• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.513-518
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• 1998

In this paper, a robust fault-tolerant control scheme for robot manipulators overcoming actuator failures is presented. The joint(or actuator) fault considered in this paper is the free-swinging joint failure and causes the loss of torque on a joint. The presented fault-tolerant control framework includes a normal control with normal(non-failed) operation, a fault detection and a fault-tolerant control to achieve task completion. For both no uncertainty case and uncertainty case, a stable normal con-troller and an on-line fault detection scheme are presented. After the detection and identification of joint failures, the robot manipulator becomes the underactuated robot system with failed actuators. A robust adaptive control scheme of robot manipulators with the detected failed-actuators using the brakes equipped at the failed(passive) joints is proposed in the presence of parametric uncertainty and external disturbances. To illustrate the feasibility and validity of the proposed fault-tolerant control scheme, simulation results for a three-link planar robot arm with a failed joint are presented.

• 융복합기술연구소 논문집
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• 제7권2호
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• pp.17-20
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• 2017

Orthodontic treatment is accomplished by attaching an archwire to a bracket on tooth. The shape of the archwire is usually planned from 3-D scanned data of patient's teeth. It is manufactured by bending a metal wire and there have been some researches in progress to automate it. In this paper, we propose a method to obtain the bending angle at the bending point from the shape data of the archwire and verify it by simulation using actual archwire data.

• International Journal of Advanced Culture Technology
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• 제7권3호
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• pp.79-85
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• 2019

This study examined the effects of a robotics curriculum based on "Bee-Bot" on the scientific problem-solving ability on 5-year-old children. A robotics curriculum was also designed to enhance their scientific problem-solving ability. This study examined a 4-week robotics curriculum was conducted 12 times for 4 weeks. For this study, 14 children in kindergarten A in Korea were set up as a treatment group and 18 children in kindergarten B in Korea as a control group. It was found that children in the treatment group who engaged in the robotics curriculum using "Bee-Bot" performed better on scientific problem-solving tests. This finding indicates that an enhanced planning experience using "Bee-Bot" was beneficial for improving young children's scientific problem-solving ability. The implications for designing appropriate curricula using "Bee-Bot" robots for kindergarteners are addressed.

• 대한임베디드공학회논문지
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• 제14권3호
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• pp.151-156
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• 2019

According to recent advances in technology, major robot technologies that have been developed and commercialized for industrial use are being applied to various fields in our everyday life such as guide robots and cleaning robots. Among them, the navigation based on the self localization has become an essential element technology of the robot. In the case of indoor environment, many high-priced sensors are used, which makes it difficult to activate the robot industry. In this paper, we propose a robotic platform and a moving algorithm that can travel by using Dijkstra algorithm. The proposed system can find a short route to the destination with its own position. Also, its performance is discussed through the experimentation of an actual robot.

• 로봇학회논문지
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• 제12권2호
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• pp.206-216
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• 2017

This paper proposes a method to simultaneously estimate two degrees of freedom in wrist forces (extension - flexion, adduction - abduction) and one degree of freedom in grasping forces using Electromyography (EMG) signals of the forearms. To correlate the EMG signals with the forces, we applied a multi - layer perceptron(MLP), which is a machine learning method, and used the characteristics of the muscles constituting the forearm to generate learning data. Through the experiments, the similarity between the MLP target value and the estimated value was investigated by applying the coefficient of determination ($R^2$) and root mean square error (RMSE) to evaluate the performance of the proposed method. As a result, the $R^2$ values with respect to the wrist flexion-extension, adduction - abduction and grasping forces were 0.79, 0.73 and 0.78 and RMSE were 0.12, 0.17, 0.13 respectively.

• 대한의용생체공학회:의공학회지
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• 제40권3호
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• pp.105-115
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• 2019

Brain tumor surgery may be difficult, but it is also incredibly important. The technological improvements for traditional brain tumor surgeries have always been a focus to improve the precision of surgery and release the potential of the technology in this important area of the body. The need for precision during brain tumor surgery has led to an increase in Robotic-assisted surgeries (RAS). One of the challenges to the widespread acceptance of RAS in the neurosurgery is to recognize invisible tumor accurately. Therefore, it is important to detect brain tumor size and location because surgeon tries to remove as much tumor as possible. In this paper, we proposed brain tumor detection procedures for MRI (Magnetic Resonance Imaging) system. A method of automatic brain tumor detection is needed to accurately target the location of the lesion during brain tumor surgery and to report the location and size of the lesion. In the qualitative assessment, the proposed method showed better results than those obtained with other brain tumor detection methods. Comparisons among all assessment criteria indicated that the proposed method was significantly superior to the threshold method with respect to all assessment criteria. The proposed method was effective for detecting brain tumor.

