• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.391-399
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• 2012

This paper proposes a particle filter approach for SLAM(Simultaneous Localization and Mapping) of a mobile robot. The SLAM denotes estimation of both the robot location and map while the robot navigates in an unknown environment without map. The proposed method estimates robot location simultaneously with the locations of the ultrasonic beacons which constitute landmarks for navigation. The particle filter method represents the locations of the robot and landmarks in probabilistic manner by the distribution of particles. The method takes care of the uncertainty of the landmarks' location as well as that of the robot motion. Therefore, the locations of the landmarks are updated including uncertainty at every sampling time. Performance of the proposed method is verified through simulation and experiments. The method yields practically useful mapping information even if the range data from the landmarks include random noise. Also, it provides more accurate and robust estimation of the robot location than the usual least squares methods or dead-reckoning method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.813-817
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• 2003

By increasing trades between countries, importance of harbors is becoming serious, including our country. When it comes to Container Crane Operation, the most important matter is how many containers are loaded in a truck or a ship by given time. This can be a crucial matter of harbors in taking care of materials. The present harbors' crane uses a wire-rope conveyance materials are transported in the air and have high free-angle of location. The sway can cause the delay of time, wrong position of Trolley and the damage of materials. In this study, we obtain the optimal PID parameters with GA(Genetic Algorithm) and apply those parameters to the PID Controller. In the result of the experimentation, we can see how effectively the PID controller, applied with the optimal parameters obtained by GA, can control the sway angle.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.116-123
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• 2017

Wearable robots are receiving great attention from the public, as well as researchers, because its motivation is to improve the quality of lives of people. Above all, complete paraplegic patients due to spinal cord injury (SCI) might be the most adequate target users of the wearable robots, because they definitely need physical assistance due to the complete loss of muscular strength and sensory functions. Furthermore, the medical care of complete paraplegics by using the wearable robots have significantly reduced the mortality rate and improved the life expectancy. The requirements of the wearable robot for complete paraplegics are actuation torque, locomotion speed, wearing sensation, robust gait stability, safety, and practicality (i.e., size, volume, weight, and energy efficiency). A WalkON Suit is the wearable robot that has satisfied the requirements of the wearable robot for complete paraplegics and participated in the powered exoskeleton race of Cybathlon 2016. In this paper, configuration of the WalkON Suit, human-machine interface, gait pattern, control algorithm, and evaluation results are introduced.

• Journal of Convergence for Information Technology
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• v.10 no.6
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• pp.109-118
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• 2020

The purpose of this research is to investigate the effects of interaction, gender, and age on preschool children's intimate relationship with entertainment robot dog. For this purpose, two kinds of experiments were conducted for 70 preschool children in day care centers in Seoul. Experiment 1 relates to the interaction with entertainment robot dog, 34 children aged 5 years (17 experimental groups, 17 comparative groups). Experiment 2 was a study on the effects of gender and age. A total of 36 children (pre- and post-group) of 12 children aged 3, 4, and 5 years old were included. This study interviewed the number of distributions and the motivations for distribution by using the "Dividing Game(Distribution Principle)" interview. As a result, firstly the group experiencing the interaction felt more intimate with the entertainment robot dog, and the reason was emotional factor the most(Experiment 1). Second, gender had no significant effect on entertainment robot dog intimacy and age showed a reverted U-shape. The above results are meaningful in that it reveals what kind of factors affecting the intimacy between the preschooler and entertainment robot dog.

• Journal of International Academy of Physical Therapy Research
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• v.11 no.2
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• pp.2021-2027
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• 2020

Background: Previous robot-mediated gait training has been proven several limitations such as pointless repeated motion training, decreased presence, etc. In this research, adult stroke patients were participated in robot-mediated gait training accompanied with or without virtual reality program. Objectives: Exploring whether the results indicated virtual reality system has contribution to muscle strength and balance ability. Design: A case series research, cross-over trial. Methods: Eleven participants (male 4, female 7) with adults diagnosed as stroke from medical doctor ware engaged. The participants received 2 treatment sessions of identical duration, robot-assisted gait training with virtual reality and robot-assisted gait training with screen-off randomly crossed over include 1-day for each person of wash-out period. The parameter was muscle activity, the researchers assessed sEMG (surface electromyography). Results: The result showed less muscle activities during training in robot-assisted gait training with virtual reality circumstances, and these indicated muscles were gluteus medius muscle, vastus medialis muscle, vastus intermedius and vastus lateralis muscle, semimembranosus muscle, gastrocnemius-lateral head, and soleus muscle (P<.05). Conclusion: In this study, we analyzed the outcome of muscle activity for clinical inference of robot-assisted gait training with virtual reality (VR). Less muscle activity was measured in the treatment accompanied by VR, therefore, a more systematic, in-depth and well-founded level of follow-up research is needed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.47.3-47
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• 2001

