• Journal of Electrical Engineering and Technology
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• 제12권6호
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• pp.2378-2387
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• 2017

Violinists learn to make better sounds by hearing and evaluating their own playing though numerous practice. This study proposes a new method of auditory feedback, which mimics this violinists' step and verifies its efficiency using experiments. Making the desired sound quality of a violin is difficult without auditory feedback even though an expert violinist plays. An algorithm for controlling a robot arm of violin playing robot is determined based on correlations with bowing speed, bowing force, and sound point that determine the sound quality of a violin. The bowing speed is estimated by the control command of the robot arm, where the bowing force and the sound point are recognized by using a two-axis load cell and a photo interrupter, respectively. To improve the sound quality of a violin playing robot, the sounds information is obtained by auditory feedback system applied Short Time Fourier Transform (STFT) to the sounds from a violin. This study suggests Gaussian-Harmonic-Quality (GHQ) uses sounds' clarity, accuracy, and harmonic structure in order to decide sound quality, objectively. Through the experiments, the auditory feedback system improved the performance quality by the robot accordingly, changing the bowing speed, bowing force, and sound point and determining the quality of robot sounds by GHQ sound quality evaluation system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1977-1978
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tele-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• 정보교육학회논문지
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• 제18권2호
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• pp.345-356
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• 2014

인터넷 서비스는 개방, 공유, 참여의 성격을 표방하여 인터넷 환경에 사용자가 적극적으로 참여하는 형태로 변화하고 있다. 본 연구에서는 이러한 흐름에 부응하여 기존의 로봇 프로그래밍 모형을 바탕으로 웹2.0 환경에 부합하는 긍정적인 상호작용을 촉진하기 위한 교육모형을 제안하였다. 우선 웹2.0의 환경의 특성과 이를 구현할 수 있는 교육적 도구에 대해 고찰하였고, 지금까지 연구되어 온 로봇 교육 및 로봇 프로그래밍 교육과 학습모형에 대해 살펴보고 시사점을 도출하였다. 또한 협력적 상호작용을 촉진할 수 있도록 웹2.0 도구(싸이월드, prezi, mindmeister)를 활용한 교육모형을 구안하고 이를 학습자에게 적용해보았다. 본 연구 결과 웹2.0 기반의 도구를 활용한 로봇 프로그래밍 교육이 유의미하다는 결과를 얻을 수 있었으며, 참여한 학습자 대부분은 웹2.0의 도구를 활용하는 것이 로봇 프로그래밍 과정 전반에 도움이 되었다고 평가하였다.

• 공학교육연구
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• 제19권5호
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• pp.13-24
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• 2016

The purpose of this research is to examine the characteristics of team interaction according to the creativity of team members. Research subjects to achieve this purpose included 28 students who are in engineering education in the College of Education at A University in Daejeon and have taken robot-related courses. Through first and second MBTI, and TTCT tests, the final homogeneous and heterogeneous teams were formed, and an experimental study was conducted by developing team design activity assignment. The major research results were as follows. In terms of a comprehensive view on interaction frequency, both homogeneous team and heterogeneous team suggested had the highest frequency in suggesting opinions. However, each of the team members in the homogeneous team had different communication frequency among each other while each team member in the heterogeneous team had almost similar frequency. A microscopic analysis of the communication process of homogeneous team showed that the team members' roles were divided among each other in communication. Next, according to the microscopic analysis of the heterogeneous team's communication process, the team members exchanged opinions in the beginning, talked to themselves in words that were hard to understand the meanings, and they stopped having conversations in the end. Due to such decrease in communication, two team members could not solve the confusing state of being unable to understand each other's opinions and failed to complete their assignments. The microscopic analysis demonstrated that the homogeneous team had a smooth interaction, because when one team member suggested an opinion during a conversation, other team members agreed with it through a discussion. However, the members in the heterogeneous team experienced confusion as they could not understand each other's conversation and could not overcome this problem, leading to lack of conversations.

