• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.886-889
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• 2003

In this paper a design of educational robot based on a PC and/or a microprocessor is discussed. The educational robot has 5 DOF and Is made with Swiss Mini Servomotor and Motor Controller IC LM629N. Also, a GUI(Graphical User Interface) is programmed by Visual Basic. This system is completed to consider control properties of the educational robot with 5-DOF that can be changed the parameter of controller by software.

• The Journal of Korean Association of Computer Education
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• v.16 no.6
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• pp.111-120
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• 2013

Programming novices have various difficulties when they learn C language for the first time. Novices have a large burden for understanding of a C language grammar, and have a tendency to focus on the grammar rather than problem solving. Moreover, it requires programming domains to arouse student's interest for software development. This paper presents a programming environment for C languages education focusing on a problem solving. To this end, this paper defines Tiny-VPL that is a simple visual programming language for NXT robot programming and presents robot programming environment using Tiny-VPL. This paper also presents an environment for NXT robot programming using Mini-C language which is a subset of C language. For the purpose of helping to understand the C syntax and semantics, the visual and interactive conversion system of Tiny-VPL to Mini-C is provided. Our programming environment can arouse student's interest through robot programming and can be used effectively for C language education focusing on problem solving with graphical and interactive conversion of the visual language Tiny-VPL to the textual language Mini-C.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.31-36
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• 1992

This paper describes the development of a 'General-purpose ETRI MAP interface module' (GEM) for a Mini-MAP network. GEM operates as a Mini-MAP node in our FA system. To communicate between GEM and programmable devices such as PLC, CNC, and robot, RS232C is used, which is a traditional method. A Mini-MAP host system controls and monitors programmable devices via GEM. The Mini-MAP function of GEM is implemented and tested on the basis of the MAP V3.0.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.251-256
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• 1994

Integration of intelligent robot workcell is now a hot issue in CIM and robotics area. This piper dealt with relatively low-level essential topics, i.e., multi-robot coordination and real-time communication for the integration of intelligent robot workcell. For the coordination of multi-robot system, the tightly-coupled coordination is proposed using the various sensors. In order to handle the numerous communication data, time-critical communication network (Field-bus) is introduced and investigated. Finally, intelligent robot workcell is suggested using the Mini-MAP and Field-bus.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.755-760
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• 1990

In this paper, the Mini-MAP network interface units are implemented for the IBM PC, general purpose, PLC, and robot respectively. The token bus controller, MC68824 is used to realize the IEEE 802.4. A protocol for the message exchanges between some automated devices called MMS is implemented where 76 services of total 86 MMS services are included.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.10
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• pp.1195-1200
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• 2013

In recent years, variable stiffness actuation has attracted much attention because interaction between a robot and the environment is increasingly required for various robot tasks. Several variable stiffness actuators (VSAs) have been developed; however, they find limited applications owing to their size and weight. For realizing their widespread use, we developed a compact and lightweight mini-VSA. The mini-VSA consists of a control module based on an adjustable moment arm mechanism and a drive module with two motors. By controlling the relative motion of cams in the control module, the position and stiffness can be simultaneously controlled. Experimental results are presented to show its ability to change stiffness.

• Journal of Computing Science and Engineering
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• v.2 no.4
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• pp.321-338
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• 2008

This paper presents a Modified Multiple Depth First Search algorithm for the exploration of the indoor environments occupied with obstacles in random distribution. The proposed algorithm was designed and implemented to employ one or a team of Khepera II mini robots for the exploration process. In case of multi-robots, the BlueCore2 External Bluetooth module was used to establish wireless networks with one master robot and one up to three slaves. Messages are sent and received via the module's Universal Asynchronous Receiver/Transmitter (UART) interface. Real exploration experiments were performed using locally developed teleworkbench with various autonomy features. In addition, computer simulation tool was also developed to simulate the exploration experiments with one master robot and one up to ten slaves. Computer simulations were in good agreement with the real experiments for the considered cases of one to one up to three networks. Results of the MMDFS for single robot exhibited 46% reduction in the needed number of steps for exploring environments with obstacles in comparison with other algorithms, namely the Ants algorithm and the original MDFS algorithm. This reduction reaches 71% whenever exploring open areas. Finally, results performed using multi-robots exhibited more reduction in the needed number of exploration steps.

• ETRI Journal
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• v.14 no.4
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• pp.165-178
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• 1992

본 고는 Mini-MAP 네트워크의 접속장치를 구현한 내용이다. 이 접속장치는 공장자동화 네트워크 시스팀에서 Mini-MAP 노드로 동작하며, PLC, CNC, robot와 같은 프로그래머블 디바이스를 MAP 네트워크 환경에 접속하여 원격제어가 가능하도록 하는 네트워크 구축을 위한 핵심 장치이다. 이 접속장치는 MAP 3.0의 Mini-MAP으로 구현하고 실현하였다. MAC 부계층은 Token Bus Controller(TBC)가 담당하며, LLC 부계층은 class 3로 설계하였고, MMS는 implementaton class MAP3를 설계하였다. 구현된 모든 소프트웨어는 Mini-MAP의 실시간 정보 전송 성능을 보증하기 위해 real-time 멀티 태스크 OS로 운영하도록 설계하였으며, 보드에 firmware로 탑재하였다. 프로토콜 분석기를 이용하여 LLC 수준의 오류검출과 전송기능을 확인하였으며, MMS는 적합성 시험을 이미 받은 MMS를 탑재한 상용 제품과의 통신 실험을 통해 적합성을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.1
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• pp.8-17
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• 1988

This paper describes a robot simulator which enables a user to model a robot geometrically, and to evaluate performances of various robot control algorithms as well as to obtain physical understanding of robot and acruator dynamics. To achieve these goals, the kinematics and dynamics of a robot and interactive 3-D computer graphics which visulaize the motion of the robot were studied. The developed robot simulator consists of two parts:a dynamic simulator and a graphic simulator. To evaluate the robot simulator PUMA-560, Stanford arm, and RHINO robot were considered and a DG MV/10000 super mini-computer and an IBM-PC/XT personal computer were used.