• Journal of the Korea Society for Simulation
• /
• v.15 no.3
• /
• pp.61-67
• /
• 2006

This paper provides a systematic way of integrating human intelligence and autonomous precision of robots to achieve the highest possible performance of a cooperating robot system. Adjustable autonomy, which deals with the combination of human and robotic skills, has the potential to bridge the gap which leaves many tasks suited to robotics beyond the reach of existing technology. Especially we will show that relevant human assistance or intervention will increase system performance by improving the exception handling capability, simplifying autonomous operation, and boosting speed and reliability. To support the usefulness of our scheme, a series of experiments were conducted with three cooperating robots which work together to dock both ends of a long suspended beam into stanchions.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2012.10a
• /
• pp.149-153
• /
• 2012

The common process of full 5 three infantile department of pedagogy nurtures of 2012 department of pedagogy department is world process. For the early rising department of pedagogy originality education of the national talented man it uses the educational robot. The research is necessary in about development and production of the world process educational robot which equips a duplex link structure. Development it produces the world process educational insect robot which equips a link structure from the present paper. The present paper research it leads and early rising department of pedagogy originality education of the national talented man leads and will contribute in the national competitive power improvement which a national education development and the robot renovation of the nation leads.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2010.10a
• /
• pp.579-582
• /
• 2010

We propose a method of using the three dimensional characteristic information to classify the front environment in travelling by using the images captured by a CCD camera equipped on a mobile robot. So, this paper proposes the method of deciding the travelling direction of a mobile robot with using input images based upon the suggested algorithm by preprocessing, and verified the validity of the image information which are detected as obstacles by the analysis through neural network.

• The Journal of Korean Association of Computer Education
• /
• v.16 no.6
• /
• pp.55-70
• /
• 2013

This study tried to redesign a robot curriculum and proposed it for the purpose of enhancing, supporting sustainable development of robot in educations. For doing so, this study referred relevant existing literacy contents at robot literacy educations, and defined a robot literacy education. In addition, this study presented elements of robot literacy by dividing them into five kinds. In relation with the scope of robot literacy education suggested here, this study proposed basic robot area, measurement and observation along with robots based on three elements of robotics, movement and expression made by robots, my own robot design, and comprehensive activity area. Regarding to development stages of robot literacy, the study applied the classical model of curriculum development by Tyler (1949), and intended to secure validity and reliability on the curriculum composition, and then developed a curriculum after analyzing mathematics and science curriculums in existing elementary, middle schools accordingly.

• The Journal of Korean Association of Computer Education
• /
• v.19 no.6
• /
• pp.91-103
• /
• 2016

In Korea, pre-service teachers' negative attitude toward robots keep them from being applied in schools. To cope with these obstacles, this study examines the change of pre-service teachers' attitude toward robots after adopting robot programming. To prove the program's effect, pre-service teachers were divided into three groups, including each group taking pre-and post-tests. After analyzing the pre-tests, none of the groups showed any difference; however, they did show significant differences in the post-tests. A paired sample t-test was conducted in each group for investigating the change. Those who took ICT and programming education did not show a change. However, those who took robot programming education did show a statistically significant difference.

• Journal of The Korean Association of Information Education
• /
• v.17 no.2
• /
• pp.177-189
• /
• 2013

According to a comparison study of international academic achievements, Korean students showed high academic achievements in science and mathematics, whereas their learning motivation appeared relatively low. Therefore, this work developed the robot-based STEM integrated education program reflecting an engineering class model. The title of the program is determined as 'animals' which are included in one section of the fourth grade science curriculum, are friendly to students, and are effective for robot application. Robot-based STEM program is consisted of three areas: robot education, subject-related course learning, and engineering education. The STEM program was reviewed by 14 teachers. The study result presented that regardless of knowledge of robot, most teachers gave positive response to program goal, composition of contents, application of robot.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.4
• /
• pp.412-417
• /
• 2014

This paper presents the development and control of an omni-directional holonomic mobile robot platform, which is equipped with three lateral orthogonal-wheel assemblies. Omni-directionality can be achieved with decoupled rotational and translational motions. Simulation studies on collision avoidance are conducted. A real robot is built and its hardware is implemented to control the robot. Control algorithm is embedded on DSP and FPGA chips. Hardware for motor control such as PWM, encoder counter, serial communication modules is implemented on an FPGA chip. Experimental studies of following joystick commands are performed to demonstrate the functionality and controllability of the robot.

• Proceedings of the KIEE Conference
• /
• 2008.10b
• /
• pp.337-338
• /
• 2008

2008년 현재 우리나라는 10%의 인구가 60세 이상인 이른바 고령사회에 접어들었다. 노인 인구의 증가로 인해 노인이 여가생활 또는 일반생활을 보조하기 위한 보행 보조기에 대한 관심이 증가되고 있다. 대부분 동력이 없는 보행보조기를 사용하고 있으며 이러한 기구는 경사로 공간 또는 힘이 약한 노인들에게 취약성을 가지고 있다. 이에 동력형 보행보조로봇에 관심이 증가하고 있다. 동력형 보행보조로봇 역시 경사로에 있어서 편리성과 안전성을 높이기 위한 연구가 필요한 실정이다. 이에 본 논문에서는 보행보조로봇이 경사로에 진입 하였을 경우 기울어진 경사로의 정도를 인식하여 모터를 제어 한다. TILT 센서를 이용하여 기울이짐 정도를 측정 하였고, 또한 로봇의 전류 실시간으로 체크하여 로봇의 안전성을 향상 하였다. 제어 시스템 구성은 사용자의 보행의지를 파악하기위해 FSR 센서를 부착하여 조향장치로 사용하였으며, 경사로를 인식하기 위해 Liquid 타입의 TILT 센서를 사용하였으며, 모션 제어를 위해 DSP를 사용하였다. 본 제어 시스템을 보조보행로봇에 적용하였을 때, 보행보조로봇이 오르막 경사로에 진입시 기존보다 힘을 적게 사용하여 경사로를 진행하였으며, 경사로에서 브레이크 작동속도가 향상 되었다. 또한 내리막 경사로에서는 모터의 힘을 적게 사용하고 중력의 힘을 사용하여 이를 통해 전류의 소비량을 개선 하였다.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.25 no.6
• /
• pp.785-791
• /
• 2021

In this paper, we propose a methodology for estimating the optimal traversable destination from the location-based information of the object recognized by the mobile robot to perform the object delivery service. The location estimation process is to apply the generalized Voronoi graph to the grid map to create an initial topology map composed of nodes and links, recognize objects and extract location data using RGB-D sensors, and collect the shape and distance information of obstacles. Then, by applying the hybrid approach that combines the center of gravity and thinning method, the optimal moving position for the service robot to perform the task of grabbing is estimated. And then, the optimal node information for the robot's work destination is updated by comparing the geometric distance between the estimated position and the existing node according to the node update rule.

• 한국정보교육학회:학술대회논문집
• /
• 2010.08a
• /
• pp.227-233
• /
• 2010

Graph is applied to GIS, Network, AI and so on. We use graph concept in our daily life unconsciously. So this paper describe how graph concept is used when robot searches shortest path between two distinct vertices. It is performed in real world. For this, it consists of three step; maze traverse, graph generation, and shortest path search. Maze traverse steps is that robot navigates maze. It is most difficult step. Graph generation step is to represent structural information into graph. Shortest path search step is to that robot move between two vertices. It is not implemented yet. So we introduce process in design level.