• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.149.4-149
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• 2001

In this paper, the multiple micro robot soccer playing system is introduced at first. Learning and evolving in artificial agents is a difficult problem, but on the other hand a challenging task. In our laboratory, this soccer studies mainly centered on single agent learning problem. The construction of such experimental system has involved lots of kinds of challenges such as robot designing, vision processing, motion controlling. At last we will give some results showing that the proposed approach is feasible to guide the design of common agents system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.107.6-107
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• 2002

$\textbullet$ An autonomous mobile robot was controlled through the Internet. $\textbullet$ For the direct control, the feedback data should be provided properly. $\textbullet$ Therefore, an efficient communication scheme should be defined. $\textbullet$ To overcome the transmission delay, the highly abstracted message format was used. $\textbullet$ As the feedback data, the real image sequences may suffer the transmission delay or loss of content. $\textbullet$ To resolve this, the feature information was used to construct the synthetic feedback information. $\textbullet$ By doing this, the operator could feel the hands-on control with an Internet-based robot.

• 한국통신학회논문지
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• 제17권8호
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• pp.856-866
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• 1992

본 논문은 협력작업을 수행하는 다중로보트의 동작결정을 지원하는 그래픽 시뮬레이션 시스템을 제안하였으며, 다중로보트 협력시스템을 위한 시뮬레이션 소프트웨어의 구성을 위하여 두가지의 문제를 제시하였다. 첫째, 다중로보트의 동작은 원하는 대상물의 경로와 대상물과의 고정관계를 만족하는 조건식을 이용하여 구하였으며, 다양하게 변하는 대상물의 경로를 이루어내는 다중로보트의 동작을 알아내기 위하여 한 대의 주 로보트의 동작을 이용하는 주-종방식 보다 로보트들의 동작 수정이 용이한 대상물의 경로를 이용하는 방식을 채택하였다. 또 하나의 문제는 로보트시스템의 환경변화에 대한 적응력을 높이고 소프트웨어 개발 부담을 줄이기 위한 방법으로 객체지향 프로그래밍 기법을 이용한 로보트 응용 프로그래밍 환경의 기본적인 객체들을 제시하였다. 다중로보트 시스템에 적용된 객체지향 프로그래밍 기법은 소프트웨어의 신뢰성과 재사용성 및 확장성 등의 장점들을 제공하며, 또한 로보트 응용 프로그래밍의 다양한 요구에 대응하기 위한 구조적 개념을 제공한다.

• 한국정밀공학회지
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• 제30권2호
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• pp.185-193
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• 2013

The construction automation provides safer and more productive working environment of construction site. We developed the automation system of bolting operation for high-rise building in the previous research. However, this system has a weak point that the operation has to be processed in the air with the operator in the cabin. This weakness leads operators to considerably dangerous environment. Therefore, we proposed the tele-operation system in order to supplement this weak point. Furthermore, it leads more effective operation by application of more intuitive controller; spherical coordinate based Master Arm than the joystick in the Mobile Bolting Robot system. These proposed system and controller were evaluated based on Fitts' law paradigm, which is a general estimation method of speed accuracy of task. Through the experimental results, new developed tele-operation system is compared with the actual operation and it discloses distinctions between two systems. As a result, it is found that new developed teleoperation system can be possible to replace the operation in the cabin.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.445-452
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• 2012

With the increasing number of high-rise and large-scale buildings, modern buildings are becoming intelligent, and are incurring high construction costs and requiring careful maintenance. Maintenance works for high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. The resulting accidents may produce very high social and economic losses. To address this problem, herein, this paper proposes robotic building maintenance system using multi-robot concept, in specific, cleaning a building facade which is directly subjected to minimize human labor; that improves the process efficiency and economic feasibility. The sensor for detecting contamination of building's outer-wall glass is proposed; Kalman filter was used for estimating robots' status with the contamination of the window glass. Task allocation of the sensor based multi-robots for an effective way of task execution is introduced and the feasibility was verified through the simulations.

