loop was passive with respect to the supply rate given by the environment input. However, the PVFC was only applied to a single manipulator. The proposed control law was derived geometrically and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a virtual passivity-based algorithm to apply decentralized control to multiple 3­wheeled mobile robotic systems whose subsystems are under nonholonomic constraints and convey a common rigid object in a horizontal plain. Moreover, it is shown that multiple robot systems ensure stability and the velocities of augmented systems converge to a scaled multiple of each desired velocity field for cooperative mobile robot systems. Finally, the application of proposed virtual passivity-based decentralized algorithm via system augmentation is applied to trace a circle and the simulation results is presented in order to show effectiveness for the decentralized control algorithm proposed in this research.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2015년도 추계학술발표대회
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• pp.1341-1344
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• 2015

In this paper, the designed fish robot is researched and developed for aquarium underwater robot. This paper is a study on how the outside technology merely to find the location of fish robots without specific sensor or internal devices. This model is designed to detect the position of the Robotic Fish in the Mat lab and Simulink. This intends to recognize the shape of the tank via a video device such as a camera or camcorder using an image processing technique to identify the location of the robotic fishes. Here, we are applied the two methods, one is Hom - Schunk Method and second one is newly proposed method that is the comparing image data algorithm. The Horn - Schunck Method is used to obtain the velocity for each pixel in the image and the comparing image data algorithm is proposed to obtain the position with comparing two video frames and assumes a constant velocity in each video frame.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 추계학술대회
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• pp.215-218
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• 2016

로봇은 다양한 기능을 하는 기기들이 유기적으로 결합하여 동작한다. OPRoS (Open Platform for Robotic Services) 프레임웍은 여러 기관 및 개발자가 로봇에 탑재되는 부품을 컴포넌트 형태로 개발하여 자유롭게 결합시킬 수 있는 통합 개발 환경을 제공한다. 로봇의 신뢰성 있는 동작을 확보하기 위해 개발자는 또 다른 개발자가 만든 컴포넌트들과 상호 운용을 시험해야 한다. 이를 위해 가장 먼저, 개발된 컴포넌트와 의미 있는 결합을 할 수 있는 타 컴포넌트를 검색할 수 있어야 한다. 본 연구는 OPRoS 프레임웍이 제공하는 인터페이스에 의미를 부여하고 모델화 하여 의미 모델간의 매핑 기법으로 연계 가능한 타 컴포넌트를 검색할 수 있는 로봇 상호 운용성 평가 시스템을 제시한다.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.850-858
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• 1993

Germinatin and early growth of tobacco seedlings in trays containing many cells is increasing in popularity . Since 100 % germination is not likely , a major problem is to locate and replace the content of those cells which contain either no seedling or a stunted seedling with a plug containing a viable seedling. Empty cells and seedlings of poor quality take up valuable space in a greenhouse. They may also cause difficulty when transplanting seedlings into the field. Robotic technology, including the implementation of computer vision, appears to be an attractive alternative to the use of manual labor for accomplishing this task. Operating AGBOT, short for Agricultural ROBOT, involved four steps : (1) capturing the image, (2) processing the image, (3) moving the manipulator, (4) working the gripper. This research seedlings within a cell-grown environment. the configuration of the cell-grown seedling environment dictated the design of a Cartesian robot suitable for working ov r a flat plane. Experiments of AGBOT performance in transferring large seedlings produced trays which were more than 98% survived one week after transfer. In general , the system generated much better than expected.

• 대한임베디드공학회논문지
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• 제19권1호
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• pp.1-8
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• 2024

Robotic arms have been widely utilized in various labor-intensive industries such as manufacturing, agriculture, and food services, contributing to increasing productivity. In the development of industrial robotic arms, camera sensors have many advantages due to their cost-effectiveness and small sizes. However, estimating object positions is a challenging problem, and it critically affects to the robustness of object manipulation functions. This paper proposes a method for estimating the 3D positions of objects, and it is applied to a pick-and-place task. A deep learning model is utilized to detect 2D bounding boxes in the image plane, and the pinhole camera model is employed to compute the object positions. To improve the robustness of measuring the 3D positions of objects, we analyze the effect of lens distortion and introduce a false positive filtering process. Experiments were conducted on a real-world scenario for moving medicine bottles by using a camera-based manipulator. Experimental results demonstrated that the distortion removal and false positive filtering are effective to improve the position estimation precision and the manipulation success rate.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.957-962
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• 2005

Today, the elderly is increasing gradually in the Republic of Korea society and this problem will be more serious in the near future. Therefore, engineering support for aged people is required. We are establishing a new field of healthcare engineering for elderly people and aiming to support for aged people and disabled people using adaptive control and instrument technology. In this paper, the goal is to implement the shared control of a robot mobility aid for the elderly. As using this type of assistive technology to be useful by its intended user community, it supports elderly people and handicapped people to live independently in their private homes. The interface transforms the force applied by the user into the robot's motion. Devices like buttons, joysticks, and levers already exist for relaying user input; however, they require hand displacement that would loosen or otherwise release the user's hold. Such interfaces make operation very difficult and potentially unsafe. Therefore, we propose a shared control system. It's safe more than joysticks and buttons. The shared control is a means of registering the user's intention through physical interaction. It's an important component in the development of robotic elderly assistant. The concept of shared control describes a system which is two or more independent control systems. We are using that the three component blocks consist of pressure sensor (flexible force sensor), circuit of measurement and transfer function. Experimental trials of this paper have been tested at the indoor environment. The robot is able to know the user intended direction through haptic device were logged along with the robot's force sensor.

• 제어로봇시스템학회논문지
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• 제20권3호
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• pp.345-355
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• 2014

Since the beginning of the 21st century, emergence of innovative technologies in robotic and telepresence surgery has revolutionized minimally access surgery and continually has advanced them till recent years. One of such surgeries is endoscopic surgery, in which endoscope and endoscopic instruments are inserted into the body through small incision or natural openings, surgical operations being carried out by a laparoscopic procedure. Due to a vast amount of developments in this technology, this review article describes only a technological state-of-the arts and trend of endoscopic robots, being further limited to the aspects of key components, their functional requirements and operational procedure in surgery. In particular, it first describes technological limitations in developments of key components and then focuses on the description of the performance required for their functions, which include position control, tracking, navigation, and manipulation of the flexible endoscope body and its end effector as well, and so on. In spite of these rapid developments in functional components, endoscopic surgical robots should be much smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies for their intelligent vision and dexterous hands not only from the points of the view of surgical, ergonomic but also from safety. We believe that in these respects a medical robotic technology related to endoscopic surgery continues to be revolutionized in the near future, sufficient enough to replace almost all kinds of current endoscopic surgery. This issue remains to be addressed elsewhere in some other review articles.