• Journal of Korean Neurosurgical Society
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• v.49 no.4
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• pp.248-251
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• 2011

Objective : In the field of spinal surgery, a few laboratory results or clinical cases about robotic spinal surgery have been reported. In vivo trials and development of related surgical instruments for spinal surgery are required before its clinical application. We investigated the use of the da $Vinci^{(R)}$ Surgical System in spinal surgery at the craniovertebral junction in a human cadaver to demonstrate the efficacy and pitfalls of robotic surgery. Methods : Dissection of pharyngeal wall to the exposure of C1 and odontoid process was performed with full robotic procedure. Although assistance of another surgeon was necessary for drilling and removal of odontoid process due to the lack of appropriate end-effectors, successful robotic procedures for dural sutures and exposing spinal cord proved its safety and dexterity. Results : Robot-assisted odontoidectomy was successfully performed in a human cadaver using the da $Vinci^{(R)}$ Surgical System with few robotic arm collisions and minimal soft tissue damages. Da $Vinci^{(R)}$ Surgical System manifested more dexterous movement than human hands in the deep and narrow oral cavity. Furthermore, sutures with robotic procedure in the oral cavity demonstrated the advantage over conventional procedure. Conclusion : Presenting cadaveric study proved the probability of robot-assisted transoral approach. However, the development of robotic instruments specific to spinal surgery must first precede its clinical application.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.909-914
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• 1987

In this paper a pneumatic vibratory wrist with PWM controller is developed for robotic assembly. Since the vibration characteristics are critical to assembly performance, they are investigated both theoretically and experimentally. The results show that within a wide range of conditions the wrist vibration can be effectively used for precision assembly.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.2
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• pp.223-229
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• 2017

Recently, robotic bin-picking tasks have drawn considerable attention, because flexibility is required in robotic assembly tasks. Generally, stereo camera systems have been used widely for robotic bin-picking, but these have two limitations: First, computational burden for solving correspondence problem on stereo images increases calculation time. Second, errors in image processing and camera calibration reduce accuracy. Moreover, the errors in robot kinematic parameters directly affect robot gripping. In this paper, we propose a method of correcting the bin-picking error by using trinocular vision system which consists of two stereo cameras andone hand-eye camera. First, the two stereo cameras, with wide viewing angle, measure object's pose roughly. Then, the 3rd hand-eye camera approaches the object, and corrects the previous measurement of the stereo camera system. Experimental results show usefulness of the proposed method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.12
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• pp.4372-4388
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• 2014

Robotic sensor network (RSN) contains mobile sensors and robots providing feasible solution for many multi-agent applications. One of the most critical issues in RSN and its application is how to effectively assign tasks. This paper presents a novel connectivity preserving hybrid task allocation strategy to answer the question particularly for RSN. Firstly, we model the task allocation in RSN to distinguish the discovering and allocating processes. Secondly, a fully distributed simple Task-oriented Unoccupied Neighbor Algorithm, named TUNA, is developed to allocate tasks with only partial view of the network topology. A connectivity controller is finally developed and integrated into the strategy to guarantee the global connectivity of entire RSN, which is critical to most RSN applications. The correctness, efficiency and scalability of TUNA are proved with both theoretical analysis and experimental simulations. The evaluation results show that TUNA can effectively assign tasks to mobile robots with the requirements of only a few messages and small movements of mobile agents.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.7
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• pp.2414-2433
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• 2021

This article focuses on providing remedial solutions for COVID disease through the data collection process. Recently, In India, sudden human losses are happening due to the spread of infectious viruses. All people are not able to differentiate the number of affected people and their locations. Therefore, the proposed method integrates robotic technology for monitoring the health condition of different people. If any individual is affected by infectious disease, then data will be collected and within a short span of time, it will be reported to the control center. Once, the information is collected, then all individuals can access the same using an application platform. The application platform will be developed based on certain parametric values, where the location of each individual will be retained. For precise application development, the parametric values related to the identification process such as sub-interval points and intensity of detection should be established. Therefore, to check the effectiveness of the proposed robotic technology, an online monitoring system is employed where the output is realized using MATLAB. From simulated values, it is observed that the proposed method outperforms the existing method in terms of data quality with an observed percentage of 82.

