• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.6 no.6
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• pp.273-283
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• 2016

In this paper, the effect of neurofeedback training program on attention ability of ADHD children is studied. The main concept of a neurofeedback training program is a robot control with brain wave. To do this, Mindset(neurosky, ltd) was used as a brain wave measurement and lego NXT was used to a robot kit. The developed brain wave training program has a 12 chapter. Students meet a problem situation and they invent and make a problem solving robot with NXT kits. After that, they control the their own robot by their brain wave. Developed program was applied to 8 student who live in chunan area. To monitor a change of attention ability, attention behavior checklist, K-CBCL, CTRS-R, ADS were used. These checklist were recorded with before and after the program. The result shows that student attention ability is increase after the program in the most of the checklist.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.4
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• pp.601-608
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• 2023

Mobile robots are widely used in industries because mobile robots perform tasks in various environments. In order to carry out tasks, determining the precise location of the robot in real-time is important due to the need for path generation and obstacle detection. In particular, when mobile robots autonomously navigate in indoor environments and carry out assigned tasks within pre-determined areas, highly precise positioning performance is required. However, mobile robots frequently experience data missing in wireless communication environments. The robots need to rely on predictive techniques to autonomously determine the mobile robot positions and continue performing mobile robot tasks. In this paper, we propose an extended Kalman filter-based algorithm to enhance the accuracy of mobile robot localization and address the issue of data missing. Trilateration algorithm relies on measurements taken at that moment, resulting in inaccurate localization performance. In contrast, the proposed algorithm uses residual values of predicted measurements in data missing environments, making precise mobile robot position estimation. We conducted simulations in terms of data missing to verify the superior performance of the proposed algorithm.

• Proceedings of The KACE
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• 2017.08a
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• pp.167-169
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• 2017

기술의 발전에 따라 사회, 경제, 산업에서 다양한 변화를 겪고 있다. 이러한 변화를 4차 산업 혁명이라고 부르며, 이러한 변화를 주도하는 기술로 로봇이 주목받고 있다. 로봇은 다양한 연구에서 교육적 효과가 뛰어나다는 것이 확인되었고, 이에 따라 로봇을 교육에 도입하기 위한 다양한 연구가 진행되었다. 하지만, 로봇교육과 관련된 다양한 요인이 로봇 교육의 활성화를 저해하고 있었다. 특히, 다른 나라에 비해 예비 교사의 로봇에 대한 태도는 부정적이었으며, 이러한 부정적인 태도는 2015 개정 교육과정에서 로봇 교육의 어려움을 유발할 수 있다. 따라서 본 연구에서는 예비 교사의 로봇에 대한 태도와 다양한 요인에 따른 차이를 분석하였다. 연구 대상은 K 대학에 다니고 있는 317명의 예비 교사이었으며, 예비 교사의 로봇에 대한 태도를 측정하기 위하여 선행 연구에서 활용한 Negative Attitude towards Robots Scale(NARS)를 사용하였다. NARS를 통하여 예비 교사의 로봇에 대한 태도를 살펴본 결과, 성별에 따라 예비 교사의 로봇에 대한 차이가 나는 것을 확인할 수 있었다. 또한, 로봇을 조작한 경험과 로봇 관련 강의를 수강한 여부가 로봇에 대한 태도가 차이 나게 만드는 요소인 것을 확인할 수 있었다. 반대로 매체를 통한 로봇을 접촉한 경험은 로봇에 대한 태도에 관련이 없었다. 이와 같은 연구를 통하여 예비 교사의 로봇에 대한 태도에 미치는 요인을 살펴볼 수 있었다. 향후 연구에서는 예비 교사의 로봇에 대한 태도를 긍정적으로 바꾸기 위한 방안에 대한 연구가 필요하다.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1323-1324
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• 2015

최근, 다수의 이동 로봇으로 구성된 무선 네트워크 기반 군집 로봇 시스템을 제한적인 환경을 벗어나 다양하고 동적인 환경에서 운용하기 위한 연구가 진행 중이다. 특히, 다수 로봇의 위치를 측정하기 위해 실내 환경에 기반 시설 없이 로봇에 장착된 센서들에 의해 위치를 추정하는 방법이 필요하다. 이를 위해, 본 논문에서는 로봇간의 상대적인 정보를 통해 다수 이동 로봇의 거리를 추정하는 방법을 제안한다. 제안한 방법은 먼저, 다수 이동 로봇의 거리를 추정하기 위해 무선 신호를 기반으로 하는 RSSI 방법을 이용하여 다수 이동 로봇의 거리를 추정한다. 그 다음, 추정된 거리와 추측 항법(Dead Reckoning)을 융합하여 이동 중인 로봇의 거리를 추정하는 방법을 제안한다. 마지막으로, 시뮬레이션 도구를 이용하여 응용 가능성을 증명한다.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.8 no.3
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• pp.71-79
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• 2008

