• Journal of the Korean Society for Precision Engineering
• /
• v.31 no.8
• /
• pp.689-696
• /
• 2014

This paper presents a scheduling problem for a high-density robotic workcell using multi-objective genetic algorithm. We propose a new algorithm based on NSGA-II(Non-dominated Sorting Algorithm-II) which is the most popular algorithm to solve multi-objective optimization problems. To solve the problem efficiently, the proposed algorithm divides the problem into two processes: clustering and scheduling. In clustering process, we focus on multi-robot positions because they are fixed in manufacturing system and have a great effect on task distribution. We test the algorithm by changing multi-robot positions and compare it to previous work. Test results shows that the proposed algorithm is effective under various conditions.

• Proceedings of the KIEE Conference
• /
• 2003.10b
• /
• pp.75-78
• /
• 2003

Mobile Robot climbing stairs needs high power and high efficiency. one of the high power type motor is Transverse Flux Motor (TFM). Moreover, TFM is a high force density per volume. We analyzed a characteristic for the TFM and simulated the parametric research of the TPM by using 3D FEM solutions. It presents to design the basis of the TPM. design parameters are Radius of outer rotor, pole height, pole depth, pole depth, airgap, and Magnetomotive force.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2013.05a
• /
• pp.447-448
• /
• 2013

• Proceedings of the KIEE Conference
• /
• 2005.10b
• /
• pp.418-420
• /
• 2005

This paper proposed ultrasonic distance measurement module development for correct distance detection with collision escaping or obstacle of mobile robot is traveling self-regulation. Representative ultrasonic module applied in existing was Polaroid company's 6500 series and Devantech company's SRF04/SRF08 series. This ultrasonic sensors are corrupted by systematic errors due mainly to the dependency of sound speed upon surrounding conditions and random errors of uncertain origin. Therefore Ultrasonic distance detecting means of error compensation method and high definition, narrow beam angle, board area distance detecting means to apply to ultrasonic mobile robot control urgently need. In this paper use internal type temperature compensation method to improve problem of ultrasonic distance measurement method instead of that volume that have shortcoming of used correct temperature compensation methods applied big addition device. Compensate error by environment change of temperature. Humidity density etc. and is applicable to mobile robot offering various interface and real-time processing developed possible distance measurement module.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.11 no.5
• /
• pp.35-41
• /
• 2012

Liquified hydrogen peroxide as a monopropellant is drawing an attention as a power generating energy source for a machine requiring simple and light weight structure. The liquified hydrogen peroxide is attracted due to its outstanding applicability because it doesn't require an oxidizer and discharge a hazardous product. For the further industrial applications, however, a feasibility study should be carried out carefully in the aspect of the specific power density. In this study, a prototype of vane motor driven by the liquified hydrogen peroxide with high density of upper 95% was developed and its performance characteristic such as a specific power density was estimated via measuring pressure and rotation speed of the vane motor. The specific power density obtained by numerical simulation using FSI analysis supported by experimental results was up to $0.02kW/kg_{f}$, which reaches at the level of the latest developed fuel cell.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.1034-1039
• /
• 2005

SALM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important tasks in mobile robot research. Until now expensive sensors such as a laser sensor have been used for mobile robot localization. Currently, the proliferation of RFID technology is advancing rapidly, while RFID reader devices, antennas and tags are becoming increasingly smaller and cheaper. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying location of the mobile robot in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, the localization error results from the sensing area of the RFID reader, because the reader just knows whether the tag is in the sensing range of the sensor and, until now, there is no study to estimate the heading of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. The Markov localization method is used to reduce the location(X,Y) error and the Kalman Filter method is used to estimate the heading($\theta$) of mobile robot. The algorithms which are based on Markov localization require high computing power, so we suggest fast Markov localization algorithm. Finally we applied these algorithms our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors such as odometers and RFID tags for mobile robot localization in the smart floor

• Journal of Microbiology and Biotechnology
• /
• v.10 no.1
• /
• pp.21-26
• /
• 2000

A microarrayer system was developed mainly for manufacturing DNA chips. The 3-axis robot was designed to automatically collect samples from 96-or 384-well microtiter plates using up to 16 simultaneously moving pens and to deposit them on a surface-modified slide glass. This is followed by a wash/dry operation in a clean station. The cycle is repeated with a new set of samples, This system can deposit cDNA or oligonucleotides with spot intervals of $150{\;}\mu\textrm{m}$ and the spot size of $80\mu\textrm{m}$, thus allowing a high density DNA chip containing about 5,000 spots per $\textrm{cm}^2$. The entire procedure is controlled by the Visual C++ program that was written in our laboratory by using a personal computer with Pentium 100 CPU.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.4_2
• /
• pp.621-626
• /
• 2022

Tungsten is a high melting point metal unlike other steel materials, and it is difficult to manufacture because of its high melting temperature. In this study, pressure sintering process method was applied to manufacture the tungsten materials at low temperature. Therefore, it is necessary to densify the sintered material by using a sintering additive. Studies have been conducted on how the amount of titanium for sintering tungsten affects the mechanical properties of tungsten in this study. In order to secure the densification mechanism of tungsten powder during the sintering process, the characteristics of the sintered tungsten material according to the change of titanium content were evaluated. It was investigated the relationship between sintering parameters and mechanical properties for densification of microstructures. The sintered tungsten materials according to sintering additive content showed high sintered density (about 16.31g/cm³) and flexural strength (about 584 MPa) when the content of sintering additive was 3 wt%. However, as the content of the sintering additive increases, mechanical property of flexural strength is decreased, and the porosity is increased due to the heterogeneous sintering around titanium.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.12 no.1
• /
• pp.64-70
• /
• 2008

Thanks to the breakthroughs in micro fabrication technology, numerous concepts of micro aerospace systems including micro aerial vehicle, nano satellite and micro robot have been proposed. In order to activate these mobile micro systems, high density power in a small scale power source is required. However, we still do not have micro power source that has energy density that can support these systems. In the present article, status of micro power sources are described and alternatives that have been derived from the past experience are proposed.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.26 no.10
• /
• pp.1483-1489
• /
• 2022

Recently, due to the influence of the 4th industrial revolution and the development of communication media, various digital video equipment are being used in industrial fields. Image data is easily damaged by noise in the process of acquiring and transmitting and receiving from the camera and sensor, and since the damaged image has a great effect on the processing of the system, noise removal is essential. In this paper, a weight filter algorithm using a weight graph is proposed to restoration images damaged by high-density impulse noise. The proposed algorithm obtains a weight graph using pixel values inside the filtering mask of the image, and restores the image by applying the final weight to the filtering mask. Simulation was conducted to analyze the noise removal performance of the proposed algorithm, and the magnified image and PSNR were used to compare with the existing method. The resulting image of the proposed algorithm showed excellent performance by removing high-density impulse noise.