• International Journal of Advanced Culture Technology
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• v.10 no.1
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• pp.265-273
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• 2022

The aim of this study is to investigate the relationship between the object ability, basic movement ability, and mathematical ability of young children. Next, through this study, the influence of young children's object manipulation ability and basic movement ability on mathematical ability was investigated. The subjects of this study were 80 children aged 5 years old. As a research tool, the non-mobile movement and mobile movement, the basic movement development test scale, and the young children's picture-mathematical ability test scale were used. This survey was conducted from October 2018 to January 2019. For data analysis, correlation analysis and hierarchical multiple regression analysis were performed using the spss program. As a result of the study, it was found that there was a significant positive correlation between the non-mobile ability, movement ability, object manipulation ability and mathematical ability of young children. It was found that young children's ability to manipulate objects and non-movement abilities had positive effect on their mathematical abilities. The movement ability of young children had both negative and positive effects on mathematical ability, but it was not found to be statistically significant. This study is meaningful in that it investigated the effects of non-mobile movement, mobile movement ability, and object manipulation ability, which are sub-capabilities of basic movement ability, which had not been investigated so far, on the mathematical ability of young children.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.64.3-64
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• 2002

$\textbullet$ Introduction to 3-Dimensional Nanorobotic Manipulation System $\textbullet$ Concept Design and Operating Principle $\textbullet$ Analytic Model for target System $\textbullet$ Fabrication and Experimental Setup of 3-DOF Mobile Microrobot $\textbullet$ Experimental Works or 3-DOF Mobile Microrobot

• The Journal of Korea Robotics Society
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• v.16 no.4
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• pp.313-318
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• 2021

This paper proposes a new method to generate inverse reachability maps that are more efficient for mobile manipulators than the previous algorithms. The base positioning is important to perform the given tasks. Using the inverse reachability method, we can know where to place the robot's base for given tasks. For example, the robot successfully performed the task with relocation, even when the target is initially in a low manipulability area or outside the workspace. However, there are some inefficiencies in the online process of the classical inverse reachability method. We describe what inefficiencies appear in the online phase and how to change the offline process to make the online efficient. Moreover, we demonstrate that the proposed approach achieves better performance than usual inverse reachability approaches for mobile manipulation. Finally, we discuss the limitations and advantages of the proposed method.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.774-779
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• 2010

This paper analyzes the fundamental dynamic motion of a robotic arm and body mechanism on the platform of a mobile manipulation system. For the purpose, we reveal the dynamic coefficients of a robotic arm and body mechanism, and identify their dominant behaviors in an exemplar trajectory following simulation. We also discuss on their influence for the motion of the body, shoulder, and elbow joints. It is finally expected that this analysis is helpful for effective manipulation tasks by using mobile manipulation systems with an arm and body mechanism.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.10
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• pp.32-39
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• 2009

Most mobile devices provide limited input interfaces in order to maximize the mobility and the portability. In this paper, the author proposes a small cubic-shaped tangible input interface which tracks the location, the direction, and the velocity using MEMS sensor technology to overcome the physical limitations of the poor input devices in mobile computing environments. As the preliminary phase for implementing the proposed tangible input interface, the prototype design and implementation methods are described in this paper. Various experiments such as menu manipulation, 3-dimensional contents control, and sensor data visualization have been performed in order to verify the validity of the proposed interface. The proposed tangible device enables direct and intuitive manipulation. It is obvious that the mobile computing will be more widespread and various kinds of new contents will emerge in near future. The proposed interface can be successfully employed for the new contents services that cannot be easily implemented because of the limitation of current input devices. It is also obvious that this kind of interface will be a critical component for future mobile communication environments. The proposed tangible interface will be further improved to be applied to various contents manipulation including 2D/3D games.

• Journal of the Ergonomics Society of Korea
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• v.30 no.1
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• pp.265-273
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• 2011

Objective: The aim of this study is to investigate the attributing factors influencing usability of the mobile phones specifically designed for the elderly users. Efforts to identify factors that cause usability problems for the elderly users in using mobile phones can provide the groundwork for changes aimed at usability enhancement and design of interfaces of mobile phones. Background: It became important to understand the behaviors and tendencies of the elderly in communication as the society became older. The problems in digital divide is contributed to mainly lack of understanding in terms of the use pattern of the elderly and lack of consideration of their characteristics in designing user interfaces of most ICT devices. Method: A total of 30 elderly users who were over 65 years in age participated in usability evaluation test experiment and performed seven different tasks using a widely accepted model of universally designed mobile phone. Their performance was compared with that of contrast group that consisted of 10 younger participants who were on their 20s. Results: It was found that the elderly users had hard times in using mobile phones, especially in keypad manipulation among search, understanding, and manipulation subtasks. Conclusion: Older users seemed to have difficulty in all the subtasks of search, recognition, and manipulation. It was suggested that designers of mobile phones need to give careful consideration into designing visual interfaces for search tasks and keypads for easier control and input for the elderly users. Application: The study is expected to provide guidelines for the universal design of mobile phones and their interfaces for enhancing usability of the mobile phone for elderly users.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2051-2056
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• 2003

In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.3
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• pp.507-514
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• 2022

Mobile manipulators are getting lime light in the field of home automation due to their mobility and manipulation capabilities. In this paper, we developed a small size manipulator system that can be mounted on a mobile robot as a preliminary study to develop a mobile manipulator. The developed manipulator has four degree-of-freedom. At the end-effector of manipulator, there are a camera and a gripper to recognize and manipulate the object. One of four degree-of-freedom is linear motion in vertical direction for better interaction with human hands which are located higher than the mobile manipulator. The developed manipulator was designed to dispose the four actuators close to the base of the manipulator to reduce rotational inertia of the manipulator, which improves stability of manipulation and reduces the risk of rollover. The developed manipulator repeatedly performed a pick and place task and successfully manipulate the object within the workspace of manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2731-2736
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• 2003

In highly informative, perception-rich environments that we call Omniscient Spaces, robots interact with physical objects which in turn afford robots the information showing how the objects should be manipulated. Object manipulation is commonly believed one of the most basic tasks in robot applications. However, no approaches including visual servoing seem satisfactory in unstructured environments such as our everyday life. Thus, in Omniscient Spaces, the features of the environments embed themselves in every entity, allowing robots to easily identify and manipulate unknown objects. To achieve this end, we propose a new paradigm of the interaction through Radio Frequency Identification (RFID). The aim of this paper is to learn about RFID and investigate how it works in object manipulation. Specifically, as an innovative trial for autonomous, real-time manipulation, a likely mobile robot equipped with an RFID system is developed. Details on the experiments are described together with some preliminary results.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.526-530
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• 2009

In this paper, we propose a contextual information and physics-based contents manipulation method for a mobile augmented reality authoring system. Due to proliferation of ubiquitous computing in information technology(IT) and advances in sensor technology and mobile devices, AR systems that were only possible in PC can be now feasible on mobile devices. In addition, many AR systems have been proposed that utilize sensory data and reflect them into. Thus, the proposed method provides appropriate visual cues for 3D manipulations of the augmented contents. In addition, uses can manipulate the augmented contents with sensory information through the assignment of sensors to the contents. Moreover, it supports not only a physics-based contents loader that enables users to specify physics properties into the contents, but also the transform matrix between AR and physics engine coordinates. To show the feasibility of the proposed method, we implemented a mobile augmented reality authoring system. We believe that the proposed method can be a key factor for context-aware mobile AR authoring system.