• 로봇학회논문지
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• 제16권3호
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• pp.199-206
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• 2021

The robot is an effective means to perform repetitive tasks quickly and accurately. It could be more effective in dangerous environments where human is difficult to access. The construction site is a dangerous environment with a high possibility of industrial accidents where heavy work is frequently carried out at a high place. In particular, an accident in the construction site is highly likely to lead to a severe disaster. Of course, various technologies are being developed to monitor the safety of workers in construction sites and prevent accidents, but there is a limit to eliminate the risk of accidents. Therefore, it is necessary to make efforts to replace workers exposed to dangerous environments with equipment or robots that could be controlled remotely in a more active way. In this study, Remote Precise Installation System was proposed to replace the workers exposed to the risk of accident at a high place during the bridge construction. Also, the conceptual design and analytical reviews of this system were carried out. Suppose Remote Precise Installation System is developed according to the derived concept and the target performance. In that case, this system is expected to be applied as a technology that can effectively replace the workers at the bridge construction site.

• 한국정보통신학회논문지
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• 제13권9호
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• pp.1964-1972
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• 2009

본 논문은 4족 보행로봇 및 MSRS를 이용한 분산 웹 환경 로봇 서비스 개발환경을 제안하였다. 로봇 서비스 개발 환경은 고수준의 복잡한 로봇어플리케이션이 분산 웹 환경에서 동작 가능하게 하기 위하여, 마이크로소프트사의 MSRS를 이용해 로봇 기능들을 네트워크 노드에서 실행되는 서비스들로 구현하였다. 제안된 개발환경은 4족 보행 로봇인 제니보를 로봇플랫폼으로 선정하여 구현되어 졌다. 실험을 통해 개발된 로봇 서비스들은 분산 웹 환경 하에서 동적인 실행, 구성 및 원격 모니터링이 가능함을 보여주었다. 또한 개발된 로봇 서비스들을 복잡한 로봇어플리케이션을 쉽게 제작할 수 있도록 하는 비주얼프로그램 언어에서 사용하여 응용어플리케이션을 제작해 그 가능성을 검증하였다.

• 전기전자학회논문지
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• 제16권3호
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• pp.235-243
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• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• 한국지능시스템학회논문지
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• 제17권4호
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• pp.500-505
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• 2007

현재 휴머노이드 로봇기술은 로봇의 제작과 기술의 구현에만 초점이 맞추어져 있으며, 로봇 개발을 위한 분석, 설계, 구현, 통합 등의 개발 메커니즘들에 대한 개방화된 방법론은 개발되어 않았다는 문제점이 있다. 본 논문에서는 현재까지 나타난 휴머노이드 로봇의 문제점을 극복하고, 미래형 로봇의 발전방향인 "개방화", "네트워크화", "모듈화" 개념을 만족하는 새로운 구조를 설계하기 위한 인간 팔의 형태학적 신경학적 모델을 제시하고 이를 기반으로 로봇의 각 관절 설계와 기구학적 모델에 의한 휴머노이드 로봇 팔의 설계 방법을 제시하였다.

• 드라이브 ㆍ 컨트롤
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• 제13권2호
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• pp.26-33
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• 2016

This paper describes of a mathematical and real experimental analysis for a walking robot which uses servo valve driven hydraulic actuator. Recently, many researchers are developing a walking robot based on hydraulic systems for the difficult and dangerous missions such as walking in the rough terrain and carrying a heavy load. In order to design and control a walking robot, the characteristics of the hydraulic actuators in the joint through the view point of walking such as controllability and backdrivability must be analyzed. A general mathematical model was used for analysis and proceeds to position and pressure changes characteristic of the input and backdrivability experiment. The result shows the actuator is a velocity source, had a high impedance, the output stiffness is high in contact with the rigid external force. So stand above the controller and instruments that complement the design characteristics can be seen the need to apply a hydraulic actuator in walking robot.