• Proceedings of the Korea Information Processing Society Conference
• /
• 2010.11a
• /
• pp.1418-1421
• /
• 2010

이동형 서비스 로봇의 위치인식 기능은 성능평가시 중요한 평가척도의 하나로써 이용된다. 서비스 로봇이 다양한 작업을 수행하기 위해 여러 장소를 이동하게 되므로, 얼마나 정확하고 빠르게 위치인식을 하는 것이 로봇의 종합적인 성능에 큰 영향을 미치기 때문이다. 이를 위해 로봇은 영상이나 다양한 거리 센서를 활용하여 위치인식의 성능향상을 도모하고 있다. 그럼에도 불구하고 현재 영상기반의 위치인식 성능평가 방법과 관련한 표준이 없으며, 개별적인 성능평가만 시행되고 있다. 이에 우리는 이 논문을 통하여 전(前)방향 영상기반의 위치인식 알고리즘 성능평가 방법과 평가척도를 제안한다. 제안된 위치인식 알고리즘 성능평가 방법은 현재 지능형로봇 표준포럼의 표준으로 채택되었으며, 이를 통해 앞으로 영상기반 위치인식 알고리즘을 평가하고 개발하는데 기준 역할을 할 수 있을것으로 기대된다.

• Information and Communications Magazine
• /
• v.25 no.4
• /
• pp.16-21
• /
• 2008

본고에서는 지능형 서비스 로봇의 상용화 단계에서 가장 현실적으로 적용 가능한 대표적인 HRI기술(얼굴검출, 화자 성별구별, 음원추적)에 대하여 상용화 서비스 현장에서의 성능평가 결과를 제공하고, 현장을 분석하여 사용자에게 가이드라인을 제공함과 동시에 최적의 상용화 서비스 제공을 위한 사용자와 로봇간 HRI 기준 및, 공공로봇 플랫폼 적용을 통한 로봇 서비스의 Needs 파악과 상품기획력의 극대화를 목적으로 성능평가에 따른 환경분석을 제안한다.

• Journal of Digital Convergence
• /
• v.10 no.3
• /
• pp.265-271
• /
• 2012

This paper proposes a communication distance performance evaluation method for mobility of service robots equipped with a Wi-Fi module. Service robots have function of mobile communication system according to classified services and utilize a (preferred) communication method, wireless lan(IEEE802.11 a/b/gin) communication method of ISM band(2.4GHz and 5.8GHz). For evaluating degradation performance of wireless data for the service robot's mobility. We measured and presented reference vectors obtained by utilizing a distance attenuation correlation method in the real world environment. To evaluate performance of the proposed method, path loss of reference vectors was assigned to the Azimuth 301W and then transmission rate and the transmit throughput of the test sample were measured by the Chariot. The proposed measurement method is necessary for securing wireless LAN communication distance for mobility of mobile smart device and service robots. In addition, if the proposed measurement method os adopted, It would be expected that mobile smart device vendors would utilize the method as an effective wireless LAN mobility communication distance performance evaluation method.

• The KIPS Transactions:PartD
• /
• v.11D no.3
• /
• pp.563-570
• /
• 2004

As the use of the Internet becomes more popular, a huge amount of information is published on the Web, and users can access the information effectively with Web search services. Since Web search services retrieve relevant documents from those collected by Web robots we need to improve the crawling quality of Web robots. In this paper, we suggest evaluation criteria for Web robots such as efficiency, continuity, freshness, coverage, silence, uniqueness and safety, and present various functions to improve the performance of Web robots. We also investigate the functions implemented in the conventional Web robots of NAVER, Google, AltaVista etc. It is expected that this study could contribute the development of more effective Web robots.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.966-970
• /
• 2005

A Robot Performance Evaluation System(RPES) Program with auto extraction algorism was developed according to the ISO 9283 robot performance criteria. The developed program looks for order point automatically in data that get laser measurement Instrument and estimate performance of robot using this order point. In addition, this program estimates Each Joint Motion of robot. Robot Performance Evaluation System(RPES) Software was developed with Visual Basic satisfying the need of Hyundai Motor Company. The developed system was implemented on NACHI 8608 AM 11 robot. The resulted output shows the effectiveness of the developed system.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2017.11a
• /
• pp.965-968
• /
• 2017

