• The Journal of Korean Association of Computer Education
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• v.18 no.3
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• pp.15-24
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• 2015

Appropriate distribution and utilization of learning time in class are regarded as essential and basic conditions for successful education. Nonetheless, among studies about UCR(User Created Robot) based instruction so far is difficult to find the research related to the class. For these reasons, we attempt to analyze the ALT(Actual Learning Time) and unuse of learning time in UCR based instruction. For these purpose, we observed three students who were with third and fourth grade integrated class of elementary school and interviewed the teachers at pre-post class. The result of this study showed the following results: (1) UCR based instruction present lower ALT than traditional classes. (2) Most of the unnecessary time used in their classes tend to be used in preparing and arranging the robot module, a little is used unnecessarily because of the students' unrelated behaviors for their learning, decentralized behaviors and other external influences.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.21-29
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• 1994

This paper presents a method to accommodate failures that affect aircraft dynamical characteristics, especially control surface jams on a large transport aircraft. The approach is to use the slow effectors, such as the stabilators or engines, in the feedforward manner. The simulation results indicate the performance of the RFCS. In some cases of control surface jam, the aircraft cannot recover without using the stabilators. Although the inputs to the slow effectors are determined using the nominal parameters, the effects of parameter change can be compensated by adjusting the control parameters for the fast surfaces. In the case of rudder jam, if the remaining control surfaces and the differential thrust cancel the moments produced by the stuck rudder, using the engine control improves time responses and reduces deflection angles of the control surfaces. If not, however, the aircraft starts a large rolling motion following a yawing motion. In that case, the stabilators should be used to damp the induced rolliig motion, instead of trying to directly cancel the moments caused by the stuck rudder. Unfortunately, the proposed control law for the stabilators does not give such inputs, because it does not take into account the dynamical effects which stuck surfaces have on the aircraft motions. However, we have shown through simulation that the aircraft can be recovered by giving the stabilators the control inputs that counteract the induced rolling moment. Besides, the method has also been shown through simulation to be effective in maintaining control during a situation similar to an actual accident. Finally let us mention a problem with the RFCS. As stated above, we have not established a method to select a trim point which call be reached as easily as possible using the remaining control effectors. In fact, recovery performance considerably depends on the trim states. As pointed out in Ref. 11, finding the best trim point for impaired aircraft will be one of the most difficult questions in RFCS design.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1745-1748
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• 2005

Near-infrared spectroscopy (NIRS) can be used to monitor brain activation by measuring changes in the concentration of oxy- and deoxy-hemoglobin (Hb) by their different spectra in the near-infrared range. Because NIRS is a noninvasive, highly flexible and portable device, it is very suitable to study brain activation when a human repeatedly performs a manipulative task, and possibly provides useful information to construct human adaptive mechatronics (HAM). There is some evidence that the dorsolateral prefrontal cortex (DLPFC) plays a major role in working memory and it is proposed that the use of working memory decreases as a human develops manipulative skills. In the present study, we investigated the activation of the dorsolateral prefrontal cortex (DLPFC) of the brain in Brodmann's areas 9 and 46 in drawing tasks to examine whether NIRS can measure the changes of DLPFC activation as a human develops manipulative skills. Subjects performed a mirror image drawing task and a square drawing task by ones' left hands. In the mirror image task the subject drew following a star shape based on a mirror image of it, but square drawing did not involve mirror image and was estimated to be simpler. The changes of the concentration of oxy-Hb was higher in the mirror image drawing than the square drawing in most subjects. The changes of oxy-Hb decreased as the subject repeated the drawing task in most subjects. In conclusion, The activation of DLPFC measured by NIRS can reflect the brain activity in the development of manipulative skills.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.10
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• pp.851-856
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• 2005

The DNA and protein data of diverse species have been daily discovered and deposited in the public archives according to each established format. Database systems in the public archives provide not only an easy-to-use, flexible interface to the public, but also in silico analysis tools of unidentified sequence data. Of such in silico analysis tools, multiple sequence alignment [1] methods relying on pairwise alignment and Smith-Waterman algorithm [2] enable us to identify unknown DNA, protein sequences or phylogenetic relation among several species. However, in the existing multiple alignment method as the number of sequences increases, the runtime increases exponentially. In order to remedy this problem, we adopted a parallel processing suffix tree algorithm that is able to search for common subsequences at one time without pairwise alignment. Also, the cross-matching subsequences triggering inexact-matching among the searched common subsequences might be produced. So, the cross-matching masking process was suggested in this paper. To identify the function of the clusters generated by suffix tree clustering, BLAST was combined with a clustering tool. Our clustering and annotating tool is summarized as the following steps: (1) construction of suffix tree; (2) masking of cross-matching pairs; (3) clustering of gene sequences and (4) annotating gene clusters by BLAST search. The system was successfully evaluated with 22 gene sequences in the pyrubate pathway of bacteria, clustering 7 clusters and finding out representative common subsequences of each cluster

