• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.6
• /
• pp.634-639
• /
• 2014

This paper specifies a collision alarm using an infrared distance sensor that can identify the dangerousness of collision of active mobile robotic systems to various objects, such as unknown objects or another robots. And we analyse the major operating signals and features of the collision alarm for effective industrial applications. For the purpose, we consider a typical parking situation of a mobile robotic system with the collision alarm designed. As a result, it is shown that the proposed collision alarm is applicable for effective collision avoidance and safe driving of various mobile robots or vehicles.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.18 no.2
• /
• pp.276-281
• /
• 2014

In this research, we describe a force feedback control for industrial robots has been proposed as a system which is suitable to work utilizing pressure sensitive alternative to human. Conventionally, polished surface of the workpiece are recognized, chamfer ridge, machining processes such as deburring, and it is most difficult to automate because of its complexity, has been largely dependent on the human. To aim to build automatic vacuum system robotic force control was gripping the grinding tool, the present study we examined the adaptability to the polishing process to understand the characteristics of the control system feedback signal obtained from the force sensor mainly. Furthermore, as a field, which holds the key to the commercialization, I went ahead with the application to robotic sweeping machine. As a result, the final sweeping utilizing a robot machine to obtain a very good grinded surface was revealed.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.7 no.5
• /
• pp.1139-1144
• /
• 2012

The ration of payload to weight of industrial robot amounts form 1:10 to 1:30. Compared with man who have a ration of 3:1, it is very low. One of the goals for the next generation of robots will be a ration. This might be possible only by developing lightweight robots. When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}-2C$ is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed by using Lyapunov stability theory. We propose deterministic and adaptive control laws for two link flexible arm, and the validity of the proposed control scheme is shown in computer simulation for two-link flexible arm.

• Journal of the Korean School Mathematics Society
• /
• v.22 no.3
• /
• pp.257-275
• /
• 2019

Technology-based convergence education is being emphasized for students in the era of the fourth industrial revolution. In math education, students need to increase their capabilities in the future by having them experience mathematical problems using robots and sensors, a key technology in the era of the fourth industrial revolution. To this end, it is necessary to present educational uses for educational robots in relation to math and curriculum from a 'mathematics education perspective' and analyze its educational use in relation to the mathematics and curriculum, considering the role of mathematics at the base of the process of exploring real-world phenomena and solving problems. Based on the analysis of Van Hiele levels of development in geometry and the LOGO activity level of Olson et al.(1987), this study analyzed and presented the level of LEGO Mindstorm activity, a representative educational Robot capable of collecting and analyzing data and programming in the form of block language, in the first to fourth level.

• Fire Science and Engineering
• /
• v.24 no.3
• /
• pp.113-118
• /
• 2010

FSR has been placed and operated in the Daegu Fire & Safety Department on a trial basis since September 2009. This research proposes a direction for developing the robot, which will provide greater field adaptability and efficiency through analyzing in-depth interviews and surveys of firefighters who have operated the robot. Analysis has shown that an Assistant FSR is expected to enhance maneuverability and improve the performance of wheels, which will increase the capacity for navigating obstacles. The Field FSR needs improvements in convenience of control, making the weight lighter, and stabilization of radio communications to eliminate tangled wires. Overall satisfaction regarding the performance of robots currently in operation is low, while preference toward using the Assistant robot in the field is also low, shown at 8.4%. Therefore, it is urgently necessary to vitalize usage of FSR in the field so that early commercialization of the FSR will contribute to reinforce both growth and competitiveness of the domestic robotics industry.

