Method for Calculating Robot Workspace Using the Jacobian

This technology provides a geometric method for numerically calculating the workspace of multi-degree-of-freedom robots. It simplifies high-degree-of-freedom robot models into lower-degree-of-freedom models by representing certain links as a single virtual link (pseudo-arm) and applies the Jacobian determinant to determine the boundaries and union of the workspace.

Due to the lack of existing technologies for effectively calculating the workspace of planar robots with 3 or more degrees of freedom or spatial robots with 4 or more degrees of freedom, there are limitations in real-time safety monitoring and collision avoidance control for these robots.

This technology replaces multiple links with a virtual "pseudo-arm" connecting the origin to the end joint. It models the system as a 2-DOF planar or 3-DOF spatial robot based on its kinematic structure and uses the Jacobian matrix to numerically calculate the workspace based on the maximum and minimum length variations of the links. Applicable to industrial robots and automation systems, this method improves operational efficiency and safety by providing a precise way to calculate robot workspaces.

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Key Features:

• Method for calculating the workspace of a planar robot with sequentially connected planar arms from the 1st to the nth order
• Step of assuming the 1st to (n-1)th planar arms as a planar pseudo-arm connecting the origin to the final planar joint with a straight line
• Step of assuming the planar pseudo-arm and the nth planar arm are connected in the form of a 2-DOF planar robot
• Step of calculating the workspace of the assumed planar robot using the Jacobian matrix

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of functional safety implementation technology and risk assessment/reduction technology based on international standards for robots operating in human-contact environments.

Switchgear with a lifting main body using a pivot axis and cylinder for disaster protection

This technology relates to a switchgear designed to withstand natural disasters by lifting its main body using a pivot-coupled axis and cylinder structure connected to the outer and inner housing.

Conventional switchgear has been difficult to protect during natural disasters such as flooding or heavy rain.

To address this, the technology uses a cylinder-piston axis and a pivot-coupled axis to raise the main body, protecting the power distribution equipment during disaster situations.

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Key Features:

• Disaster-resilient switchgear including an inner housing seated within an outer housing that contacts the ground
• The outer housing consists of a flat base wall in contact with the ground and vertical walls protruding upward from the perimeter of the base wall
• Includes an L-shaped first axis and a second axis pivot-coupled at one end to the top of the first axis, with the main body pivot-coupled to the other end of the second axis
• Protects the switchgear during natural disasters by lifting the main body using a cylinder axis and piston axis

Asphalt concrete production system with reduced air pollutants using indirect heating of reclaimed asphalt pavement and a dual-dryer setup

This technology is an asphalt concrete production system designed to reduce air pollutant emissions. It consists of a burner, a front-end recycling dryer that indirectly heats reclaimed asphalt pavement using combustion gases, and a back-end virgin material dryer that directly heats new materials using the exhaust gases.

Conventional asphalt production involves directly heating reclaimed asphalt, which generates significant air pollutants and makes it difficult to simultaneously improve thermal efficiency and pollutant removal rates.

By indirectly heating reclaimed asphalt with combustion gases through heat pipes and reusing the exhaust gases to heat virgin materials, this technology can be applied to the asphalt production process to reduce air pollutant generation and enhance removal efficiency.

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Key Features:

• A burner that combusts fuel to generate high-temperature gases for heating reclaimed asphalt and virgin materials
• A front-end recycling dryer that uses the combustion gases from the burner as a heat source to indirectly heat reclaimed asphalt
• A back-end virgin material dryer that directly heats new materials using the exhaust gases discharged from the front-end recycling dryer
• A front-end rotary kiln that rotates while holding reclaimed asphalt, equipped with heat pipes for combustion gas flow and temperature sensors to monitor internal heat

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Joint Device

This technology implements a multi-joint link structure that provides 6-DOF compliance, along with a strain sensor-based joint device for control and measurement. Stiffness can be adjusted through a combination of rotational, universal, and ball joints, while structural yielding is prevented by limiting displacement with stoppers.