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37C no.10
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• pp.986-992
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• 2012

As the utilization of smart mobile devices such as smartphones increases, the desire to utilize such devices to control and monitor combat situations also arises. As smart mobile devices with various ICT get integrated with various weaponry system, a new phase of future warfare can be introduced. Moreover, smartphone-based real-time information technology for joint battle command system will be converged with surveillance control to become a leading example of convergence of cyber defense and information technology. Furthermore, mobile device security technology ideal for mobile wireless network environments can be applied to military robots. The following paper will give an overview of smart mobile device usage used for military purposes in battle command system, various security threats and the mobile device security technology to correspond to such security threats.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.142-151
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• 2022

With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.6
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• pp.132-141
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• 2013

Robotic Drilling Systems(RDSs) set the standard for the factory automation systems in aerospace manufacturing. With the benefits of cost effective drilling and predictive maintenance, RDSs can provide greater flexibility in the manufacturing process. The system can be easily adopted to manage very complex and time-consuming processes, such as automated fastening hole drilling processes of large aircraft sections, where it would be difficult accomplished by workers following teaching or conventional guided methods. However, in order to build an RDS based on a CAD model, the precise calibration of the Tool Center Point(TCP) must be performed in order to define the relationships between the fastening-hole target and the End Effector(EEF). Based on the kinematics principle, the robot manipulator requires a new method to correct the 3D errors between the CAD model of the reference coordinate system and the actual measurements. The system can be called as a successful system if following conditions can be met; a. seamless integration of the industrial robot controller and the IO Level communication, b. performing pre-defined drilling procedures automatically. This study focuses on implementing a new technology called iGPS into the fastening-hole-drilling process, which is a critical process in aircraft manufacturing. The proposed system exhibits better than 100-micron 3D accuracy under the predefined working space. Based on the proposed EEF fastening-hole machining process, the corresponding processes and programs are developed, and its feasibility is studied.

• Journal of IKEEE
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• v.24 no.2
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• pp.638-648
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• 2020

Currently, the method of user-follwoing in intelligent cooperative robots usually based in vision system and using Lidar is common and have excellent performance. But in the closed space of Corona 19, which spread worldwide in 2020, robots for cooperation with medical staff were insignificant. This is because Medical staff are all wearing protective clothing to prevent virus infection, which is not easy to apply with existing research techniques. Therefore, in order to solve these problems in this paper, the ultrasonic sensor is separated from the transmitting and receiving parts, and based on this, this paper propose that estimating the user's position and can actively follow and cooperate with people. However, the ultrasonic sensors were partially applied by improving the Median filter in order to reduce the error caused by the short circuit in communication between hard reflection and the number of light reflections, and the operation technology was improved by applying the curvature trajectory for smooth operation in a small area. Median filter reduced the error of degree and distance by 70%, vehicle running stability was verified through the training course such as 'S' and '8' in the result.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.419-428
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• 2007

This paper describes the development of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle. In order to accurately push and pull an object with an intelligent robot's hand, and in order to safely walk with an intelligent robot's foot, the robot's wrist and ankle should measure three forces Fx, Fy, and Fz, and three moments Mx, My, and Mz simultaneously from the mounted six-axis force/moment sensor to the intelligent robot's wrist and ankle. Unfortunately, the developed six-axis force/moment sensor utilized in other industrial fields is not proper for an intelligent robot's wrist and ankle in the size and the rated output of the six-axis force/moment sensor. In this paper, the structure of a six-axis force/moment sensor with rectangular taper beams was newly modeled for an intelligent robot's wrist and ankle, and the sensing elements were designed by using the derived equations, following which the six-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements. Moreover, the characteristic test of the developed sensor was carried out by using the six-component force/moment sensor testing machine. The rated outputs from the derived equations agree well with those from the experiments. The interference error of the sensor is less than 2.87%.