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정회룡,장형준,송영은 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.1
In this paper, we present a comprehensive review of the latest autonomous navigation technologies for unmanned ships. Maritime trade has increased enormously along with the evolution of industrial economies over the last century. The unmanned ship has received worldwide attention as a next-generation transportation vessel. It can change the paradigm of global maritime trade. In this paper, first, we present the global trend of unmanned ship development by reviewing the major research projects currently conducted by several research groups. One of them describes the three steps of an unmanned ship according to the level of autonomy. The core technologies of the unmanned ship are classified into three categories in terms of safety, efficiency, and connectivity. The state-of-the-art technologies and the remaining challenges in each category are reviewed comprehensively.
정회룡(Hoeryong Jung),김상준(Sangjoon J. Kim),박정훈(Junghoon Park),조해도(Haedo Cho),안범모(Bummo Ahn),나영진(Youngjin Na),김영진(Yeongjin Kim) 대한기계학회 2018 大韓機械學會論文集A Vol.42 No.10
최소 침습 수술(minimally invasive surgery, MIS)에서 수술 도구의 유연성과 조작 용이성은 매우 중요한 요소이다. 유연 수술 로봇은 유연한 동작이 가능하고 조작이 용이하여 기존 복강경 수술로봇 대비 향상된 수술결과를 기대할 수 있어 기존 수술로봇의 한계를 극복할 수 있는 진보된 수술로봇으로 주목을 받고 있다. 본 논문에서는 메소-스케일(meso-scale)의 최신 유연 수술 로봇을 소개하고, 유연 수술 로봇의 디자인 및 한계점을 분석하고자 한다. 연 조직(soft tissue)을 대상으로 개발된 다양한 최신의 유연수술 로봇들을 소개하고 유연 수술 로봇의 한계점을 극복하기 위한 영상 유도 기법, 관절의 강성 조절기법, 로봇의 재질 등에 대한 최신의 연구동향을 살펴본다. 현재 유연 수술 로봇의 기술적 한계점을 분석하고 향후 연구개발 방향을 제시한다. A soft surgical robot in a minimally invasive surgery offers flexibility and ease of operation. The robot can be used to easily access the lesion and perform surgical processes even in a narrow space within the abdominal cavity during surgery. This review paper introduces the latest meso-scale soft surgical robots and describes their design and limitations. This paper discusses various surgical robots used in various medical fields targeting soft tissues only. Image guidance techniques, stiffness modulation control of the soft joints, and materials of the robot body to overcome limitations of the existing soft surgical robots are a main focus of this review.
정회룡(Hoeryong Jung),문애경(Aekyung Moon),안수용(Su-Yong An),송영은(Young Eun Song) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.7
The smart greenhouse, which is equipped with an autonomous environmental control system, is attracting attention as an effective alternative to solve problems in the modern agricultural industry. Although the smart greenhouse enables the monitoring of environmental information of the greenhouse, the system to directly capture the state of the crops is required to enhance the productivity of the smart greenhouse. In this paper, we propose an image recognition algorithm based on the convolution neural network (CNN) to detect an outbreak of powdery mildew on tomatoes. We propose a method to artificially generate the powdery mildew images using an image fusion technique to prepare various forms of CNN learning data. The artificial powdery mildew images are produced in three steps: mildew image extraction, transformation, and overlapping. The CNN is learned using these artificial images, and we test the recognition performance of the CNN using real tomato leap images captured in the greenhouse. The experimental results show that the proposed image recognition algorithm presents a recognition rate of 93.02% for 43 test images.