• 로봇학회논문지
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• 제5권1호
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• pp.7-13
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• 2010

This paper presents the sound-based emotion estimation method and the growing HRI (human-robot interaction) system for a Mon-E robot. The method of emotion estimation uses the musical element based on the law of harmony and counterpoint. The emotion is estimated from sound using the information of musical elements which include chord, tempo, volume, harmonic and compass. In this paper, the estimated emotions display the standard 12 emotions including Eckman's 6 emotions (anger, disgust, fear, happiness, sadness, surprise) and the opposite 6 emotions (calmness, love, confidence, unhappiness, gladness, comfortableness) of those. The growing HRI system analyzes sensing information, estimated emotion and service log in an edutainment robot. So, it commands the behavior of the robot. The growing HRI system consists of the emotion client and the emotion server. The emotion client estimates the emotion from sound. This client not only transmits the estimated emotion and sensing information to the emotion server but also delivers response coming from the emotion server to the main program of the robot. The emotion server not only updates the rule table of HRI using information transmitted from the emotion client and but also transmits the response of the HRI to the emotion client. The proposed system was applied to a Mon-E robot and can supply friendly HRI service to users.

• 로봇학회논문지
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• 제17권2호
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• pp.159-163
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• 2022

A linearly moving structure in the area where the friction force is dominant - such as ducts filled with grease in the nuclear power plant - experiences increase in friction since the contact surface gets larger as the structure proceeds. To solve this problem is critical for the pipe inspection robot to investigate further area and this makes the system more energy-efficient. In this paper, we propose a passively growing sheath that can be added to linearly moving structures using zipper mechanism. The mechanism enables the linearly moving structures to maintain rolling contact condition against external environment, which provides substantial reduction in kinetic friction. To analyze the effect of the mechanism's head shape, we establish a physical model and compare to the experimental results. Finally, we have shown that the passively growing sheath can be successfully applied to the pipe inspection robot for the nuclear power plant.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.134-141
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• 2003

A major research issue associated with service robots is the creation of an environment recognition system for mobile robot navigation that is robust and efficient on various environment situations. In recent years, intelligent autonomous mobile robots have received much attention as the types of service robots for serving people and industrial robots for replacing human. To help people, robots must be able to sense and recognize three dimensional space where they live or work. In this paper, we propose a three dimensional environmental modeling method based on an edge enhancement technique using a planar fitting method and a neural network technique called "Growing Neural Gas Network." Input data pre-processing provides probabilistic density to the input data of the neural network, and the neural network generates a graphical structure that reflects the topology of the input space. Using these methods, robot's surroundings are autonomously clustered into isolated objects and modeled as polygon patches with the user-selected resolution. Through a series of simulations and experiments, the proposed method is tested to recognize the environments surrounding the robot. From the experimental results, the usefulness and robustness of the proposed method are investigated and discussed in detail.in detail.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.502-504
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• 2004

With rapidly growing of computer and internet technology, Internet-based tote-operation of robotic systems has created new opportunities in resource sharing, long-distance learning, and remote experimentation. In this paper, remote control system of a mobile robot through the internet has been designed. The internet users can access and command a mobile robot in the real time, receiving the robot's sensor data. The overall system has been tested and its usefulness shown through the experimental results.

• 대한의용생체공학회:의공학회지
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• 제30권4호
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• pp.271-278
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• 2009

Recently, robot research and development was interesting the inside and outside of the country. Medical robot surgery showed diverse advantages according to advanced technical robot research. Also the academic society, research institute and industry showed concerning to the medical robot system. There is a growing need to introduce medical research for aging society. The surgical landscape is quickly changing because of the major driving force of robotics. Robot system and biomedical engineering research as defined a new engine of development show present ways of future revitalization of medical robot system. Medical robot system will be even more utilized when we keeps trying to combine high biomedical technique, IT research, and robot technique. In this review article, we begin with a short historical review of medical robotics, followed by an overview of clinical applications where robots have been applied.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 추계학술대회
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• pp.889-891
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• 2009

로봇 어플리케이션의 활용도는 사회 전반에서 점차 확대되고 있지만 로봇들의 컴퓨팅 자원 차이로 인해 한 로봇에서 다양한 어플리케이션을 실행하기는 힘든 실정이다. 본 논문에서는 로봇이 주변장치와의 자원 공유를 통해 자원의 제약을 극복하는 프레임워크를 제안한다. 프레임워크는 협업에 요구되는 공통 구성 요소들을 정의한다. 또한 네트워크로 연결된 로봇과 다양한 장치의 예시를 통해 프레임워크의 동작 흐름을 보인다.