This paper describes the control of a health care robot (called Welfare Liferobot) with voice commands. The welfare liferobot is an intelligent autonomous mobile robot with its own control system on-board and the set of sensors to perceive an environment. It is a natural way to control the welfare liferobot by use of voice command for the usage of keyboard and mouse may present a difficult problem to the elderly and the handicapped. Voice input as the main control modality can offer many advantages. A set of oral commands is included, and each command has its associated function. These control words (commands) have to be chosen by user. Each time a voice command is recognized by the robot, it executes the pre-assigned action ...

• 한국IT서비스학회:학술대회논문집
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• 2009.05a
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• pp.409-414
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• 2009

I have not seen each of the existing technology, RFID/USN technology combined with the wireless communication channel for the state of nuclear safety in real-time remote monitoring and operation system technology CARE existing radioactive accident information collected by the nuclear power and nuclear power status, 10-20 second intervals to monitor the safety network (SIDS), and nuclear power plants located on the site within 40 ㎞ radius around the 13~15 of the wind speed from the automatic weather network weather information such as rainfall and temperature every 10 minutes to collect as automatic weather network (REMDAS), Evaluation of atmospheric radiation and radiation of the bomb radiation impact assessment system to calculate the goodness (FADAS) and thicken the radiation-related information consists of real-time web technology to collect, the last robot on behalf of the human will to manage the nuclear power plant accident of the technology to prevent the concrete from the following narrative about to have.

• Journal of Digital Convergence
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• v.20 no.2
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• pp.511-523
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• 2022

This study was conducted using non-face-to-face care technology for the elderly with mild dementia and the physically weak living in the community, as various methods of care for the elderly have been raised due to the prolonged COVID-19. The purpose of this study is a similar experimental study before and after the inequality control group to compare cognitive function, daily living activities, and the degree of depression by applying an AI robot integrated management program using. The data was collected from June 4 to September 17, 2021, and the survey results of 17 people in the experimental group and 18 in the control group were analyzed using the SPSS 25.0 program. As a result of the study, the experimental group was significant in language function, activities of daily living, and depression. In particular, the results showed a decrease in moderate to severe depression and mild depression. Cognitive function was significant with long-term care grade and daily living activity with family living together. Therefore, if such non-face-to-face care technology is introduced to the elderly care field in the 'With Corona era', it is thought that it will contribute to cognitive function training and depression reduction of the elderly.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.2
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• pp.23-28
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• 2024

This study focuses on investigating and exploring solutions to problems related to the increase in the elderly population in modern society where aging is rapidly progressing. With the advent of an aging society the elderly population requires more attention and support. In response companies are attempting to provide elder care services using AI and robotic technology. These services can assist seniors not only with health management and daily life care but also with emotional health aspects. This paper analyzes various elder-related technologies available in the current market investigates their pros and cons and potential for development. The paper concludes that companies need to develop and provide more AI and robot-based elder care services to solve aging problems. Such services can alleviate social and emotional issues in an aging society enhancing the quality of life for seniors.

• Journal of The Korean Association of Information Education
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• v.17 no.3
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• pp.347-355
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• 2013

A robot assisted education has advantages to increase the students' flow degree. Especially, when we teach programming with robots we take advantages that the students can easily understand the programs because they are interested in the robots and they can see the movement of the robots. However, it is difficult to teach programming to meet our purposes because the students have reluctances to the robot programming with sensors and they take a lot of time building the robots. Therefore, in this paper I analysed the patterns of the robot programming and propose new robot programming education methods that the students need not to care to the sensors. According to this methods, we can teach the robot programming efficiently because we reduce the time to build and programming the robots.