• Journal of Digital Convergence
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• v.16 no.11
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• pp.313-327
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• 2018

In this era that technology is replacing human labor is coming. Like the introduction of Factory Automation and Smart Factory to enhance the productivity in manufacturing works in companies, RPA (Robotic Process Automation) is being applied to strengthen the competiveness in service & office work of companies. But, RPA itself is not mature enough to be the specific technology or solution, but burgeoning as the conceptual technology alternatives to automate the business process harnessed with the concept of software robots, artificial intelligence etc. The biggest difference that the introduction of RPA can make is the transition of the work based on 'human labor', to the 'digital labor' that could result in the replacement of human labor itself with that. Considering this kind of impact to change the concept of labor, the discussion for the future policy for this is inevitable. In this paper, beginning from the overview of RPA, relevant concerns & consideration for the application of RPA will be described based on the understanding of industrial & technology trends and expected future of RPA.

• Journal of Biosystems Engineering
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• v.39 no.2
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• pp.134-141
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• 2014

Purposes: This study was to validate the Robotic Smart Work System that can provides better working conditions and high productivity in unstructured environments like bio-industry, based on a tele-operation system for fruit harvesting with low cost 3-D positioning system on the laboratory level. Methods: For the Robotic Smart Work System for fruit harvesting and cultivation management in agriculture, a vision based tele-operating system and 3-D position information are key elements. This study proposed Robotic Smart Farming, an agricultural version of Robotic Smart Work System, and validated a 3-D position information system with a low cost omni camera and a laser marker system in the lab environment in order to get a vision based tele-operating system and 3-D position information. Results: The tasks like harvesting of the fixed target and cultivation management were accomplished even if there was a short time delay (30 ms ~ 100 ms). Although automatic conveyor works requiring accurate timing and positioning yield high productivity, the tele-operation with user's intuition will be more efficient in unstructured environments which require target selection and judgment. Conclusions: This system increased work efficiency and stability by considering ancillary intelligence as well as user's experience and knowhow. In addition, senior and female workers will operate the system easily because it can reduce labor and minimized user fatigue.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.447-457
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• 2019

The intelligent sensory system is required to ensure the accurate welding performance. This paper describes the development of an intelligent vision sensor for the robotic laser welding. The sensor system includes a PC based vision camera and a stripe-type laser diode. A set of robust image processing algorithms are implemented. The laser-stripe sensor can measure the profile of the welding object and obtain the seam line. Moreover, the working distance of the sensor can be changed and other configuration is adjusted accordingly. The robot, the seam tracking system, and CW Nd:YAG laser are used for the laser welding robot system. The simple and efficient control scheme of the whole system is also presented. The profile measurement and the seam tracking experiments were carried out to validate the operation of the system.

• Korean Journal of Computational Design and Engineering
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• v.16 no.6
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• pp.437-448
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• 2011

A robotic spatial augmented reality (RSAR) system combines a robotics technology with a spatial augmented reality system (SAR) where cameras are used to recognize real objects and projectors augment information and user interface directly on the surface of the recognized objects, rather than relying on handheld display devices. Moreover, a robotic module is actively used to discover and utilize the context of users and environments. The control of a RSAR system involves several issues from different technical fields such as classical inverse kinematics of motors where projector-camera pairs are mounted, inverse projection problems to find appropriate internal/external parameters of projectors and cameras, and image warping in graphics pipeline to compensate the kinematic constraints. In this paper, we investigate various control issues related to a RSAR system and propose basic approaches to handle them, specially focused on the prototype RSAR system developed in ETRI.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2211-2216
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• 2005

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF parallel robotic manipulators. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation, using robotic manipulators. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. The walking velocity of the user is directly translated to VR actions for navigation. Finally, the functions of the RPC interface are utilized for each interaction mode. The suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.