Torque sensors used in conventional robot joints are costly and complex, while simple compliance devices struggle with precise force/displacement measurement or active misalignment compensation.

This technology provides physical compliance by placing multiple flexible links between a first and second plate, and calculates displacement and force/moment by attaching strain sensors to each link. It incorporates a mechanical structure that prevents link damage by limiting allowable displacement via stoppers. Applicable to robotic gripping, precision measurement, and automation equipment, it prevents sensor damage and enables feedback control, thereby improving the accuracy and efficiency of assembly processes.

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Key Features:

• A joint device comprising a first plate and a second plate spaced apart from each other
• Joint configuration including a ball joint part, a universal joint part, and a rotational joint part
• A plurality of links positioned between the first and second plates, and a plurality of stoppers to prevent link yielding
• A configuration characterized in that the plurality of links provide compliance to the joint device

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a smart gripper with built-in force/torque sensing and object recognition, designed for easy implementation in manufacturing environments.

Collaborative Autonomous Multi-Purpose Construction Robot System

This technology provides a two-stage collaborative construction automation system in which an autonomous transport robot loads and supplies flooring materials, which are then received and installed onto the floor surface by a connected autonomous work robot.

Existing construction robots are limited to specific tasks, resulting in low versatility. Furthermore, because a single robot performs both transport and installation, work efficiency is reduced, and the lack of sensors for floor construction limits practical on-site application.

This technology features two robots connected by a coupling link that synchronize supply height and installation tasks through communication. It is equipped with sensor modules for autonomous navigation, motion control, and floor inspection, enabling autonomous driving and the alignment/inspection of flooring materials. Applicable to logistics, service robotics, and autonomous platforms, this system automates and robotizes construction processes, reducing manual labor and potential hazards while improving productivity and safety in the construction sector.

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Key Features:

• A first mobile platform equipped with a storage bin that holds flooring materials spaced at equal intervals using guide pieces.
• A material supply mechanism installed on the first mobile platform that accesses each layer of flooring material and pushes them out one by one.
• A second mobile platform connected to the first mobile platform via a coupling link, which tows the transport robot from the front.
• A gripper module installed on the second mobile platform that receives the supplied flooring materials and installs them on-site.

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This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.

Fracture Surgery Device and Method Based on Registration Between Surgical Robot Coordinates and Patient Coordinates

This technology is a registration control method that utilizes C-arm X-ray images to generate a multi-stage transformation matrix between the surgical robot's ring frame coordinate system and the patient's bone fragment coordinate system, precisely estimating the relative positional relationship between the robot and the patient through 2D/3D registration and PnP algorithms.

Existing fracture reduction surgeries have faced issues such as the need for expensive additional equipment like markers and probes due to the use of 3D position trackers, increased complexity of the surgical environment, and low precision when using conventional 2D/3D registration methods based on X-ray imaging.

This technology involves attaching metal bead-type jigs to a ring frame fixed to the bone fragment to serve as feature points on X-rays. It performs registration between the X-ray imaging device and the robot jig (2-stage transformation) and between the X-ray imaging device and the bone fragment (1-stage transformation), respectively. Finally, it derives a coordinate transformation matrix between the robot and the bone fragment, enabling registration of robot and patient coordinates without a 3D position tracker. It can be applied to surgical robots, interventional systems, and medical automation, thereby improving the precision of Y-matching and minimizing unnecessary equipment in fracture surgery procedures.

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Key Features:

• b) A step of generating a first transformation matrix by performing registration between the coordinates of the proximal bone fragment and the coordinates of the C-arm X-ray imaging device based on the first C-arm X-ray image.
• c) A step of generating a second transformation matrix by performing registration between the coordinates of the proximal ring frame and the coordinates of the C-arm X-ray imaging device based on the first C-arm X-ray image.
• e) A step of generating a fourth transformation matrix, which represents the relationship between the coordinates of the distal ring frame and the coordinates of the distal bone fragment, by performing steps b) through d) for the distal bone fragment.
• a) A step of acquiring a first C-arm X-ray image of the proximal bone fragment, including the proximal ring frame.

