This study presents a method for inspecting ship block wall painting using a cooperative robot. The robot used in this study is a representative example of a human-collaborative robot system. The end-effector of the robot is equipped with a depth camera, designed in an eye-in style. The camera is used to measure and evaluate the thickness of the paint applied to the iron plate, simulating the conditions of ship block wall painting. To improve the accuracy of the recognition, an object detection algorithm with rapid computation and high accuracy was utilized. The algorithm was used to identify and outline the paint areas using the Canny edge algorithm. The proposed method successfully demonstrated the precision of paint area recognition by clearly identifying the center point and outline of the areas. Comparing the paint thickness measurements with laser distance measurements confirmed the effectiveness of the proposed method.

People with hemiplegia require ongoing rehabilitation exercises to regain function in their upper limbs. However, due to the increasing number of elderly and disabled people, the number of rehabilitation professionals is insufficient. As a solution to this problem, researchers have been exploring various upper limb rehabilitation exercise robots. Unfortunately, these robots are often large and heavy, making them cumbersome to wear and use. The proposed exoskeleton rehabilitation robot consists of two robotic modules: an elbow module (1 DOF) and a wrist module (1 DOF). In order to analyze the robot"s workspace, the kinematics were calculated using the D-H parameters. To generate the trajectories, five able-bodied individuals wore the robot and performed the hand-wash motion, resulting in a total of 10 trajectory data sets. The reference trajectories were then generated by polynomial regression based on the collected data. Lastly, a passive mode control was experimented with in the rehabilitation process, and the results demonstrated the promising effectiveness of the proposed robot.

The objective of this study was to address the parameter estimation of the line-of-sight stabilization system on temperature variation, which is a significant element in regulating the control performance of mobile platform with visual targeting system. To this end, the LuGre friction model in this study was used both to represent the characteristic of the friction behavior and to design a control algorithm for the friction compensation. Results from both simulation and experimental tests helps to identify the friction parameters on LuGre friction model. Based on LuGre with parameter estimation, PI-LEAD control algorithm is designed to compensate nonlinear characteristic of the line-of-sight stabilization system on the variation of temperature. Finally, through simulation, the good control performance of line-of-sight stabilization system was evaluated according to the temperature variation.

Recently, there are numerous studies on robots to function with smoother movement and high efficiency. It is difficult to develop robots with smooth movement and high efficiency. To solve this problem, the Series Elastic Actuator (SEA) is used. It is an actuator that gives compliance to a general actuator. Presence of compliance will bring to advantages. First, robots can reduce external impact force with high compliance. Second, the force of SEA can be controlled more precisely, than a normal actuator. Some SEAs have been developed with many functions, but the structure is complicated. So, in this study, the SEA with compact and simple structure was proposed. Shape of the SEA is cylindrical, and its diameter, height and weight are 70mm, 338mm, and 2.5kg respectively. The SEA was modeled in a two-degree of freedom mass spring damper system. To demonstrate travel response characteristics of the SEA, experiments were conducted and the result revealed design of the SEA is validated.

This paper presents a preliminary study on the development of a Light-Emitting Diode (LED) fishing lamp system that can maintain a stationary irradiation region despite ship rolling motions. The proposed system is composed of three modules which include a main control module, a fishing lamp module, and a sensor module. The main control module collects both the operating condition setting of the fishing lamp via the input panel and the tilt angle information of a fishing boat from the sensor module. It provides the conditions and information to the fishing lamp module for controlling the LED modules that maintain a stationary irradiation region. One fishing lamp module is composed of 22 LED modules, a lamp controller, and a temperature sensor. The sensor module is used for measuring the tilt angle of the fishing boat. Tests were carried out to verify the reliability of the LED module driver and the sensor module. The tests showed that the LED modules were reliably controlled, in accordance with the rolling motion of a fishing boat.