• The Journal of the Convergence on Culture Technology
• /
• v.2 no.2
• /
• pp.29-35
• /
• 2016

The conventional educational robots, which are commonly industrial robots or toy robots, use text-based programming to teach the students. Therefore, students have difficulty in studying robotics due to the difficulties of text based language. The developed robot in this study have a camera, which have the color tracking function, and it has various sensors and actuators. It supports the open hardware and uses graphic language based programming. The developed educational robot is programmed by Scratch, which uses graphic modular language. We also present a curriculum, which is based upon the developed robot and Scratch. We applied the robot and curriculum to the primary school students. We obtained satisfactory results comparing it with the conventional robot education. Furthermore, the imagination and execution ability of students showed enhancement in learning robotics. Thus, this fact means the validity and effectiveness of the proposed approach.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.19 no.5
• /
• pp.157-162
• /
• 2019

Recently, the awareness of S/W education, which was confined to the profession, is changing due to the changing industrial environment based on ICT technology World main countries invest competitively in S/W education and the target age group is getting lower Among them, the unplugged coding method using the robot platform is known as one of the most effective S/W training methods targeting the elementary age by the intuitive coding method and the robot platform feedback. However, the unplugged coding method using the robot platform has a disadvantage that it can not configure various interfaces for complicated coding due to limitations of H/W. In this paper, we have proposed an unplugged coding system which can input various commands for robot control by IR remote control as an interface and minute signals using robot sensor.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2021.05a
• /
• pp.289-290
• /
• 2021

Recently, with the advent of the 4th industrial revolution, the role of robots is increasing, and the use of robots is also increasing in the service field. The most popular model for nonlinear research related to robots is the inverted pendulum system. A balancing robot using an inverted pendulum system is a representative nonlinear system and is mainly used to study control theory and other kinematic structures. In this paper, the state of the robot is measured using the 3-axis acceleration sensor (ADXL345) and 3-axis digital output gyro sensor (ITG-3200) or HMC5883L required for balancing robot control, and using the ESP32-WROOM-32 module. I want to design an MCU module that can control a balancing robot. In addition, by using the ESP32-WROOM-32 MCU module, we intend to design an MCU module that can monitor the state of the balancing robot based on WiFi or Bluetooth.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.7 no.1
• /
• pp.104-111
• /
• 1998

This study solves the inverse kinematics problem of industrial FANUC robot. Because every joint angle of FANUC robot is dependent on the position of end-effector and the direction of approach vector, arm metrix T6 is very complicated and each joint angle is a function of other joint angles. Therefore, the inverse kinematics problem can not be solved by conventional methods. Noticing the fact that if one joint angle is known, the other joint angles are calculated by the algebraic methods. $ heta$1 is calculated using neumerical analysis method, and solves inverse kinematics problem. This proposed method, in this study, is more simpler and faster than conventional methods and is very useful in the real-time control of the manipulator.

• ICROS
• /
• v.2 no.6
• /
• pp.63-76
• /
• 1996

본 논문에서는 산업 현장에서 활용될 수 있는 문자 인식 시스템의 예로써 슬라브에 기록되어 있는 번호를 인식하는 시스템을 다루었다. 특히 기존의 OCR(optical character recognition) 시스템에서 채용되는 알고리즘들을 제시하였다. 산업현장에는 슬라브 번호와 같이 여러가지 노이즈가 존재하는 문자들을 인식하는 시스템을 필요로 하는 곳이 많으리라 여겨진다. 따라서 이러한 상황에 강항 알고리즘들이 많이 개발되어야 할 것이다. 끝으로 향후 개발 방향을 밝히면 다음과 같다. 우선 하드웨어 측면에서는 현재 옆면에 설치되어 있는 에어리어(area) 카메라들을 라인(line) 카메라로 대체할 예정이다. 그럼으로써 카메라들 사이에 생기는 시야의 중첩 문제라든가 광각 렌즈의 사용으로 발생하는 문제점들이 해결되리라 여겨진다. 소프트웨어 측면에서는 모든 부분에 있어서 계속적인 향상이 있어야겠지만 특히 인식부의 취약점들 - 공백 문자와 숫자의 구분, 혼동되는 숫자들의 검증, 보다 지능적인 재분할 - 이 보강되어야 할 것이다.