• 한국항행학회논문지
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• 제14권2호
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• pp.206-212
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• 2010

본 논문에서는 유비쿼터스 환경에서 로봇의 응용서비스를 제공하는데 필요한 네트워크로서 로보틱 지그비 네트워크의 개념을 소개하고 이를 이용한 응용 시나리오를 제시한다. 제시한 응용시나리오의 기본이 되는 네트워크 연결 및 데이터 전송에 관한 실험을 수행하였다. 이 실험 결과를 통해 앞으로 Robotic Zigbee Network를 이용한 위치인식 오차율을 최소화하는 로봇의 위치추정 및 추적 알고리즘 개발의 기반을 마련한다.

• 로봇학회논문지
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• 제18권4호
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• pp.419-426
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• 2023

Assembly tasks are difficult to fully automate due to uncertain errors occurring in unstructured environments. When assembling parts such as electrical connectors, advances in grasping and assembling technology have made it possible for the robot to assemble the connectors without the aid of humans. However, some parts with tight assembly tolerances should be assembled by humans. Therefore, task sharing with human-robot interaction is emerging as an alternative. The goal of this concept is to achieve shared autonomy, which reduces the efforts of humans when carrying out repetitive tasks. In this study, a task-sharing robotic system for assembly process has been proposed to achieve shared autonomy. This system consists of two parts, one for robotic grasping and assembly, and the other for monitoring the process for robot-human task sharing. Experimental results show that robots and humans share tasks efficiently while performing assembly tasks successfully.

• 한국CDE학회논문집
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• 제20권3호
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• pp.246-253
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• 2015

In this paper, we propose calibration methods that can be applied to the markerless surgical robotic system for Intracerebral Hematoma (ICH) Surgery. This surgical robotic system does not require additional process of patient imaging but only uses CT images that are initially taken for a diagnosis purpose. Furthermore, the system applies markerless registration method other than using stereotactic frames. Thus, in overall, our system has many advantages when compared to other conventional ICH surgeries in that they are non-invasive, much less exposed to radiation exposure, and most importantly reduces a total operation time. In the paper, we specifically focus on the application of calibration methods and their verification which is one of the most critical factors that determine the accuracy of the system. We implemented three applications of calibration methods between the coordinates of robot's end-effector and the coordinates of 3D facial surface scanner, based on the hand-eye calibration method. Phantom tests were conducted to validate the feasibility and accuracy of our proposed calibration methods and the surgical robotic system.

• 한국생산제조학회지
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• 제26권1호
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• pp.50-58
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• 2017

This paper proposes a real-time robotic vision control scheme using the weighting matrix to efficiently process the vision data obtained during robotic movement to a target. This scheme is based on the vision system model that can actively control the camera parameter and robotic position change over previous studies. The vision control algorithm involves parameter estimation, joint angle estimation, and weighting matrix models. To demonstrate the effectiveness of the proposed control scheme, this study is divided into two parts: not applying the weighting matrix and applying the weighting matrix to the vision data obtained while the camera is moving towards the target. Finally, the position accuracy of the two cases is compared by performing the slender bar placement task experimentally.

• 재활복지공학회논문지
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• 제9권1호
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• pp.1-9
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• 2015

국외의 재활보조기기 추세를 분석하였다. 접어지는 기능이 강화되고, 기존의 동력이 없는 장치에 전동구동 보조모듈이 추가되고, 전반적인 보조기기의 완성도가 향상되고 있다. 특히, 접어지는 기능을 포함한 휴대 및 보관하기 용이한 이동 보조기기가 증가하고 있다. 동력 보조 휠 및 상지보조 모듈이 시장에 진입하고 있다. 상대적으로 성숙된 최신기술을 적용한 신개념의 휠체어가 시장이 나오고 있다. 최신 로봇기술을 응용한 하지 외골격 로봇이 경쟁체제에 돌입하였다. 기립형 휠체어, 경사로, 간단한 계단 이동보조장치가 보편화 되고 있다. 보조기기와 다양한 스마트기기가 결합되고 있다. 이외에도 멋진 디자인, 소재, 가공기술 등에 의한 완성도가 제고 되고 있다.