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This invention was developed through the Ministry of Education's support for fracture surgery navigation via image-based 3D fracture modeling.

Non-contact blood flow management device using bipolar and monopolar electric field probes

This technology is a blood flow management device that regulates blood flow in human blood vessels by generating an electric field between a bipolar electric field probe and a monopolar electric field probe, which are positioned apart from each other, with electrodes of different polarities formed at their centers and edges.

Existing blood flow improvement devices often require direct skin contact, posing a risk of electric shock, and fail to adjust electric field intensity according to blood flow conditions, leading to inconsistent management results.

This technology prevents electric shocks by placing a dielectric material around the electrode edges for insulation and controls the electric field intensity via an electric field generator controller, allowing it to be applied to non-contact wearable blood flow management devices for safe blood flow improvement.

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Key Features:

• A bipolar electric field probe with a positive electrode at the center and a negative electrode with a larger surface area at the edge, and a monopolar electric field probe positioned apart from it
• A first dielectric material filled between the electrodes of the two probes to facilitate electric field formation, and a second dielectric material placed at the edges to provide insulation and prevent electric shock
• An electric field generator that applies voltage to the bipolar and monopolar electric field probes to create an electric field between them, thereby regulating blood flow in human blood vessels
• An electric field generator controller that regulates blood flow by adjusting the intensity and application timing of the electric field generated by the electric field generator

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Device for Calculating Probability Distribution of Building Sustainability Index Using Monte Carlo Simulation

This technology is a sustainability assessment device that derives the probability distribution of input quantities for building materials and energy sources, and calculates the probability distribution of environmental impact assessment values using Monte Carlo simulation to determine the probability distribution of the environmental impact index.

Life cycle assessment of buildings involves uncertainties in factors such as material input quantities, making it difficult to represent reliability with a single value and challenging to assess sustainability probabilistically.

By calculating the probability distribution of assessment values using input quantity probability distributions and Monte Carlo simulation, this technology can be applied to building sustainability assessments to provide a probabilistic index that reflects uncertainty.

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Key Features:

• A first storage unit that stores a set of baseline environmental impact assessment values and environmental impact coefficients for each building material and energy source.
• An input unit that receives information on building area, as well as quantities of multiple building materials and energy consumption.
• A probability distribution calculation unit that derives the probability distribution of building material input quantities and energy consumption based on settings corresponding to the area information.
• A first calculation unit that computes the probability distribution of environmental impact assessment values using Monte Carlo simulation and derives the probability distribution of the environmental impact index by dividing by the baseline value.

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Building Life Cycle Sustainability Assessment Device for Deriving Environmental, Cost, and Social Impact Indices

This technology is a sustainability assessment device that derives environmental, cost, and social impact indices by storing coefficients for building materials and energy sources, calculating life cycle assessment values, and dividing them by reference values.

Building sustainability requires consideration of not only environmental factors but also cost and social impacts; however, there has been a challenge in integrating these into a single index for quantitative assessment.

By calculating and integrating assessment values across these three areas as indices relative to reference values, this technology can be applied to building sustainability assessments to quantitatively evaluate environmental, cost, and social impacts simultaneously.

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Key Features:

• A first storage unit that stores reference environmental impact assessment values along with sets of environmental impact coefficients for materials and energy sources, and an input unit that receives input for input and consumption quantities.
• A first calculation unit and output unit that derive the environmental impact index by summing the environmental impact assessment values of materials and energy sources to obtain a life cycle value and dividing it by the reference value.
• A second calculation unit and output unit that derive the cost index by summing the cost assessment values of materials and energy sources to obtain a life cycle cost assessment value and dividing it by the reference value.
• A third calculation unit and output unit that derive the social impact index by calculating the life cycle social impact assessment value using social impact coefficients and dividing it by the reference value.

