• Journal of Navigation and Port Research
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• v.42 no.3
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• pp.237-244
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• 2018

When underwater rubble leveling work is carried out by a robot, real-time information on the topography around the robot is required for remote control. If the topographical information with respect to the current position of the robot is displayed as a 3D graphic image, it allows the operator to plan the working schedules and to avoid accidents like rollovers. Up until now, the topographical recognition was conducted by multi-beam sonars, which were only used to assess the quality before and after the work and could not be used to provide real-time information for remote control. This research measures the force delivered to the bucket which presses the mound to determine whether contact is made or not, and the contact position is calculated by reading the cylinder length. A variable bang-bang control algorithm is applied to control the heavy robot arms for the positioning of the bucket. The proposed method allows operators to easily recognize the terrain and intuitively plan the working schedules by showing relatively 3-D gratifications with respect to the robot body. In addition, the operating patterns of a skilled operator are programmed for raking, pushing, moving, and measuring so that they are automatically applied to the underwater rubble leveling work of the robot.

• Journal of Internet Computing and Services
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• v.11 no.4
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• pp.159-173
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• 2010

It is difficult for us to teach the introduction course of programming to beginners just starting their college life. What is particularly hard to do is to provide them with learning motivation so that the freshmen can be easily and rapidly adapted to programming work and to enhance their will to learn. In this paper, we suggest a method to apply LEGO Mindstorms robot to the introduction course of programming in purpose to allow programming beginners to be motivated and have higher will to learn so that they can receive programming education easily and joyfully. This paper attempts to find reasonable methods for improvement which can help programming beginners to be motivated and encouraged to learn in the course of C programming education and can facilitate learning effects as well, and conducts education using LEGO Mindstorms robot as a way to solve problems like students' low interest or will to learn. According to the result of providing the freshmen with the introduction course of C programming to which the suggested method was applied, it was found that their academic achievement in programming education enhanced through their increased motivation and will to learn programming. This result shows that students' interest, motivation, and will to learn the subject are statistically significant improvement through the course that employs LEGO Mindstorms robot.

• The Journal of the Convergence on Culture Technology
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• v.6 no.1
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• pp.489-494
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• 2020

We propose to designs and to implements a robot analyzing the risk of occurrence of mental disorder of single-person households' workers through the facial expression-detecting system. Due to complex social factors, the number and proportion of single-person households continues to increase. In addition, contrast to the household of many family members, the prevalence of mental disorder among single-person household varies greatly. Since most patients with mental can not detect the disease on their own, counseling and treatment with doctors are often ignored. In this study, we design and implement a robot analyzing the risk of mental disorder of single-person households workers by constructing a system with Q.bo One, a social robot created by Thecorpora. Q.bo One is consisted of Arduino, ar raspberry pie, and other sensors designed to detect and respond to sensors in the direction users want to implement. Based on the DSM-5 provided by the American Psychiatric Association, the risk of mental disorder occurrence was specified based on mental disorder. Q.bo One analyzed the facial expressions of the subjects for a week or two to evaluate depressive disorder, anxiety disorder. If the mental disorder occurrence risk is high, Q.bo One is designd to inform the subject to counsel and have medical treatment with a specialist.

• Journal of Digital Convergence
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• v.19 no.7
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• pp.189-197
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• 2021

In order to commercialize technology, Korea is continuously fostering specialized institutions for technology transfer/commercialization, and it is composed in various forms. However, there are limited studies on corporate performance according to the type of technology transfer/commercialization specialized institution and the type of support. This study aims to measure the combined utilization performance and performance of companies that have adopted the technology by classifying the types of technology transfer/commercialization specialized institutions. To this end, a study was conducted on 380 companies that promoted the introduction and use of external technologies. As a result of the analysis, it was found that the more the combined use of technology transfer/commercialization specialized institutions has a positive effect on corporate performance, and has different effects on corporate performance depending on the items of external technology introduction. In addition, it was found that the earlier the industrial growth stage is, the higher the corporate performance. Through this study, implications of strategies for the use of specialized organizations for technology transfer and commercialization and introduction of external technologies of the company were presented at the corporate level.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.2015-2025
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• 1991

A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using the perturbed variables which describe the perturbed errors at the manipulator's final configuration. Digitial optimal control and observer theory are used to suppress the forearm vibration and control the positions of the joint angles with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

• Convergence Security Journal
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• v.14 no.2
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• pp.35-41
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• 2014