• 융합정보논문지
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• 제9권7호
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• pp.8-13
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• 2019

최근 4차 산업혁명 시대 흐름에 발맞추어 인공지능을 이용한 자동화 기술을 다양한 산업현장에 적용하는 사례가 증가하고 있다. 특히, 정부의 주 52시간 근무제 도입으로 기업들은 인력 운영의 어려움이 가중되고 있어, 효율적인 인력 운영을 위해 사무환경 자동화를 위한 RPA(Robotic Process Automation)에 관심을 두고 은행, 보험, 카드사 등에서 Back-Office 업무 위주로 도입하고 있다. 이러한 RPA 솔루션은 인공지능 기반 인식기술, Script 작성 기술, 업무 소프트웨어와 API(Application Process Interface) 연계 기술 등이 요구되며, Automate One, Automation Anywhere, UiPath, Blue Prism 등과 같은 다양한 솔루션들이 제공되고 있다. 본 논문에서는 기에 수작업으로 수행하던 업무를 대신할 수 있는 RPA 솔루션의 요소 기술, 시장 동향, RPA 도입 효율성에 대해 분석하고 이를 서술하였다.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.740-745
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• 2008

This paper presents a new non-contact 3D robotic inspection system to measure the precise positions of screw and punch holes on a car body frame. The newly developed sensor consists of a CCD camera, two laser line generators and LED light. This lightweight sensor can be mounted on an industrial robot hand. An inspection algorithm and system that work with this sensor is presented. In performance evaluation tests, the measurement accuracy of this inspection system was about 200 ${\mu}m$, which is a sufficient accuracy in the automotive industry.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1677-1680
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• 1991

Machining is a bottleneck in robot application technologies because of uncertainty of position/form, poor reliability of robot function and low reaction speed of robot to changes of surroundings, But in grinding automation with relatively low machining speed it is feasible to integrate of sensor signal in machining. In this paper strategy for robotic grinding with F/T sensor will be presented and with that the experimental results will be discussed. F/T sensor signal in grinding of strategy weld seam are transferred to PC, which plays a role as cell computer and transform F/T data to robot position and/or orientation, speed correction data according to programmed algorithm. The possibility and boundary of robotic grinding with F/T sensor intergration is discussed.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.802-811
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• 1996

Farmers need alternatives for weed control due to the desire to reduce chemicals used in farming. However, conventional mechanical cultivation cannot selectively remove weeds located in the seedline between crop plants and there are no selective heribicides for some crop/weed situations. Since hand labor is costly , an automated weed control system could be feasible. A robotic weed control system can also reduce or eliminate the need for chemicals. Currently no such system exists for removing weeds located in the seedline between crop plants. The goal of this project is to build a real-time , machine vision weed control system that can detect crop and weed locations. remove weeds and thin crop plants. In order to accomplish this objective , a real-time robotic system was developed to identify and locate outdoor plants using machine vision technology, pattern recognition techniques, knowledge-based decision theory, and robotics. The prototype weed control system is composed f a real-time computer vision system, a uniform illumination device, and a precision chemical application system. The prototype system is mounted on the UC Davis Robotic Cultivator , which finds the center of the seedline of crop plants. Field tests showed that the robotic spraying system correctly targeted simulated weeds (metal coins of 2.54 cm diameter) with an average error of 0.78 cm and the standard deviation of 0.62cm.

• 산업융합연구
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• 제15권1호
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• pp.43-52
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• 2017

Robot refers to machines that recognize the external environment and assess the given situations in order to operate autonomously by imitating the manner in which humans behave. Although Korea still lacks global competitiveness, Korea, as the $4^{th}$ ranked robot manufacturing country in the world, is currently expanding the domains of robots from application in manufacturing to application in service provision. Accordingly, this study aims to analyze the factors for the success in entry into the cooperation robot market among various robotic markets in accordance with the literary research method in consideration for the importance of robot industry that could determine the future national competitiveness. The result of the analysis of the factors for the success in entry into the cooperation robot market, shows that factors including analysis of the trends in manufacturing robot market, strategy for benchmarking of the leading cooperation robot companies, activation of small and medium enterprise-centered cooperation robotic industry, excavation of demands for cooperation robots with focus on automobile, semiconductor and IT industries, utilization of the opportunities provided by government's robotic industry policies and standardization of cooperation robot components, etc. determine whether one will succeed in the market or not. Furthermore, it is believed that fortification of competitiveness of the manufacturing sector through the powerful policy support for the robotic industry at government level and policies on cultivation of new growth engine through specialization of the robotic areas closely related to daily life must be implemented concurrently because it is forecasted that competitiveness in robotics technology will become the criterion for national competitiveness in the future.