In this paper the glass inspection system for the thickness and flatness is implemented. Laser sensors and robot arms required for glass measurements is tested on the performance assesment. Three kinds of laser sensors are used and analysed, and 3-axis robot arm with the ball-screwed type is implemented. Thus the methods of glass measurement is discussed and the difficulties are solved to propose the solutions. To minimize the errors of glass measurement the system is improved as considered device errors.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.83-84
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• 2007

작업자가 작업장에서 전도 등으로 인한 산업 재해를 입지 않도록 하기 위해서는 작업장에서의 전도 상황을 판단하여야 하며, 이러한 전도 상황을 측정할 때 자동화된 전도 측정 장치는 작업장에서의 효율성을 확보하는 동시에, 전도를 측정하는 사람이 측정 과정예서 일어날 수 있는 불상사 등을 예방하여 산업재해를 미연에 방지해서 이를 통한 산업 현장의 안정성 확보를 통한 부대 비용 발생을 방지할 수 있게 된다. 이러한 자동화된 전도 측정을 위한 방편으로써 전도 측정용 로봇의 개발하였다.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.42 no.5
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• pp.31-40
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• 2005

In this study, we study measurement of wafer processing throughput and sequence simulation of single wafer type for wafer cleaning equipments that were used for etching, cleaning and polishing of wafer. Based on finite state machine, simulation model was built with identification of robot's status according to scheduling algorithm. Moreover, through performance of simulation as above, throughput per hour of cleaning equipment was measured. By the simulation method that are proposed in this paper, we could measure the wafer throughput per hour according to recipe and robot motion speed, and find optimal recipe and moving sequence of robot that maximize the throughput.

• Journal of the Korean Society for Nondestructive Testing
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• v.35 no.1
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• pp.68-72
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• 2015

Ultrasonic inspection robot systems have been widely researched and developed for the real-time monitoring of structures such as power plants. However, an inspection robot that is operated in a simple pattern has limitations in its application to various structures in a plant facility because of the diverse and complicated shapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objects with high-precision results. This paper presents the idea that the shape and movement information of an ultrasonic inspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensor was applied to monitor the shape of a human hand. This application was designed to intuitively control an ultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors. Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of a human hand estimated using polymer flex sensors.

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.85-92
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• 2024

In this paper, we developed an intuitive teaching and control system that directly teaches a task by holding the tip of a robotic arm and moving it to a desired position. The developed system consists of a 6-axis force sensor that measures position and attitude forces at the tip of the robot arm, an algorithm for generating robot arm joint speed control commands based on the measured forces at the tip, and a self-made 6-axis robot arm and control system. The six-dimensional force/torque of the position posture of the robot arm operator steering the handler is detected by the force sensor attached to the handler at the leading edge and converted into velocity commands at the leading edge to control the 7-axis robot arm. The verification of the research method was carried out with a self-made 7-axis robot, and it was confirmed that the proposed force sensor-based robot end-of-arm control method operates successfully through experiments by teaching the operator to adjust the handler.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.1
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• pp.81-87
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• 2010

The coverage ability is one of essential techniques for the Robotic Vacuum Cleaner (RVC). Most of the RVCs rely on random or regular pattern movement to cover a target space due to the technical difficulties to implement localization and map and constraints of hardwares such as controller and sensors. In this paper, we consider two main issues which are low computational load and using sensors with very limited sensing capabilities. First, in our approach, computing procedures to build map and detect the RVC's position are minimized by simplifying data obtained from sensors. To reduce computational load, it needs simply presenting an environment with objects of various shapes. Another isuue mentioned above is regarded as one of the most important problems in our approach, because we consider that many RVCs use low-cost sensor systems such as an infrared sensor or ultrasonic sensor with limited capabilities in limited range, detection uncertainty, measurement noise, etc. Methods presented in this paper are able to apply to general RVCs equipped with these sensors. By both simulation and real experiment, we evaluate our method and verify that the proposed method guarantees a complete coverage.