With ubiquitous computing and network, the concern of government, business and academy for IT or ICT convergence has been increased. In this paper, through the analysis of keyword trend for ICT convergence services from 2000's mid, the efficient policy is proposed by estimating the understanding and concern of common people. In addition to, the concept and development step of convergence are analyzed, and the keyword analysis for the ICT convergence services defined in TTA is performed. The services are classified into smart home work transportation, Health ICT, RFID USN, M2M IoT, e-Navigation, intelligent robot, and the keywords for each service are analyzed. The analytic results indicate that the keyword trend varies in the time, and highly indexing keywords and new trend are defined. To provide the efficient ICT services, the new ICT convergence services needed for customer will be proposed with new IT technology development, IT standard, law management, and policy provisioining.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.142-150
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• 2006

This study examines whether the reinforcement theory would be effectively applied to teaching assistant robots between a robot and a student in the same way as it is applied to teaching methods between a teacher and a student. Participants interact with a teaching assistant robot in a 3 (types of robots: positive reinforcement vs. negative reinforcement vs. both reinforcements) by 2 (types of participants: honor students vs. backward students), within-subject experiment. Three different types of robots, such as 'Ching-chan-ee' which gives 'positive reinforcement', 'Um-bul-ee' which gives 'negative reinforcement', and 'Sang-bul-ee' which gives both 'positive and negative reinforcement' are designed based on the reinforcement theory and the token reinforcement system. Participants' task performance and reaction rate are measured according to the types of robots and the types of participants. In task performance, the negative reinforcement robot is more effective than the other two types, but regarding the number of stimulus, the less the stimulus is, the more effective the task performance is. Also, participants showed the highest reaction rate on the negative reinforcement robot which implies that the negative reinforcement robot is most effective to motivate students. The findings demonstrate that the participants perceive the teaching assistant robot not as a toy but as a teaching assistant and the reinforcement interaction is important and effective for teaching assistant robots to motivate students. The results of this study can be implicated as an effective guideline to interaction design of teaching assistant robots.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.86-99
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• 2011

Due to the uncertainty of intention recognition for behaviors of users, the intention is differently recognized according to the situation for the same behavior by the same user, the accuracy of user intention recognition by minimizing the uncertainty is able to be improved. This paper suggests a novel ontology-based method to recognize user intentions, and able to minimize the uncertainties that are the obstacles against the precise recognition of user intention. This approach creates ontology for user intention, makes a hierarchy and relationship among user intentions by using RuleML as well as Dynamic Bayesian Network, and improves the accuracy of user intention recognition by using the defined RuleML as well as the gathered sensor data such as temperature, humidity, vision, and auditory. To evaluate the performance of robot proactive planning mechanism, we developed a simulator, carried out some experiments to measure the accuracy of user intention recognition for all possible situations, and analyzed and detailed described the results. The result of our experiments represented relatively high level the accuracy of user intention recognition. On the other hand, the result of experiments tells us the fact that the actions including the uncertainty get in the way the precise user intention recognition.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.41 no.2
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• pp.125-133
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• 2017

This paper presents the inter-rater reliability of finger spasticity assessment tested realized by using finger simulator that mimics finger spasticity of patients after a stroke. For controlling the simulator torque, finger spasticity was modeled, and the model parameters were obtained by measuring quantitative data while grading based on Modified Ashworth Scale (MAS). A robotic finger simulator was designed for mimicking finger spasticity. Evaluation of this simulator with the help of seven rehabilitation doctors showed that the simulator had a Cohen's kappa value of 0.619 for Metacarpophalangeal Joint and 0.514 for Proximal Interphalangeal Joint. Fleiss' kappa between raters is 0.513 for Metacarpophalangeal Joint and 0.486 for Proximal Interphalangeal Joint. Therefore, the spasticity assessment made by MAS grade system is not reliable owing to the subjectivity of the assessment. The proposed robotic simulator can be used as a training tool for improving the reliability of the spasticity assessment.

• The Journal of the Korea Contents Association
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• v.19 no.3
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• pp.72-79
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• 2019

Autonomous locomotion has two essential functionalities: mapping builds and updates maps by uncertain position information and measured sensor inputs, and localization is to find the positional information with the inaccurate map and the sensor information. In addition, obstacle detection, avoidance, and path designs are necessarily required for autonomous locomotion by combining the probabilistic methods based on uncertain locations. The sensory inputs, which are measured by a metric-based scanner, have difficulties of distinguishing moving obstacles like humans from static objects like walls in given environments. This paper proposes the low resolution grid map combined with reinforcement learning, which is compared with the conventional recognition method for detecting static and moving objects to generate obstacle avoiding path. Finally, the proposed method is verified with experimental results.