• 한국정보전자통신기술학회논문지
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• 제13권6호
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• pp.470-476
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• 2020

본 논문에서는 인공지능 블록을 구동할 수 있도록 Edge Device와 서버를 분리하는 영상 딥러닝용 모듈 교체형 인공지능 서버의 설계와 데이터 송수신 방법을 제시한다. 영상 딥러닝용 모듈 교체형 인공지능 서버를 통해 소셜 로봇과 로봇의 플랫폼이 구동될 Edge Device 간의 종속성을 줄여 구동 안정성을 향상할 수 있다. 사용자가 소셜 로봇과의 상호작용을 위해서 인공지능 서버에 기능을 요청하면 모듈화된 기능들을 이용해 결과만을 반환받을 수 있다. 인공지능 서버에서 모듈화되어있는 기능들은 서버 관리자에 의해 모듈별로 유지 보수 및 변경이 쉽게 가능하다. 기존 서버 시스템과 비교했을 때 모듈 교체형 인공지능 서버는 수행되는 프로그램의 규모 차이와 서버 유지 보수 면에서 더 효율적인 성능을 낸다. 이를 통해 사람-로봇 간의 상호작용이 가능한 로봇 시나리오에 더 다양한 영상 딥러닝을 포함 시킬 수 있으며, 로봇 플랫폼 외에 영상 딥러닝을 위한 인공지능 서버에 적용할 때 더 효율적인 성능을 낼 수 있다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.126-129
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• 2003

The robot has recently emerged as a factor in the daily lives of humans, taking the form of a mechanical pet or similar source of entertainment. A robot system that is designed to co-exist with humans, i.e., a coexistence-type robot system, is important to be "it exists in various environments with the person, and robot system by which the interaction of n physical, informational emotion with the person etc. was valued". When studying the impact of intimacy in the human/robot relationship, we have to examine the problems that can arise as a result of physical intimacy(coordination on safety in the hardware side and a soft side). Furthermore, We should also consider the informational aspects of intimacy (recognition technology, and information transport and sharing).

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2003년도 추계종합학술대회 논문집
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• pp.447-453
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• 2003

Emotion을 이용한 컴퓨터 인공 지능, 그래픽, 로봇, 상호 작용 등 다양한 분야에 나타나고 있다. 이에 각 분야에 적용되어진 이론적 배경과, 적용의 특징, 기술 등을 본 글에서 다루고자 한다. 먼저 이론적 접근방식에 있어서는 심리학적 접근과, 사람의 감정 연구, Behavior-Bas설 접근, 생물 행동적 접근, 등이 있으며 이를 구현하기 위한 기술로는 학습 알고리즘, Neural Network 의 Self-Organizing Maps, Fuzzy Cognition Maps등이 있다. 적용 분야로는 Software Agent, Agent Robot과 Entrainment Robot 등이 있다. 본 글에서는 이들의 적용 사례들을 살펴보고 Emotion Architecture에 대해서 분석하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.552-555
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• 1996

In this paper, we present a force control of a five-axes robot, using an impedance model. Tasks such as assembly, grinding, and deburring, which involve extensive contact with the environment, are better handled by controlling the forces of interaction between the manipulator and the environment. The five-link articulated robot is equipped with a wrist force sensor which consists of an array of strain gauges and can delineate the three components of the vector force along the three axes of the sensor coordinate frame, and the three components of the torque about these axes. For the precise control of the contact force, impedance models of a robot and the environment are defined. Experimental results are shown.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.308-310
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• 1994

Position control for robot manipulator may not suffice when any contacts are made between the end-effector and various environments. Therefore interaction forces must be controlled in tasks performed by robot manipulator. In general, there are two types of force control for robot manipulator. One is a stiffness control and the other is a hybrid position/force control. Stiffness control is that environment can be modeled as a spring and utilizes the desired normal force to determine the desired normal position. Hybrid position/force control, however, can be used for robot manipulator to track position and force trajectories simultaneously. This paper will compare the result of the hybrid position/force control method with that of the stiffness control method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.161.3-161
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• 2001

This paper describes design features of a cleaning robot for use in a radioactive zone of the Isolation room of the Irradiated Material Examination Facility (IMEF) at Korea Atomic Energy Research Institute (KAERI). This cleaning robot is intended to completely eliminate human interaction with hazardous radioactive contaminants. The clean ing robot that is operated either by manual mode or by autonomous mode is designed to be capable of cleaning the isolation room´s floor surface and collecting dry nuclear fuel debris and other radioactive waste placed on the floor. The functional, mechanical and electrical design considerations of the cleaning robot in terms of remote cleanup operation and remote maintenance at a radioactive environment are presented. A graphical representation of the cleaning ...