The Mechatronics & Field Robotics Lab. is part of the School of Mechanical Engineering at Korea University.We carry out foundational interdisciplinary researches on mechatronics, robotics, and control engineering, and perform real-field applications of various advanced technologies.The robotic systems developed in the Mechatronics & Field Robotics Lab., which is called 'Field Robots', are mainly focused on such 'Field' applications as construction automation, military service, nuclear plant, underwater work, emergency rescue, etc.Other than conventional robotic systems which include industrial robots or personal service robots, 'Field Robots' have following advantages; needs from consumers are very clear due to their specific application purposes, implementations are tangible with current technologies, and high price can be allowed since they are usually used in public sectors.As well as field robot group, we explore various interdisciplinary mechatronics systems combining mechanical engineering, electrical engineering, medical science, and physics.Examples researched in the Mechatronics & Field Robotics Lab. include Robotic Building Construction, GI Endoscopic Suture, Smart Exercise Machine, Intelligent Excavator System, Haptic Control of Demolition Robot, Climbing Robot for Building Maintenance, and Blue-Ray Disc Player. 

 

*Construction Automation of High-rise building based on robotic crane
-Automated construction using robotic technologies is the focus of this project.
The key issues addressed by this research consist of the following four technologies:
(1) Construction automation system planning and integration for robotic crane based high-rise building structure,
(2) Climbing hydraulic robot and CF structure technology,
(3) Robotic crane based construction material installation technology, and
(4) RFID (Radio Frequency Identification) and multi-DOF CAD based intelligent construction material supply system.

*Continuous Suture Device for Gastrointestinal Endoscope
-In recent year, NOTES(Natural Orifice Transluminal Endoscopic Surgery) have been an active research area of Engineering and Medical science. It doesn't make incisions on the body and leave scars because it performs abdominal operations with a multi-channel endoscope passed through a natural orifice (mouth, urethra, anus, and vagina). Bariatric surgery for treating obesity and GERD (gastro-esophageal reflux disease) surgery are the good examples applicable NOTES. One of the important issues of these endoscopic surgeries is suturing. Unfortunately, conventional endoscopic instruments can perform only few stitches. We are developing Gastrointestinal Endoscope which is capable of suturing continuously.

*Haptic simulation technology for Human-Product Interaction – Haptic based resistance training machine
-This research is focusing on the issues of developing physical haptic simulators, and as an example of haptic simulators, resistance training machine that can implement a wide variety of resistance training is designed and controlled. This haptic simulator in this research can provide proper level of resistance and generate proper path for individual and protect the users from injuries. Programmed individual exercise with haptic simulator will be tested and compared for the effectiveness of this method.Biomechanical background Resistance training that is representative health care has been shown to affect improvement of muscle power, strength, endurance as well as health promotion and muscle hypertrophy. But conventional exercise machines are difficult to be customized to each individual who has different levels of physical conditions and exercise ability. The important variables of resistance training are correct posture (fig 1.) and proper training load. The resistance training simulator in this research can provide proper level of resistance with respect to user’s biomechanical behavior (fig 2.) and generate proper path during the motion.

*Intelligent Excavator System
-Objective : Development of an algorithm for optimal local path-planning for intelligent excavator One of the most important tasks in Intelligent Excavator is to locate the bucket fast and accurate to the right position. For this, our idea is to add a contour control on conventional path tracking control algorithms that have been developed by others (PID, Fuzzy, Time-Delay Control, etc.). The tracking accuracy is somewhat sacrificed in order to fortify the contour accuracy. The control inputs to the joint hydraulic cylinders are pushed and/or pulled back and forth to keep track of the contour, whereas overall speed could be slow down within some amount. This is very effective for the finishing task among many earth-moving works

*Haptic Control of Excavator for Dismantling Process
-The number of dismantling sites for buildings has been rapidly increased and these processes are very dangerous. Many research papers have been published addressing the development of a remote controller for the dismantling equipments. In our lab, a novel concept of applying haptic control is proposed for the remote control of excavator- like dismantling equipment. As a haptic device system, this controller is designed to improve the operability of the excavator. So, we research all the dynamic analysis of excavator to design the haptic device. Then, the hydraulic system of excavator which uses the proportional valve and pressure transmitter is also studied. And parameter estimation of excavator is carried out with least square method. And we simulate the real excavator, and operator can control the real excavator intuitively with this new model of haptic device.

*Blu-ray Disc Player
-This project deals with an design optimization for noise reduction and durability improvement of feed unit inside blu-ray disc player traverse system. In the feed unit, position homing is done by overturning the feed drive rather than using a home sensor for cost reduction, which causes fair amount of unwanted noise. The purpose of this project is to reduce the noise by changing the shape of the feed unit without deteriorating positioning accuracy. 

Chanhyuk Nam, Daehie Hong, Jaeik Chung, Jaewon Chung, Insung Hwang, Jongheun Lee, Seunghwan Ko, and Costas P. Grigoropoulos
Assembly of Acircular SnO2 Rod Using Optical Tweezers and Laser Curing of Metal Nanoparticles
Japanese Journal of Applied Physics, 2010, Vol. 0, No. 0, pp. 0~ 0

Hyojun Kim, Junyoung Song, Jaewon Chung*, Daehie Hong,
Onset Condition of Electrohydrodynamic Jetting for Plane, Hole and Pin Type Electrodes
Journal of Applied Physics, 2010, Vol. 108, No. 10, pp. 0~ 0

Baeksuk Chu, Kyungmo Jung, Chang-Soo Han, and Daehie Hong
A Survey of Climbing Robots: Locomotion and Adhesion
International Journal of Precision Engineering and Manufacturing, 2010, Vol. 11, No. 4, pp. 633~ 647

Baeksuk Chu, Jooyoung Park, and Daehie Hong
Tunnel Ventilation Controller Design Using an RLS-Based Natural Actor-Critic Algorithm
International Journal of Precision Engineering and Manufacturing, 2010, Vol. 11, No. 6, pp. 829~ 838

박형주, 배장호, 홍대희
에너지 함수 최적화를 통한 무인 굴삭 계획 / A Path Planning for Autonomous Excavation Based on Energy Function Minimization
한국정밀공학회지, 2010, Vol. 27, No. 1, pp. 0~ 0

Chang-Seop Lee, Dongnam Kim, Baeksuk Chu and Daehie Hong
A Study on gain Scheduling of Intelligent Excavator
ISARC 2010 Proc, 2010, Vol. 0, No. 0, pp. 139~ 146

Dongnam Kim, Kyeong Won Oh, Namhoon Kim, Baeksuk Chu, Daehie Hong, Yoon Ki Kim and Suk-hie Hong
Design of Haptic Device for Excavator with Pressure Transmitter
ISARC 2010 Proc, 2010, Vol. 0, No. 0, pp. 147~ 154

김경남, 홍대희, 박재우
마찰 보상 알고리즘을 적용한 저항운동 시뮬레이터의 힘제어
한국정밀공학회 2010년도 춘계학술대회 논문집, 2010, Vol. 0, No. 0, pp. 331~ 332

문성민, 홍대희, 김종헌
초고층 빌딩 유지보수를 위한 클라이밍 메커니즘 설계
한국정밀공학회 2010년도 춘계학술대회 논문집, 2010, Vol. 0, No. 0, pp. 347~ 348

Taegyun Moon, Daehie Hong, Hoon Jai Chun, Kyu Back Lee
Analytical models for predicting mechanical properties for mesh-type self-expandable metal stents with cover membrane
Current Applied Physics, 2009, Vol. 0, No. 0, pp. 92~ 100