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Automated Life Cycle Assessment Device for Selecting Key Building Materials Based on Environmental Impact Factors

This technology is an automated life cycle assessment device that receives building material codes, stores environmental impact factors by material and energy source, calculates environmental scores for each material, and selects key building materials based on their contribution ratio.

Evaluating the life cycle environmental impact of a building requires calculating the impact of numerous materials, which has historically made it difficult to efficiently automate the selection of key materials for assessment.

By calculating environmental scores for each material and automatically selecting those with the highest contribution, this technology can be integrated into building life cycle assessment systems to automate and streamline the evaluation process.

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Key Features:

• An input unit that receives codes for multiple building materials, including their types and quantities.
• A database unit that stores primary environmental impact factors per unit of material input and secondary environmental impact factors per unit of energy consumption for each code.
• A calculation unit that computes the input volume for each material using its code and derives multiple environmental scores.
• A material selection unit that identifies key building materials by ranking them according to their contribution ratio to the total environmental score.

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This invention was developed with support from the Ministry of Science and ICT’s Center for Durability Innovation in Construction Structures.

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Concrete admixture providing water repellency using natural zeolite impregnated with water-based water repellent

This technology is an admixture that imparts water repellency to cement mortar or concrete by impregnating natural zeolite powder with a water-based water repellent through immersion and drying, and then incorporating it into the mixture.

To provide water repellency within concrete, the water-repellent agent must be stably contained; however, existing methods often suffer from the loss of active ingredients, making it difficult to ensure a lasting effect.

By impregnating and drying porous natural zeolite with active water-repellent ingredients, this technology allows the admixture to provide consistent and long-lasting water repellency from within the concrete.

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Key Features:

• An admixture used by incorporating it into mortar or concrete compositions to manifest water repellency from within the concrete.
• Porous natural zeolite powder impregnated with active ingredients from a water-based water repellent to impart water-repellent properties to concrete.
• Impregnated powder produced through a process of immersing natural zeolite powder in a water-based water repellent and drying it to evaporate the moisture.
• Water-based water repellent containing 40–60% by weight of active water-repellent ingredients, mixed with natural zeolite powder at a weight ratio of 1:0.9–1.1.

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This invention was developed with support from the Engineering Research Center for Durability Innovation of Construction Structures, funded by the Ministry of Science and ICT.

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Blood flow measurement device with adjustable microwave transmission and reception spacing for depth calibration

This technology is a blood flow measurement device that uses an antenna unit at one end of a bar-type probe body to emit and receive microwaves to target blood vessels in the human body, adjusting the depth of the measurement point by controlling the spacing between the transmitting and receiving antennas.

Existing non-contact blood flow measurement methods struggle to accurately target measurement locations due to variations in blood vessel depth among individuals, and it has been difficult to adjust the position while maintaining a simple device structure.

This technology uses an antenna spacing adjustment unit to control the distance between the transmitting and receiving antennas, allowing the measurement depth to be calibrated to the target blood vessel. This enables accurate blood flow measurement with a simple structure, making it ideal for wearable and portable blood flow monitoring devices.

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Key Features:

• A probe comprising a bar-type probe body extending longitudinally and an antenna unit formed at one end of the probe body
• A transmitting antenna included in the antenna unit that emits microwaves toward a target blood vessel in the human body
• A receiving antenna that receives the microwaves transmitted from the transmitting antenna and reflected by the target blood vessel
• An antenna spacing adjustment unit that adjusts the distance between the transmitting and receiving antennas to calibrate the blood flow measurement depth to the target blood vessel

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This invention was developed with support from the Ministry of SMEs and Startups for the development of a microwave sensing module and monitoring system for measuring cerebral artery blood flow imbalance.

