• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.10
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• pp.527-536
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• 2016

The purpose of this study was to explore the components of the geriatric robot pet, which might be helpful in caring for elderly people in the future. Focus group interview-with two focus groups-was performed between August 2014 and December 2014. Study participants were 13 geriatric experts from nursing, medicine, social work, and physical/occupational therapy. All interview data were transcribed, followed by debriefing and a qualitative content analysis. Three main themes emerged: acknowledgment of the usefulness of geriatric robot pet, establishment of elderly-centered appearance, and the functions of the robot pet to meet the needs of elders and family members. The robot pet was considered to be useful to elders who live alone since they can benefit from companionship and care provided by the robot pet. Geriatric robot pet needs to be manageable in size and weight, like a small dog. Moreover, a function that allows for interaction with and monitoring the elderly would be beneficial. The baseline elements that could guide further development of contents for the Korean geriatric robot pet were proposed from the results of FGI. Studies that validate these elements are necessary.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.10a
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• pp.320-324
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• 2003

Recently, Virtual reality parts is applied in various fields of industry. In this paper we got under control motion of reality robot from interface manipulation in the virtual world. This paper created virtual robot using of 3D Graphic Tool. And we reappeared a similar image with reality robot put on texture the use of components of Direct 3D Graphic. Also a reality robot and a virtual robot is controlled by joystick. The developed robot consists of robot controller with vision system and host PC program. The robot and camera can move with 2 degree of freedom by independent remote controlling a user friendly designed joystick. An environment is recognized by the vision system and ultra sonic sensors. The visual mage and command data translated through 900MHz and 447MHz RF controller, respectively. If user send robot control command the use of simulator to control the reality robot, the transmitter/recever got under control until 500miter outdoor at the rate of 4800bps a second in Hlaf Duplex method via radio frequency module useing 447MHz frequency.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.243-246
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• 1996

Modular robot manipulator is a robotic system assembled from discrete joints and links into one of many possible manipulator configurations. This paper describes the design method of newly developed modular robot manipulator and the methodology of a task based reconfiguration of it. New locking mechanism is proposed and it provides quick coupling and decoupling. A parallel connection method is devised and it makes modular robot manipulator working well and the number of components on each module reduced. To automatically determine a sufficient or optimal arrangement of the modules for a given task, we also devise an algorithm that automatically generates forward and inverse manipulator kinematics, and we propose an algorithm which maps task specifications to the optimized manipulator configurations. Efficient genetic algorithms are generated and used to search for a optimal manipulator from task specifications. A few of design examples are shown.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.757-763
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• 2002

A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force from it. A control algorithm of haptic interface has been studied to improve the robustness and stability to uncertain dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model fur a 6 DOF haptic device was proposed to from a real time control system, which does not include nonlinear components. LQC/LTR scheme was adopted in this paper for the compensation of un-modeled dynamics. The recovery of the farce from the remote robot at the haptic interface was demonstrated through the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1162-1167
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• 2003

This paper presents a simple sensor network consists of a group of sensors, RF components, and microprocessors, to perform a distributed sensing and information transmission using wireless links. In the proposed sensor network, though each sensor node has a limited capability and a simple signal-processing engine, a group of sensor nodes can perform a various tasks through coordinated information sharing and wireless communication in a large working area. Using the capability of self-localization and tracking, we show the sensor network can be applied to localization and navigation of mobile robot in which the robot has to be coordinated effectively to perform given task in real time.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.720-724
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• 2004

This paper introduces a new type of driving mechanism for rescue robot that has a variable geometry single-track which satisfies the pre-conditions of rescue robot. This mechanism is a symmetric configuration that has dual directions and prepares against overturn. By using transformation, it can reduce the energy consumption in steering and rotating. And also it maximizes the ability to overcome obstacles, like steps. It is designed to make the size of robot compact and to have the low center of gravity in driving on steps. Finally, we optimized the design variables of components determining the shape of reverse-trapezoid frame to enhance the adaptability to 4 phases of climbing steps.

• ETRI Journal
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• v.32 no.5
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• pp.646-656
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• 2010

A component is a reusable and replaceable software module accessed through its interface. Component-based development is expected to shorten the development period, reduce maintenance costs, and improve program reusability and the interoperability of components. This paper proposes a new robot software component platform in order to support the entire process of robot software development. It consists of specifications of a component model, component authoring tool, component composer, and component execution engine. To show its feasibility, this paper presents the analysis results of the component's communication overhead, a comparison with other robotic software platforms, and applications in commercial robots.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.68-73
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• 2009

The UPnP is middleware architecture that supports dynamic distributed computing environment. It has many good features for possible use as middleware in robot system integration. There is a need for bulky binary data transmission between distributed robot S/W components. Since the UPnP utilizes SOAP protocol for message transmission, however, it is not efficient to send bulky binary data. In order to overcome this weak point, this paper proposes UPnP-MTOM, MTOM (Message Transmission Optimization Mechanism) implementation over UPnP, as an efficient way for bulky binary data transmission with UPnP messages. This paper presents our implementation method and experimental results of the UPnP-MTOM implementation.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.10
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• pp.1217-1223
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• 2011

In this paper, the dielectric barrier discharge plasma generator has been studied for producing of the high concentration ozone gas. Proposed plasma generator has the structure of extremely narrow discharge air gap(0.15mm) in order to realize the high electric field discharge. We investigate the performance of the dielectric barrier discharge plasma generator experimentally and the results show that the generator has very high ozone concentration characteristics of 13.7[wt%/$O_2$] at the oxygen flow rate of 1[${\ell}$/min] of each discharge cell. So, we confirmed that the proposed plasma generator is suitable for the high concentration ozone production facility of the eco-friendly ozone functional water cleaning system in the electronic components cleaning process.