• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.05a
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• pp.18-18
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• 2004

지도작성은 이동로봇의 주행 및 위치추정을 위해 반드시 필요한 요소이다. 이러한 지도작성에는 격자지도와 토폴로지컬 지도의 두 종류가 있다. 격자지도는 전체 환경을 작은 격자로 나누어 각각에 점유되어 있는 확률간을 부여함으로써 지도상의 모든 메트릭(metric) 정보를 나타내는 반면에, 토폴로지컬 지도는 메트릭 정보를 가짐으로써 위치추정을 가능하게 하는 노드와 이를 연결하는 에지로 표현된다.(중략)

• Journal of the Korea Knowledge Information Technology Society
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• v.13 no.3
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• pp.327-339
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• 2018

This study is on the elderly people's use and experience of pet robots (companion robots). Applying companion robots for the elderly's daily lives can enhance their quality of life. Leisure is main activity of the elderly who are out of work. Therefore, the quality and diversity of leisure can affect the quality of their life. Companion Robots could provide them with more advanced and interesting experiences. Around the world, population aging becomes one of the most important trends in each country. The social and economic burden of aging is serious challenge on sustainability of the world, including S. Korea. The authors examine use of Companion Robots for elderly (from 50 years old to 90 years old). In this experiment, the authors study and measure many factors including system quality, interface quality, displeasure, enjoyment, willingness to reuse, perception on new technology. In regression analysis, intimacy(t=-2.006, p<.05) is significant factor on displeasure of Companion Robot. In another regression, displeasure of Companion Robot (independent variable) is significant factor on enjoyment(t=-3.327, p<.01) and willingness to reuse(t=-2.636, p<.01). Therefore, when elderly one feels less displeasure of Companion Robot, he/she feels more enjoyment and willingness to reuse. As a result, the elderly who don't familiar to new technology could improve quality of life and leisure activity by using companion robot.

• Proceedings of the Korea Contents Association Conference
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• 2007.11a
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• pp.201-205
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• 2007

This thesis aims to realize an intelligent home service robot that alerts the user to dangerous situations such as fires and gas leaks by utilizing wireless internet platforms in a cellular phone. The intelligent home service robot is composed of the following parts: The robot part consists of a gas sensor, a fire detector, a smoke sensor, ultrasonic sensors, motors, a camera and a Blue-tooth module and perceives various danger circumstances; The middleware part connects the robot part with the mobile part through the middleware applications, monitors the robot and notifies an emergency situation using SMS modules; The mobile part communicates with the middleware using TCP/IP protocol and controls the robot through various commands; The proposed scheme is to control the sensors of the robot part through and Atmega128 processor, and the mobile part was developed based on the WIPI platform. The robot and middleware parts will be installed in the household, and will be controled by mobile part from the outside.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.3
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• pp.1241-1246
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• 2014

Take-out robots used for handling of the plastic parts manufactured with the injection mold are usually the gantry type that consists of long and thin links. In this study, we want to evaluate the safety of the take-out Robot structure through finite element analysis. The take-out Robot is automated robot to transport from one location to another in the molded article. The take-out Robot structure has a 380 kilogram weight, a 1300mm width, a 670.5mm depth and a 670mm height. It confirms the equivalent stress and the deformation of the load and its own weight through weight analysis. It looks for the natural frequency of the take-out robot through modal analysis. It confirms the acceleration, the normal stress and the deformation about the natural frequency of the take-out robot through response analysis. Also It repeats the analysis by changing the structure of the take-out robot, to confirm the results and it is determined whether the safety of the structure. These analysis results are effectively used to reduce the vibration of the take-out robot.

