• Science of Emotion and Sensibility
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• v.17 no.4
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• pp.61-70
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• 2014

Verbal communication has limits in the interaction between robot and man, and therefore nonverbal communication is required for realizing smoother and more efficient communication and even the emotional expression of the robot. This study derived 7 pieces of nonverbal information based on shopping behavior using the robot designed to support shopping, selected facial expression as the element of the nonverbal information derived, and coded face components through 2D analysis. Also, this study analyzed the significance of the expression of nonverbal information using 3D animation that combines the codes of face components. The analysis showed that the proposed expression method for nonverbal information manifested high level of significance, suggesting the potential of this study as the base line data for the research on nonverbal information. However, the case of 'embarrassment' showed limits in applying the coded face components to shape and requires more systematic studies.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.564-570
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• 2005

This paper provides a basis for investigating 'The Origin of Artificial Species,' as a robot can be considered as an artificial creature. To design an artificial creature, its general internal architecture is presented and its artificial chromosomes are proposed as its essential components. Rity as an artificial creature is developed in a virtual world of PC to test the world's first robotic 'chromosomes,' which are a set of computerized DNA (Deoxyribonucleic acid) codes for creating robots (artificial creatures) that can have their own personality, and can ultimately reproduce their kind, or even evolve as a distinct species. The effectiveness of the artificial chromosomes is demonstrated by implanting the genetic code into two Ritys living in a virtual world, in order to define their personality.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.78-83
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• 2002

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fully-actuated ones. However the control of an underactuated manipulator is much more difficult than that of fully- actuated robot manipulator. In this paper a complex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally a simulation for this control system is executed for evaluating the effectiveness of the designed sliding mode controller.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2004.06a
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• pp.430-432
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• 2004

Tele-operation and remote monitoring techniques are essential and important technologies for the inspection and maintenance of the radioactive waste. A mobile robot has been developed for the application of remote monitoring and inspection of nuclear facilities, where human access is limited because of the high-level radioactive environments, The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch, The extendable mast, mounted on the mobile robot, car be extended up to 8 m vertically. The robust controller for radiation is designed in focus on electric components to prevent abnormal operation in a highly radioactivated area during reactor operation, This robot system will enhance the reliability of nuclear power facilities, and cope with the unexpected radiation accident.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.509-512
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• 2002

We propose a control method for mobile robot system using the bluetooth. The control packet is defined and used for control of the mobile robot. The control packet is composed of behavior components and has reserved packets for future working. The control packet has to be simple and provide commands to the mobile robot, since the bluetooth has a limited bandwidth. The data transmission rate and the distance, which can control the mobile robot in various circumstances, for example, corridor, yard, and room are measured by some experiments.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.9
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• pp.556-558
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• 2005

The effect of high irradiation on inspection systems in a nuclear power plant can be severe, especially to electronic components such as control hoards. The effect may lead to a critical malfunction or trouble to a underwater robot for inspection and maintenance of nuclear reactor. However, if information on the total accumulated dose on the sensitive parts of the robot is available, a prediction of robot's behavior in radiation environments becomes possible. To know how much radiation the robot has encountered, a dosimeter to measure the total accumulated dose is necessary. This paper describes the development effort of a dual radiation monitoring system using a SiC diode as a dose-rate meter and a p-type power MOSFET as a dose meter. This attempt using two sensors which detect same radiation improves reliability and stability at high intensity radiation detection in nuclear facilities. It uses the concept of diversity and redundancy.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1244-1248
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. The center coordinates extraction procedures are as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.

• Journal of Construction Engineering and Project Management
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• v.6 no.2
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• pp.30-39
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• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2259-2262
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tend to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color informations, yellow and indigo. The center coordinates extraction procedures is as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences: binarization labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2007.04a
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• pp.90-95
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• 2007

Conventional bridge inspection involves the physical positioning of an inspector by the hydraulic telescoping boom of a "snooper truck" thereby providing visual access to bridge components. The process is time consuming, hazardous, and may be affected by lighting conditions, Therefore, it is of great interest that an automated and/or teleoperated inspection robot be developed to replace the manual inspection procedure. This paper describes the advanced bridge inspection robot system under development and other related activities currently undergoing at the Bridge Inspection Robot Development Interface (BIRDI). BIRDI is a research consortium with its home in the Department of Civil and Environmental System Engineering at Hanyang University at Ansan. Its primary goal is to develop advanced robot systems for bridge inspection and monitoring for immediate field application and commercialization. The research program includes research areas such as advanced inspection robot and motion control system, sensing technologies for monitoring and assessment, and integrated system for bridge maintenance. The center embraces 12 institutions, which consist of 7 universities, 2 research institutes, and 3 private enterprises. Research projects are cross-disciplinary and include experts from structural engineering, mechanical engineering, electronic and control engineering. This research project will contribute to advancement of infrastructure maintenance technology, enhancement of construction industry competitiveness, and promotion of national capacity for technology innovation.