드론이라고도 불리는 소형 무인기는 비전 시스템을 대부분 갖추고 있어 비전을 응용한 기술이 적합한 플랫폼이며 특히 랜드 마크 기반 위치 추적 방법은 드론과 지상 로봇과 같은 다른 플랫폼 간의 협업을 위한 효율적인 방법 중 하나이다. 본 논문에서는 드론과 지상 로봇의 협업 시스템을 위하여 기준 마커를 검출하는 연구에 대하여 서술한다. 기준 마커 중 하나인 ArUco는 바코드보다 간단한 내부 코드를 가지고 있다. 기준 마커의 카메라 캘리브레이션을 통하여 카메라와 마커의 자세 추정이 가능하다. 성능 평가 실험을 통하여 형태가 간단한 마커, AprilTags, ArUco 간 성능 비교를 하였고 92%의 정확도를 얻어내었으며 ArUco의 적합한 이진화 알고리즘을 제시하였다.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.13 no.6
• /
• pp.1346-1360
• /
• 1989

본 연구에서는 기준 모델 적응제어 방식에서 직접 적응제어 방식을 사용하여 부하의 변동 및 외란이 발생할 경우에도 매니퓰레이터의 정확한 궤적의 추종 및 속도 의 실시간 제어가 가능한 적응제어시스템을 설계하고자 한다. 제2절에서는 로봇 매니퓰레이터의 기구학적 이론 및 동적 모델링에 대한 기본이론을 전개하고, 제3절 에서는 제어시스템의 설계를 위한 제어 알고리즘과 초안정(hyperstability)이론을 통한 안정성 해석을 다룬다. 그리고 제4절에서는 제안된 제어기의 성능 평가를 위해 6관절 로봇인 스탠포드 로봇 매니퓰레이터에 대한 시뮬레이션을 통한 결과를 토오크 계산법(computed torque method)에 의한 결과와 비교 검토함으로서 제안된 제어기의 성능을 예증한다.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.10
• /
• pp.318-325
• /
• 2019

Recently, research and development on agricultural robots have been on the rise as the interest in smart farming has increased. Robots used in smart greenhouses should be taken into account with the working characteristics and growing environment. This study examined cleaning robots developed through the environmental analysis of smart greenhouses. This study assessed the evaluation method considering the requirements of the pest control robot applicable to the smart greenhouse. The performance and quality assessment criteria were established to conduct tests through the requirements of robots. The required functions and goals of the pest control robot were derived by referring to the robot-related standards. A driving and working ability test was conducted to assess the performance of the robot. The driving test was conducted on the driving performance of the robot and the work capability was tested on the pest control performance. In addition, a durability test was conducted to assess the quality of the robot. The required factors for smart greenhouse robots were derived from the test results. The study results are expected be a standard for an evaluation of a variety of robots for applications to smart greenhouses.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.1001-1006
• /
• 2005

A Robot Performance Evaluation System(RPES) with the laser tracker Leica LTD 500 was developed according to the ISO 9283 robot performance criteria. The developed system is set up a test robot to continuously move the prescribed cyclic trajectories without a human intervention and the laser tracker to simultaneously measure the robot's movement. And then, the system automatically extracts the required data from the tremendous measured data, and computes the various performance criteria which represents the present state of the test robot's performance. This paper explains how ISO 9283 robot performance criteria was used for the developed system, and suggests a automatic data extraction algorithm from the mass of measured data. And also, a user-friendly Robot Performance Evaluation System(RPES) Software was developed with Visual Basic satisfying the need of Hyundai Motor Company. The developed system was implemented on NACHI 8608 AM 11 robot. The resulted output shows the effectiveness of the developed system.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.9 no.3
• /
• pp.1-7
• /
• 2010

The aim of this research is to evaluate movement and path characteristics of developed heavy duty handling robot using laser tracker(API T3) according to the ISO 9283 robot performance evaluation criteria. As carry out 3D modeling and simulation using CATIA, a test cube was set up to select moving and measuring range of robot. Performance test for pose and distance accuracy, path and path velocity accuracy under payload zero and 440kgf was accomplished. The resulted output data show the reliability of the developed robot.