Dong Yeop Kim

Modular joint unit design for arm exoskeleton robot

Exoskeleton robots have been used for rehabilitation in many areas. In order to comprise arm exoskeleton robot, a modular joint unit is proposed. As a module, this unit contains everything for joint actuating. Motor, encoder, harmonic drive, brake, cross roller bearing, and joint torque sensor are included in this unit. Because this unit is applied to exoskeleton robot, the joint torque sensor is important for human machine interface (HMI). Joint torque sensor performance is verified with FEM analysis.

Window detection for gondola robot using a visual camera

Maintenance of building façade is a risky operation for human labor. We have researched a robot system that substitutes for human. This robot system requires much intelligence for sensing and control. In this paper, we propose window detection methodologies as a sensing theme. It is essential for robotic façade maintenance. We have two approaches. One is the connected-component labeling, and the other is histogram of row and column direction.

The Position and Orientation Measurement of Gondola Using a Visual Camera

The research of automation and robotics in building construction industry could improve working conditions through applications which create safety hazards for humans. In this paper, we propose an approach to sense a gondola robot system using a vision camera. To control a gondola safely and accurately, some parameters should be measured such as translation in X, Y and Z axis and rotation (Euler angles) of the gondola. Our approach conducts this operation with inexpensive and easy-to-maintain system.

Visual testing system for the damaged area detection of wind power plant blade

For the maintenance of wind power turbine blade, we have researched robot platforms and sensor systems. In this paper, we proposed VT (Visual Testing)-based damage detection system based on pan-tilt zoom camera system. VT is a basic but indispensable NDT (Non-Destructive Testing) for wind turbine blade. Additionally, this fixed-type damage detection system can be applied for robot localization on the wind power blade. Our experiments show that the sensor system using pan-tilt zoom camera can detect damage on the blades, localization algorithm is feasible, and the system can be deployed in wind power farm.

Solenoid-based and latch-typed brake system for in-wheel module

In this study, we propose a new brake system to be used for in-wheel module of active walking aids. Along with the increase in the aged population, there has been many research devoted on active walking aids, which helps the movement of olds and disabled. In this study, a new brake system with low power consumption is developed to maximize the battery life of active walkers. Through the use of two solenoids, the developed brake only consumes power when it is switching between the on-off states. The performance of the proposed system is verified through various experiments.

A Study on the Development of Height Estimation Sensor for Gondola-typed Façade Robot

Demand for high-rising building has arisen. However, its maintenance is usually executed by labour. It could have a severe problem. We proposed a gondola robot to solve it. In this paper, we designed a height estimation sensor for this gondola. It is consist of pan-tilt unit, ARS sensor, and laser sensor. The pan-tilt unit keeps the laser sensor to indicate the gravity direction by referencing the ARS. The laser sensor`s range is vertical distance from gondola to ground. However, if there is an obstacle under the gondola, the distance includes its height. To filter it out, we apply a Kalman filter for the height estimation. If the estimated height is changed extremely, the filter decides that there is an obstacle. Then, it remembers the height of obstacle. Other extreme changes of height estimations are reflected. The experimental results using the proposed sensor system show detail flow of the height estimation.

TILTED WINDOW DETECTION FOR GONDOLA - TYPED FACADE ROBOT

Working on building facade is dangerous. Many accidents have occurred, and many workers have lost their lives. We have researched to apply robot systems to prevent these accidents. In this paper, we purposed an algorithm for sensor system of a gondola-typed building facade maintenance robot. The robot system moves on the building facade autonomously, or by remote control. Therefore, window area detection is important for painting of the gondola system. For robust and accurate detection, the proposed algorithm was designed for tilted windows.

Development of joint torque sensor applied to compensate crosstalk error

For force control of robot and collision detection with humans, robots that has joint torque sensors have been developed. However, existing torque sensors cannot measure correct torque because of crosstalk error. In order to solve this problem, we proposed a novel torque sensor that can measure the pure torque without crosstalk. The hexaform of the proposed sensor with truss structure increase deformation of the sensor and restoration, and the Wheatstone bridge circuit of strain gauge removes crosstalk error. Sensor performance is verified with FEM analysis.

Vertical movement for gondola-typed robot system

We have researched an automated gondola-typed robot system for building façade maintenance. Our system moves in vertical direction on walls with two endless winders along wire ropes. Because its main function is to paint, the balance of the gondola system should be kept. Two endless winders are controlled in accordance with ARS (Attitude Reference System). With proposed algorithm, input frequency values of winders are continuously updated. In experiment, balance of the gondola system was enough to paint on wall while proposed algorithm was executed.

A fxed type damaged area detecton system for the rotor

Damaged area detection on the rotor blade of wind power plant is important for the safety of wind power plant. Most damaged area detections are performed by human inspectors. Damaged area detection by human inspectors costs much even it is dangerous. Some of damaged area detection systems by a scanning robot and various sensors have studied. However, most systems focus on the accuracy. Although time cost is important in actual use. In this paper, we propose a fixed type damaged area detection system for the rotor blade of wind power plant to reduce time cost. We designed the proposed system, and we implemented the system using blob labeling and coordinate converting method to reduce time cost.