• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.339-346
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• 2022

To operate in real environment, humanoid robots should be able to react to unknown disturbances. To deal with disturbances, various robust control algorithms have been developed for decades. But for collaborative works such as teleoperation system, a compliance control can be the better solution for disturbance reactions. In this paper, a center of mass (CoM) compliance control algorithm for humanoid robots is proposed. The proposed algorithm is based on the state observer and positive feedback of disturbance. With the state observer based on humanoid CoM control performance model, disturbance in each direction can be observed. The positive feedback of disturbances to the reference CoM trajectory enables compliant motion. The main contributions of this algorithm are achieving compliance independently in each axis and maintaining balance against external force. Through dynamic simulations, the performance of the proposed method was demonstrated. Under two types of disturbance conditions, humanoid robot DYROS-JET reacted with compliant motion via the proposed algorithm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.2
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• pp.631-638
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• 2017

In the age of the Fourth Industrial Revolution, lifestyle and industrial structures are faced with evolution from IT-based automation to the intelligent stage, demanding talents with software capabilities in various fields. Reflecting these demands, the government has enhanced basic software education for non-majors in elementary and secondary schools as well as universities. In this study, the software convergence education of Non-Majors is proposed to improve the general problem solving ability based on computational thinking and the software convergence ability in the field of their own by developing robot activity. The subjects of this study were 91 students, who were composed of various majors. The class was designed with computing thinking, convergence elements, and creative robot activity. The study was conducted for 13 weeks. To examine the effects of software convergence education through the creative robot activity, this study observed changes in the students' learning outcomes, satisfaction with creative robot activities, and perceptions of other disciplines after class based on pre-diagnosis surveys. The survey asked 12 questions including an understanding of the learning contents, overall satisfaction with multidisciplinary collaborative learning, understanding of other disciplines, and self-evaluation of problem solving ability through creative robot activities, which were compared with that before the class. They answered that their ability was improved.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1609-1614
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• 2003

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. To implement the concept in collision avoidance of multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.34 no.12
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• pp.13-20
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• 2018

This research is to analyze the public cases of information facilities in terms of central circulations in multi level volumes such as atrium or court which provide visual intervention between different spaces and physical connections such as bridges. Hunt Library design balances the understood pre-existing needs with the University's emerging needs to create a forward-thinking learning environment. While clearly a contemporary structure within a traditional context of the NCSU campus, the Hunt Library provides a positive platform for influencing its surroundings. Both technical and programmatic innovations are celebrated as part of the learning experience and provide a versatile and stimulating environment for students. Public library as open spaces connecting to an interactive social domain over communities can provide variety of learning environments, or technology based labs. There are many cases of the public information spaces with dynamic networks where participants can play their roles in physical space as well as in the intellectual stimulation. In the research, new public projects provide typologies of information spaces with user oriented media. The research is to address a creative transition between the reading space and the experimental links of the integration of state-of-the-art technology is highly visible in the building's design. The user-friendly browsing system that replaces the traditional browsing with the virtual shelves classified and archived by their form, is to reduce the storage space of the public library and it is to allow more space for collaborative learning. In addition to the intelligent robot of information storages, innovative features is the large-scale visualization space that supports team experiments to carry out collaborative online works and therefore the public library's various programs is to provide visitors with more efficient participatory environment.

• Journal of the Korea Society of Computer and Information
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• v.26 no.3
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• pp.9-17
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• 2021

In this paper, an autonomous multi-agent path planning using reinforcement learning for monitoring of infrastructures and resources in a computationally distributed system was proposed. Reinforcement-learning-based multi-agent exploratory system in a distributed node enable to evaluate a cumulative reward every action and to provide the optimized knowledge for next available action repeatedly by learning process according to a learning policy. Here, the proposed methods were presented by (a) approach of dynamics-based motion constraints multi-agent path-planning to reduce smaller agent steps toward the given destination(goal), where these agents are able to geographically explore on the environment with initial random-trials versus optimal-trials, (b) approach using agent sub-goal selection to provide more efficient agent exploration(path-planning) to reach the final destination(goal), and (c) approach of reinforcement learning schemes by using the proposed autonomous and asynchronous triggering of agent exploratory phases.

• Journal of the Korea Society of Computer and Information
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• v.29 no.1
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• pp.11-19
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• 2024

Multi-agent systems can be utilized in various real-world cooperative environments such as battlefield engagements and unmanned transport vehicles. In the context of battlefield engagements, where dense reward design faces challenges due to limited domain knowledge, it is crucial to consider situations that are learned through explicit sparse rewards. This paper explores the collaborative potential among allied agents in a battlefield scenario. Utilizing the Multi-Robot Warehouse Environment(RWARE) as a sparse reward environment, we define analogous problems and establish evaluation criteria. Constructing a learning environment with the QMIX algorithm from the reinforcement learning library Ray RLlib, we enhance the Agent Network of QMIX and integrate Random Network Distillation(RND). This enables the extraction of patterns and temporal features from partial observations of agents, confirming the potential for improving the acquisition of sparse reward experiences through intrinsic rewards.

• Journal of Korea Game Society
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• v.20 no.3
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• pp.85-94
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• 2020

AI-based smart factory technologies are only increase short-term productivity. To solve this problem, collaborative intelligence combines human teamwork, creativity, AI speed, and accuracy to actively compensate for each other's shortcomings. However, current automation equipmens require high safety measures due to the high disaster intensity in the event of an accident. In this paper, we design and implement a factory safety control system that uses a depth camera to implement workers and facilities in the virtual world and to determine the safety of workers through simulation.

• The Journal of Korean Association of Computer Education
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• v.19 no.2
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• pp.87-98
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• 2016

Our study is composed of Arduino robot assembly, board connecting and collaborative programming learning, and it is to evaluate their effect on improving secondary mathematics-science gifted students' convergence capability. Research results show that interpersonal skills, information-scientific creativity and integrative thinking disposition are improved. Further, by analyzing the relationship between the sub-elements of each thinking element, persistence and imagination for solving problems, interest of scientific information, openness, sense of adventure, a logical attitude, communication, productive skepticism and so on are extracted as important factors in convergence learning. Thus, as the result of our study, we know that gifted students conducted various thinking activities in their learning process to solve the problem, and it can be seen that convergence competencies are also improved significantly.

• Cartoon and Animation Studies
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• s.49
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• pp.677-696
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• 2017

Cartoons and consequently animation are an effective way of visualizing futuristic scenarios. Here we look at how animation is becoming ubiquitous and an integral part of this future today: the cybernetic and mediated society that we are being transformed into. Animation therefore becomes a form of speech between humans and this networked reality, either as an interface or as representation that gives temporal form to objects. Animation or specifically animated films usually are associated with character based short and feature films, fiction or nonfiction. However animation is not constricted to traditional cinematic formats and language, the same way that design and communication have become treated as separate fields, however according to $Vil{\acute{e}}m$ Flusser they aren't. The same premise can be applied to animation in a networked culture: Animation has become an intrinsic to design processes and products - as in motion graphics, interface design and three-dimensional visualization. Video-games, virtual reality, map based apps and social networks constitute layers of an expanded universe that embodies our network based culture. They are products of design and media disciplines that are increasingly relying on animation as a universal language suited to multi-cultural interactions carried in digital ambients. In this sense animation becomes a discourse, the same way as Roland Barthes describes myth as a type of speech. With the objective of exploring the role of animation as a design tool, the proposed research intends to develop transmedia creative visual strategies using animation both as narrative and as an user interface.