• 대한원격탐사학회지
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• 제29권2호
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• pp.243-251
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• 2013

본 연구는 인공위성과 지상 원격탐사 자료를 이용하여 동북아 지역에서 발생하는 황사현상의 중장거리 이동에 따른 광학적 특성 변화를 분석하였다. 동북아시아 지역의 Aerosol Robotic Network(AERONET)의 선포토미터 관측 지점 중에 황사의 발원지로 Dunhuang과 Inner-Mongolia, 발원지에 근접한 풍하측 지점으로 Yulin과 Beijing, 그리고 장거리 이동 지점으로 한국의 Anmyon과 Gosan, 일본의 Noto, 이렇게 7곳을 선정하여 자료를 분석하였다. 황사의 발생 및 이동 경로를 파악하기 위하여 자외선 원격탐사 기법을 사용하는 인공위성인 Ozone Monitoring Instrument(OMI) 관측자료를 활용하였다. 발원지에서의 단산란알베도는 440 nm에서 0.90에서 0.96 사이의 값으로 높았으나 풍하측이나 장거리 이동 지역에서는 그 값이 감소하였다. 또한, 파장에 따른 단산란알베도 값의 차이는 발원지에서는 높게 나타났으나 이동된 지역에서는 그 차이가 감소하였다. 이러한 장거리 이동에 따른 황사의 광흡수 특성의 변화는 이동 중 탄소입자와 같은 대기 오염물질과의 혼합으로부터 기인하는 것으로 판단된다.

• 한국축산시설환경학회지
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• 제8권3호
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• pp.171-176
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• 2002

Physical parameters of milk cow were measured to design and build RMS(Robotic Milking System) with a tape-measurer and body parameter measurer. The parameters are very important variables to design an RMS. For the working zone space of an RMS manipulator and the movement blunting of milk cow, an interval frame was installed on the stall bottom, and then cow's behavioral reactions were tested. The results from this study is summarized as follow. 1. On the general physical condition measurement, the maximum, minimum and average body length of cow which is related to the space that the manipulator could work into the RMS were 175cm, 144cm, and 163cm respectively. It appeared that the average distance between bottom and chest was 60cm. 2. The average length between fore teats, fore and hind teats and hind teats were 178mm, 150mm and 95mm respectively. It appeared that the average length between bottom and teat attachments was 544mm, and the average length between fore teats and tail-end was 331mm. 3. Although a cow kept a some extent length between hind legs for milking, it looked a stable pose. However, the cow kept a some extent distance between front legs for milking, it looked a unstable pose. Based on results of this test, an interval frame of stall bottom should be installed around the position which was located at its hind legs.

• 한국지반공학회논문집
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• 제21권2호
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• pp.121-126
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• 2005

건축구조물이나 합 등의 구조물이 부등침하의 영향으로 기울어지게 되는 것은 그리 드문 현상이 아니다. 그동안 구조물의 기울기를 감소시키기 위한 다양한 공학적인 해결방안이 시도되어 왔는데, 그 가운데는 soil extraction 공법도 포함되어 없다. 본 논문에서는 최신의 로보트 굴착장비를 이용한 2개의 원심모형실험을 실시하여 soil extraction공법을 이용하여 기울어진 건물의 경사를 감소시키는 데 있어서의 주된 요소에 대한 연구를 실시하였다. 원심모형실험에서는 모형토조가 고속으로 회전하는 가운데 로보트를 이용하여 기울어진 건물의 주변에 구명을 천공하였다. 지반에 구멍을 천공함으로 지중응력의 감소를 유도하여 건물의 기울기를 성공적으로 감소시킬 수 있었다. 원심모형실험을 통해서 분석된 천공의 순서, 지반의 밀도 및 배열 등이 건물의 기울기를 감소시키는 정도에 대하여 심도 있는 연구를 실시하였다.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.590-596
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• 2016

Biopsy is a typical needle type intervention procedure performed under radiographic image equipment such as computed tomography (CT) and cone-beam CT. This minimal invasive procedure is a simple and effective way for identifying cancerous condition of a suspicious tissue but radiation exposure for the patients and interventional radiologists is a critical problem. In order to overcome such trouble and improve accuracy in targeting of the needle, there have been various attempts using robot technology. Those devices and systems, however, are not for full procedure automation in biopsy without consideration for tissue sampling task. A robotic end-effector of a master-slave tele-operated needle type intervention robot system has been proposed to perform entire biopsy procedure by the authors. However, motorized sampling adopted in the device has different cutting speed from that of biopsy guns used in the conventional way. This paper presents the design of a novel robotic mechanism and protocol for the automation of biopsy procedure using spring-triggered biopsy gun mechanism. An experimental prototype has been successfully fabricated and shown its feasibility of the automated biopsy sequence.