• 대한기계학회논문집A
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• 제33권10호
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• pp.1029-1037
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• 2009

Recently, the technologies of mobile robots have been growing rapidly in the fields such as cleaning robot, explosive ordnance disposal robot, patrol robot, etc. However, the researches about the autonomous underwater robots have not been done so much, and they still remain at the low level of technology. This paper describes a model of 3-joint (4 links) fish robot type. Then we calculate the dynamic motion equation of this fish robot and use Singular Value Decomposition (SVD) method to reduce the divergence of fish robot's motion when it operates in the underwater environment. And also, we analysis response characteristic of fish robot according to the parameters of input torque function and compare characteristic of fish robot with 3 joint and fish robot with 2 joint. Next, fish robot's maximum velocity is optimized by using the combination of Hill Climbing Algorithm (HCA) and Genetic Algorithm (GA). HCA is used to generate the good initial population for GA and then use GA is used to find the optimal parameters set that give maximum propulsion power in order to make fish robot swim at the fastest velocity.

• 한국정보과학회논문지:소프트웨어및응용
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• 제36권1호
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• pp.21-29
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• 2009

지능형 서비스 로봇(Intelligent Service Robots)이란 스스로 주변 환경을 모니터링 하고, 문제 상황 발생시 해결 방안을 마련하여 사용자에게 적절한 서비스들을 제공해 주는 로봇을 말한다. 그러나 로봇이 접할 수 있는 다양한 환경과 상황, 문제들을 미리 예측하여 필요한 모든 기능들을 내부에 포함시키기는 어렵다. 로봇 내부에는 환경에 맞는 필요한 기능들만 가지도록 하고, 필요에 따라 새로운 기능들을 증식 시켜 줄 수 있는 자가 성장 소프트웨어(Self-Growing Software)를 개발함으로써 이러한 문제점을 해결할 수 있다. 본 논문은 자가성장 소프트웨어가 외부로부터 필요 기능 수행을 위한 서브아키텍처(컴포넌트의 조합 패턴)의 획득을 브로커를 통해 수행 할 때, 기능적인 측면뿐 아니라 품질특성과 환경을 고려하여 적절한 서브아키텍처를 선택하는 방법에 관한 것이다. 사용자의 품질 요구를 고려하여 기능수행에 가장 적합한 서브아키텍처를 추론하기 위해 사용품질요구(Quality-Attributes In Use) 온톨로지를 구축하였고, 컴포넌트 조합 선택을 위해 추상화된 레벨 선택 및 구체적 레벨 선택의 2단계 선택 기법을 개발하였다 추상화된 레벨에서는 상위단계 목표를 기반으로 서브아키텍처의 특성들을 추론하고, 구체적 레벨에서는 컴포넌트 자체의 사용품질요구에 부합하는 특성들을 기반으로 실제 서브아키텍처를 검색한다. 이러한 방법을 통해 사용자의 목표나 상황에 따라 달라지는 품질 요구사항을 반영하여 서비스를 제공할 수 있다. 또한, 로봇의 기능 증식 시에 사용자의 목표에 좀 더 부합하는 기능 선택이 가능하고, 사용자의 요구와 소프트웨어 기능 표현 및 해석상의 차이를 극복할 수 있다.

• 정보처리학회논문지A
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• 제17A권5호
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• pp.249-258
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• 2010

로봇 어플리케이션의 활용도는 사회 전반에서 점차 확대되고 있지만 로봇들의 컴퓨팅 자원 차이로 인해 한 로봇에서 다양한 어플리케이션을 실행하기는 힘든 실정이다. 본 논문에서는 로봇이 주변 장치와의 자원 공유를 통해 자원의 제약을 극복하는 프레임워크를 제안한다. 프레임워크는 협업에 요구되는 공통 구성 요소들을 정의하고 어플리케이션을 쉽게 제작할 수 있는 API를 제공한다. 로봇과 다른 장치가 네트워크로 연결된 환경에서 동작하는 로봇을 이용한 체조 학습 어플리케이션의 예시를 통해 프레임워크의 동작 흐름을 보인다.

• 로봇학회논문지
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• 제18권2호
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• pp.216-224
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• 2023

Guide robots that provide services in public places have recently emerged as a non-face-to-face solution with the spread of COVID-19 and are growing. However, most guide robots provide only the same level of intelligence and the same interaction in different and changing environments. Therefore, its usefulness is limited and customers' interest is quickly lost. To solve this problem, it is necessary to develop social intelligence that can improve the robot's environment and situational awareness performance, and to continuously maintain customer interest by providing personalized and situational services. In this study, we developed guide robot services based on social HRI components that provides multi-modal context-aware. We evaluated service usefulness by measuring user satisfaction and frequency of use of the service through the survey. We analyzed the service quality attributes to identify the differentiating factors of guide robot based on social HRI components.