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Device for predicting fine dust emissions at construction sites by calculating the weighted sum of direct and fugitive emission factors

This technology is a predictive device that calculates and stores fine dust emission factors for each type of construction equipment, generates activity scenarios based on design information, and calculates the total fine dust emissions at construction sites.

Fine dust at construction sites varies significantly depending on the type of equipment and its activity, making it difficult to accurately predict emissions by accounting for both direct and fugitive sources.

By calculating and aggregating emissions for each piece of equipment using emission factors that combine direct and fugitive emission factors, this technology can be applied to construction site environmental management to predict total fine dust emissions.

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Key Features:

• A fine dust emission factor calculation unit that generates fine dust emission factors defined according to construction equipment and their respective construction activities.
• A database that stores fine dust emission factors and a design information input unit that receives design information, including basic project data and construction specifications.
• A scenario generation unit that creates activity scenarios for construction equipment based on the design information.
• An emission calculation unit that calculates and aggregates emissions for each piece of equipment based on activity scenarios and emission factors to determine the total fine dust emissions at the site.

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This invention was developed with support from the Ministry of Land, Infrastructure and Transport for the development of an IoT-based integrated platform for predicting and managing fine dust at construction sites.

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Upper Limb Assistive Robot

This technology is an upper limb assistive mechanism that secures only the user's forearm without requiring the alignment of the human upper limb and robot joint axes. It achieves gravity compensation and 6 degrees of freedom through two series elastic actuator (SEA)-based rotation axes.

Previous challenges included slippage, discomfort, increased design complexity, and the physical difficulty of aligning joint axes due to individual differences and the mismatch between human upper limb joint degrees of freedom and robot joints.

This technology features a mechanism that secures only the user's forearm and positions the robot's joint axes externally. By using wire-pulley-based rotary series elastic actuators, it measures torque from external forces and performs gravity compensation. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it resolves physical compatibility issues to enhance the user experience, providing a comfortable and safe interaction.

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Key Features:

• A second arm that is rotatably coupled to the first arm about a horizontal third robot rotation axis and includes a movement point.
• A connection frame rotatably coupled to the second arm about a horizontal fourth robot rotation axis passing through the movement point.
• A fastening unit rotatably coupled to the connection frame about a fifth robot rotation axis orthogonal to the fourth robot rotation axis.
• A rotating frame rotatably coupled to the first support frame about a vertical first robot rotation axis.

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This invention was developed with support from the Ministry of Science and ICT for the commercialization of immersive human-robot multi-sensory interaction technology.

Autonomous Multi-Purpose Construction Robot System with Position-Maintaining Capability

This technology is an autonomous multi-purpose work system where a transport robot and a work robot are connected by a coupling link to move in a towing configuration, and a gripper module extracts floor finishing materials from a storage unit to install them sequentially onto the floor leveling material.

Existing construction robots are limited to specific tasks, resulting in low versatility. Furthermore, the lack of integration between material transport and installation processes reduces work efficiency, and insufficient sensors for environmental awareness limit their practical effectiveness.

This technology features a towing structure via coupling links between mobile platforms, a gripper module composed of vertical/horizontal supports and a sliding arm, a multi-sensor module for environmental and installation status recognition, and a contact mechanism combined with a light-source marker-based positioning algorithm for precise floor material alignment. Applicable to logistics, service robots, and autonomous platforms, it enhances the speed and efficiency of building finishing work through the adoption of construction automation and robotics.

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Key Features:

• An autonomous transport robot on a first mobile platform equipped with a storage unit that holds multiple floor finishing materials separated by equidistant guide pieces.
• A second mobile platform connected to the first mobile platform via a coupling link, towing the transport robot from the front.
• A gripper module installed on the second mobile platform that extracts and installs floor finishing materials one by one.
• An autonomous work robot that extracts finishing materials by inserting the arm of the gripper module underneath the material and retracting it.

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This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.