• Journal of Platform Technology
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• v.12 no.1
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• pp.44-54
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• 2024

The existing indoor positioning methods using beacons or tags suffer from issues such as occasional undetection or increased errors due to noise. In this paper, we propose a method for determining the indoor position of a robot using the distance and, the angle between the direction of a target object whose position is known and the direction in which the robot views the target object from the front. The method proposed in this paper utilizes a depth camera to measure distance and calculate angles. Distance is measured using depth information captured by the camera, while angles are determined using images captured by the camera to determine the orientation of the target object. The proposed method calculates coordinate displacements using distance and angle. And then the method determines the position of the mobile robot using these displacements and the coordinates of the target object. To show the applicability of the proposed method for indoor positioning, we conducted experimental implementation and compared measured displacements. The results showed errors within 50mm, but considering the size of the mobile robot, it is judged that the method proposed in this paper can be sufficiently used for indoor positioning.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.2
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• pp.73-78
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• 2014

In this paper we propose a wearable elbow rehabilitation robot applied the mirror therapy for elbow rehabilitation. To implement the mirror therapy, a data suit for measuring healthy elbow motion is developed. A powered elbow exoskeleton wearing in paralyzed arm is controlled by the measured data from the healthy elbow motion. In experiments, the elbow rehabilitation exercise by the mirror therapy is performed. From the experimental results we show the wearable exercise robot including the data suit is applicable to the mirror therapy for elbow rehabilitation.

• ICROS
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• v.2 no.2
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• pp.10-18
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• 1996

이 글에서는 현재 그 응용범위가 확장되어감에 따라 관심이 고조되고 있는 GPS의 원리와 응용에 대해 간단히 요약해 소개하고자 한다. 제2절에서는 GPS를 이용한 위치 측정의 원리를, 제3절에서는 GPS의 응용과 앞으로의 전망에 대해 기술하려고 한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2007.11a
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• pp.80-82
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• 2007

외곽 검출을 통한 스테레오 비전의 실시간 거리 측정을 제안하였다. 주차 시스템이나 이동 로봇의 경로 설정에 있어 실시간으로 거리 측정이 중요시 되고, 이를 해결하기 위하여 인간의 시각에 가까운 평행 축 상의 두 대의 카메라에서 취득된 영상을 이용한다. 카메라에서 얻은 영상으로부터 외곽을 추출하기 위해 Sobel Mask를 사용하였으며, 좌 우 구분을 위해 색 변환과 영상 정보로부터 거리를 측정하기 위해 영상 등록 과정을 거치고 거리 측정을 하였다. 거리 측정의 결과 2.4%의 오차율을 보였으며 이는 로봇의 이동 간에 적용할 경우 양호한 결과를 얻을 수 있을 것이다.

• Journal of the Korea Institute of Building Construction
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• v.23 no.2
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• pp.209-220
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• 2023

Ensuring accuracy within tolerance is crucial for a marking robot; however, rebar displacement frequently occurs during the structural work process, necessitating corrections to layout lines or rebar locations. To guarantee precision and automation, the marking robot must be capable of measuring rebar error and determining appropriate adjustments for marking lines and rebar placement. Consequently, this study proposes a method for measuring rebar location error using a LiDAR sensor and implementing a layout assessment process based on the measurement results. The rebar recognition experiment using the LiDAR sensor yielded an average error of 5mm, demonstrating a reliable level of accuracy for wall rebars. Additionally, this research proposed a process that enables the robot to evaluate rebar and marking corrections based on the error range. The findings of this study can contribute to the automated operation of marking robots while accounting for construction errors, potentially leading to improvements in structural quality.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1920-1921
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• 2011

본 논문에서는 센서기반 이동로봇의 적응 순항 제어를 위한 선형 관측기 기반의 출력 궤환 제어 방법을 제안한다. 제안된 제어 방법에서는 선도로봇의 속도를 모르는 상태에서 거리센서를 통해 선도 로봇과의 거리를 측정하고 속도와 가속도를 추정하기 위하여 선형 관측기를 이용한다. 마지막으로, 컴퓨터 모의실험과 실제 적용실험을 통해 본 논문에서 제안한 제어기의 성능을 검증하고자 한다.

• The Science & Technology
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• v.30 no.2 s.333
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• pp.84-85
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• 1997

휴먼로봇프로젝트를 실현시키기 위해 KIST가 94년 4월 제어시스템연구실에 설립한 로보틱스연구팀. 산업용 로봇의 모터가 6개 정도라면 휴먼로봇은 60개의 모터가 들어가야 하는 작업으로 3차원 거리측정시스템, 방해물감지 초음파시스템 등 다양한 연구가 진행중이다. 국산 휴먼 로봇이 탄생되면 원자력발전소나 지뢰탐사 폭발물제거작업 등에 투입될 것이다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2006.05a
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• pp.297-300
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• 2006

카오스 로봇의 하드웨어 구현에서 로봇의 차제 또는 바퀴가 정확하기 자기 위치를 인식하고 지시한 방향과 거리만큼 이동하는 것이 가장 중요하다. 본 논문에서는 방위 측정용으로 사용한 마그네틱 자이로센서를 대체한 새로운 각속도 센서를 사용하여 자기 위치 보정 능력 을 향상시키고 정확한 방향을 움직일 수 있는 카오스 로봇을 설계하였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.8
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• pp.703-710
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• 2016

In robotics research, accurate estimation of current robot position is important to achieve motion control of a robot. In this research, we focus on a sensor fusion method to provide improved position estimation for a wheeled mobile robot, considering two different sensor measurements. In this case, we fuse camera-based vision and encode-based odometry data using Kalman filter techniques to improve the position estimation of the robot. An external camera-based vision system provides global position coordinates (x, y) for the mobile robot in an indoor environment. An internal encoder-based odometry provides linear and angular velocities of the robot. We then use the position data estimated by the Kalman filter as inputs to the motion controller, which significantly improves performance of the motion controller. Finally, we experimentally verify the performance of the proposed sensor fused position estimation and motion controller using an actual mobile robot system. In our experiments, we also compare the Kalman filter-based sensor fused estimation with two different single sensor-based estimations (vision-based and odometry-based).

• 한국HCI학회:학술대회논문집
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• 2008.02b
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• pp.126-130
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• 2008

It takes only few seconds to find an artifact that has anthropomorphic form. There are numerous examples illustrating human's shape in daily life products. Usage of anthropomorphic form has been a basic design strategy especially when industrial designers design intelligent service robots because most of robot features were basically from human. Therefore, it's necessary to use anthropomorphic form not only in appearance design but also in interaction design. To use anthropomorphic form effectively, it needs to measure how much the artifact is similar to human, and then to evaluate whether the usage of anthropomorphic form fits to the artifact. This study's goal was to set up an evaluation standard for anthropomorphism for robot design. We suggest that there are three criteria for the evaluation standard. Those are 'anthropomorphic form in appearance', 'anthropomorphic form in Human-Robot Interaction', and 'accordance in two former criteria'. We expect that when designers put an evaluation step of anthropomophism in their design process of robots, robots might become more preferred by users, and easier to understand how to interact with.