• Journal of The Korean Association of Information Education
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• v.14 no.1
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• pp.35-44
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• 2010

Robots have been recognized as effective tools to promote high level thinking such as creativeness and problem solving that are crucial in Intelligence & Information era. However, robot education in Korea is more concerned with assembling, traveling and programing, while robot education in foreign countries are incorporated with educational courses, being utilized in various ways. Essentially, robot is a multifunctioning device of planning, assembling, operation and problem solving. As it is able to provide practical educational experience, it will positively influence in motivation and accomplishment if being incorporated with educational courses. Therefore, this study compared domestic and foreign robot education cases, while establishing the framework of course incorporated robot education based on analysis of robot mechanism, the 7th curriculum and its activities. We developed robot utilizing educational program by each grade and subject. In addition, this program is reviewed by experts to verify its adequateness, reality and usefulness based on which it was revised and supplemented.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.91-97
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• 2010

This paper describes a development of an network based remote surveillance system using omni-directional mobile robot. the proposed surveillance system can control a mobile robot to move and examines the given place closely while the conventional surveillance system uses a fixed camera. The mobile robot in the proposed system has three omni-directional wheels to move to any given direction freely. We also developed the proposed system as robot services using Microsoft's MSRDS for a user to control the mobile robot and monitor the remote scene captured from the robot. Finally we verified the feasibility and effectiveness of the proposed system by conducting the remote operating the mobile robot and monitoring experiments in a networked environment. We also conducted a color based object detection and motion detection on image sequences acquired from a remote mobile robot in an another PC in a network environment.

• Journal of the Korea Society of Computer and Information
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• v.17 no.4
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• pp.19-29
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• 2012

According to the result of PISA and TIMSS, it was reported that interest for Math and Science was far lower compared to high achievement of Them. The purpose of this study is to investigate effects of robot based STEAM education on elementary school students' Math learning behavior and Science motivation. Robot based STEAM education integrated science, mathematics and art with a theme of 'Energy' was practiced for test group and For control group, those three subjects were taught separately in order to achieve this purpose. Curriculum of fourth grade second semester's science, mathematics and art was analysed to teach a robot based STEAM class and STEAM class Model with the theme 'Energy was designed and applied to elementary students. In science class, heat transfer experiment was conducted with robots and the result was related to drawing polygonal lines in mathematics. In art class, robot components were used to describe the heat energy in shapes and colors. The research shows that students' Math learning behavior and Science motivation were improved more with robot based STEAM education than with traditional lessons(p<.05). It proves that robot based STEAM class can be effective for improving interest in elementary Math and Science.

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.2
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• pp.113-118
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• 2012

Most of the existing multiped walking robots are biomimetic, i.e. they are designed to have the shapes of living things such as animals or insects. Even though those robots are familiar to us, they have some drawbacks in the view point of walking efficiency such as stability and walking speed. In this paper, we introduce a quadruped walking robot that can perform fast and stable walking by virtue of its distinctive leg positions. The proposed quadruped robot has a foreleg, a hindleg, a left leg, and a right leg. In the conventional robots, dynamic walking is needed to increase walking speed. Dynamic walking is difficult to be accomplished and is apt to be unstable. The proposed robot can move its legs in a manner that its center of gravity is always laid in the supporting polygon, so it can perform fast and stable walking without dynamic walking.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.528-531
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• 1997

This paper deals with the kinematic and dynamic modeling of a 3 degree-of-freedom redundantly actuated mobile robot for the purpose of analysis and control. Each wheel is driven by two motors for steering and driving. Therefore, the system becomes force-redundant since the number of input variable is greater than the number of output variable. The kinematic and dynamic models in terms of three independent joint variables are derived. Also, a load distribution method to determine the input loads is introduced. Finally we demonstrate the feasibility of the proposed algorithms through simulation.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.33-36
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• 2007

최근에 인공지능 분야에서는, 국내외적으로 강화학습(reinforcement learning)에 관한 관심이 크게 증폭되고 있다. 강화학습의 최근 경향을 살펴보면, 크게 가치함수를 직접 활용하는 방법(value function-based methods), 제어 전략에 대한 탐색을 활용하는 방법(policy search methods), 그리고 액터-크리틱 방법(actor-critic methods)의 세가지 방향으로 발전하고 있음을 알 수 있다. 본 논문에서는 이중 세 번째 부류인 액터-크리틱 방법 중 NAC(natural actor-critic) 기법의 한 종류인 RLS-NAC(recursive least-squares based natural actor-critic) 알고리즘을 다양한 트레이스 감쇠계수를 사용하여 연속제어입력(real-valued control inputs)으로 제어되는 Kimura의 기는 로봇에 대해 적용해보고, 그 성능을 기존의 SGA(stochastic gradient ascent) 알고리즘을 이용하여 학습한 경우와 비교해보도록 한다.