• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.785-787
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• 2022

인공지능 로봇 산업의 발달로 우리의 일상생활 속 다양한 곳에서 활용되고 있다. 그러나 로봇의 고비용, 높은 진입 장벽의 문제로 상용화하기에 쉽지 않은 것은 사실이다. 따라서 본 논문에서는 기존 바리스타 로봇의 고비용, 높은 진입 장벽의 한계점을 해결하기 위해 저렴한 오픈소스 로봇인 elephant robotics사의 my cobot 280 pi와 Python을 통한 영상처리 기술을 접목하여 가성비 바리스타 로봇을 제작하고자 한다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2010.07a
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• pp.293-296
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• 2010

현재 지능형 서비스로봇이 활성화되고 있으며 지능형 로봇 분야에서 청소로봇은 개인생활의 본질적인 운동성을 보조하며 인간과 공생의 형태를 지원하는 로봇으로 성장하고 있다. 청소로봇은 가정에서 다양한 서비스를 제공하기 위하여 가정환경과 적절한 상호작용은 필수적이다. 따라서 로봇이 외부의 서버와 협동을 통한 원격제어는 필수적이라 할 수 있다. 현재 지도 작성이 가능한 청소로봇은 바닥에 센서를 부착하거나 작업환경에 카메라 및 기타 많은 장치를 구축하므로 고가의 장비로 분류되어 일반적으로 활용지 못하고 있다. 본 연구에서는 청소로봇의 효율적인 제어를 위하여 작업환경에서 로봇의 궤적과 센서정보를 원격으로 서버에 전달하고 서버는 이러한 정보를 바탕으로 지도를 작성하고 최적의 작업을 수행할 수 있는 알고리즘을 연산하여 로봇에 전달할 수 있는 방법을 연구하였다. 이는 로봇이 지도 작성을 위한 연산 과정을 줄이므로 수행 시간을 단축하고 로봇에 주어지는 부하를 줄일 수 있다. 또한 원격으로 제어를 수행하므로 무선통신이 가능한 각종 디바이스와 상호 연동할 수 있는 체계를 만들어 유비쿼터스 환경을 구축할 수 있는 계기를 만들므로 청소로봇의 성능이 향상될 수 있음을 보인다. 본 연구에서는 청소로봇을 제작하고 시뮬레이션과 실험을 통하여 전체적으로 주어진 작업을 효율적으로 수행할 수 있음을 보여준다.

• Journal of Internet of Things and Convergence
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• v.9 no.6
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• pp.37-44
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• 2023

As a primary technology of Industry 4.0, human-robot collaboration (HRC) requires additional measures to ensure worker safety. Previous studies on avoiding collisions between collaborative robots and workers mainly detect collisions based on sensors and cameras attached to the robot. This method requires complex algorithms to continuously track robots, people, and objects and has the disadvantage of not being able to respond quickly to changes in the work environment. The present study was conducted to implement a web-based platform that manages collaborative robots by recognizing the emotions of workers - specifically their perception of danger - in the collaborative process. To this end, we developed a web-based application that collects and stores emotion-related brain waves via a wearable device; a deep-learning model that extracts and classifies the characteristics of neutral, positive, and negative emotions; and an Internet-of-things (IoT) interface program that controls motor operation according to classified emotions. We conducted a comparative analysis of our system's performance using a public open dataset and a dataset collected through actual measurement, achieving validation accuracies of 96.8% and 70.7%, respectively.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.05a
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• pp.15-17
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• 2013

재난방지 및 구호에 사용되는 로봇의 주된 목적은 인간이 직접적으로 접근하기 곤란한 지역에 대한 올바른 상황 정보를 얻기 위함이다. 하지만, 재난지역에서는 통신이 원활하게 접속되지 않거나, 육안을 벗어나는 경우, 원격조정에 의한 통신을 통한 로봇들이 업무지시를 수행해야 하는데 상당한 어려움이 있다. 더군다나 재난지역의 범위가 공간적으로 방대하여 자율적이고, 협동할 수 있으며, 함께 행동할 수 있는 지능적인 로봇의 필요성이 대두되고 있다. 따라서 본 논문에서는 이전 연구에서 개발한 모듈러 기반의 생체로봇을 이용하여 재난지역에서 원활한 업무수행을 할 수 있도록 모듈러 로봇간의 상호인식방법을 연구하고자 한다. 특히, 서로의 위치를 인식하기 위한 방법으로 LED-RGB 센서를 이용한 상호위치인식 방법을 연구하고자 한다.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.2
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• pp.177-186
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• 2021

This paper aims to show that cooperative robots, which have only been used in manufacturing sites, are expanding their scope of use in daily living spaces due to the expansion of non-face-to-face services. By combining robots and IoT technologies in terms of diversifying services in daily life and customized service areas, it is expected that the general public will also have easy access to smart technologies, and these technologies will be used in more areas. The robot barista system will provide customers with the services they want, monitoring, maintenance, and management of the system, making this paper convenient for customers, as well as managers who run stores, maintenance and repair, and engineers who design the system. This paper attempts to demonstrate this through a structure called Robopresso.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.327-331
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• 1992

In this paper, we propose dynamic hybrid control method which takes the manipulator dynamics into consideration and extend to two cooperating robots. The first step is the linearization of the manipulator dynamics and the second step is the design of position/force controllers for the linearized model which takes account of both the command response and the robustness of the controllers to modeling errors and disturbance. We also consider load sharing for each robot.

• Journal of the Korea Society of Computer and Information
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• v.13 no.3
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• pp.153-160
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• 2008

One of the most important features of the Mobile Manipulator is redundant freedom. Using it's redundant freedom, a Mobile Manipulator can move in various modes, and perform dexterous motions. In this paper, to improve robot job performance, two robots -mobile robot, task robot- are joined together to perform a job, we studied the optimal position and posture of a Mobile Manipulator to achieve a minimum of movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using the mobility of a Mobile robot, the weight vector of robots is determined. Using the Gradient method, global motion trajectory is minimized, so the job which the Mobile Manipulator performs is optimized. The proposed algorithm is verified with PURL-II which is Mobile Manipulator combined Mobile robot and task robot, and the results are discussed.

• Journal of The Korean Association of Information Education
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• v.18 no.4
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• pp.499-508
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• 2014

Developing Computational Thinking is getting attention as the importance of SW is emphasized. Also programming education is getting attention, especially, various researches that utilize robot in programming education are being carried out. This study focused on compensating the defects of the prior robot programming education and exploring the way of utilizing web based tool 2.0 while putting emphasis on communication and cooperation. This plan is based on $Gagn{\acute{e}}$ & Briggs nine events of instruction and can be used to implement cooperative learning with the Web 2.0 based tools at every instructional events. Tests for learner's cooperation were done before and after this new plan to evaluate its value. The result proves that this plan had a positive influence on improving learner's cooperative attitude.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.359-360
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• 2009

• 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.