• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.242-248
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• 2007

In this paper, we implement the internet-based remote control system for intelligent robot. For remote control of the robot, it uses the socket communication of the TCP/IP. It consists of the user interface and the robot control interface. Robot control interface transmits the navigation and environmental informations of the robot into the user interface. In order to transmit the large environmental images, a JPEG compression algorithm is used. User interface displays the navigation status of the robot and transmits the navigation order into the robot control interface. Also, we propose the design method of the fuzzy controller using navigation data acquired by expert's knowledge or experience. To do this, we use virus-evolutionary genetic algorithm(VEGA). Finally, we have shown the proposed system can be operated through the real world experimentations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.325-327
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• 2007

In this paper, we implement the internet- based remote control system for intelligent robot. For remote control of the robot, it uses the socket communication of the TCP/IP. It consists of- the user interface and the robot control interface. Robot control interface transmits the navigation and environmental informations of the robot into the user interface. In order to transmit the large environmental images, a JPEG compression algorithm is used. User interface displays the navigation status of the robot and transmits the navigation order into the robot control interface. Also, we propose the design method of the fuzzy controller using navigation data acquired by expert's knowledge or experience. To do this, we use virus-evolutionary genetic algorithm(VEGA). Finally, we have shown the proposed system can be operated through the real world experimentations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.49-51
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• 2005

Robot control involves advance programming, scientific and high technology. The systematic and methodological aspects of robot controls often results in having superficial control design problems that can negatively affect the robot application, usability and appeal. User friendly interface of robot control is extremely advantageous and more attractive. To illustrate, the application of medical robot is usually handled by clients who have little background in advance programming language. Thus, it would be difficult if the client needs to use programming language to control the robot. It would justify better if the robot control is presented in a meaningful interface to the client. This way the robot application would be more natural and user friendly. This paper describes the method of developing the user interface for web based communication to control an internet robot named Tarou. The web based communication tasks involves three levels. The first one accommodates on the client sending commands to robot through the internet. The next communication level relates to the robot receiving the commands sent by the client. The final communication level generates on sending feedback on status of commands by the robot to the client. The methodology used here can be elaborated in four hierarchical steps; identify user needs and robot tasks, identify the enhancing tag reference used by the server, induce the tag into HTML, present the HTML in attractive user interface as the client control panel.

• 로봇학회논문지
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• 제1권1호
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• pp.58-65
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• 2006

The emotional interface is essential technology for the robot to provide the proper service to the user. In this research, we developed emotional components for the service robot such as a neural network based facial expression recognizer, emotion expression technologies based on 3D graphical face expression and joints movements, considering a user's reaction, behavior selection technology for emotion expression. We used our humanoid robots, AMI and AMIET as the test-beds of our emotional interface. We researched on the emotional interaction between a service robot and a user by integrating the developed technologies. Emotional interface technology for the service robot, enhance the performance of friendly interaction to the service robot, to increase the diversity of the service and the value-added of the robot for human. and it elevates the market growth and also contribute to the popularization of the robot. The emotional interface technology can enhance the performance of friendly interaction of the service robot. This technology can also increase the diversity of the service and the value-added of the robot for human. and it can elevate the market growth and also contribute to the popularization of the robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.52-56
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• 2005

The recent growth of the robot technology has made robots be popular and provides people with many opportunities to apply various robots. But most robots are controlled by its unique program, users feel hard and unfamiliar with robot. Therefore we need to find ways to make user feel comfortable and familiar with the usage of robot. First we will analyze how the user interacts with the robot. Next we will discuss a standard human-robot interface provide more usability with that analysis. In this paper, 10 degree of the Level Of Autonomy(LOA) are proposed. It is evaluated that what interface components and designs are proper to each LOA. Finally we suggest a way to design the standard human-robot interface for remote controlleds robot through handheld devices like the Personal Digital Assistant(PDA) and smart phone.

• Journal of Welding and Joining
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• 제16권3호
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• pp.129-140
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• 1998

An interface system was developed to offer the welding capability to a robot controller which had not any embedded function for arc welding before, and also an arc sensor algorithm was proposed for weld seam tracking of the welding robot. For the interface system between the robot controller and welding equipments, data communication software and interface connections were composed. The interface system was mae to correspond welding condition, correction data, operation sequence and current status with the robot controller by mutual had shaking and digital signal transfer. Graphic user interface program developed under the environment of windows made it easy to monitor data communication and operation status, and to control welding and sensing sequence. Arc sensing algorithm proposed in this study to compensate torch position error was based on a fuzzy logic with the variables of current difference and current differenced change at torch weaving extremities. The developed interface system could be successfully implemented in between welding equipments and the robot controller, and showed normal status and exact function in data and signal communication between the systems. The whole robot welding system was then examined to verify its welding and seam tracking capabilities in horizontal fillet, vertical fillet, and 3-dimensional fillet weldment. The experiments revealed sound weld bead shapes and also good seam tracing results.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1997년도 추계학술대회 논문집
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• pp.48-53
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• 1997

The objective of this paper is to present the development and application of interface software between robot and F/T sensor for force control. The interface software for among the robot controller, F/T sensor, and host PC is based on interrupt-driven method. To show the suitability of developed interface software, writing-task is performed in real time using F/T sensor that mounts on the wrist of the robot and Scara type 4-axis robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2285-2289
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• 2005

Robot is composed of various devices but, those are incompatible with each other and hardly developing reusable control software. This study suggests standard abstract interface for robot software component to make portable device and reusable control software of robot, based on familiar techniques to abstract device in operating systems. This assures uniform abstracted interface to the device driver software like sensor and actuator and, control program can be transparent operation over device. This study can separately and independently develop devices and control software with this idea. This makes it possible to replace existing devices with new devices which have an improved performance.

• 한국디자인학회:학술대회논문집
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• 한국디자인학회 2003년도 봄 학술발표대회논문집
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• pp.256-257
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• 2003

• 산업기술연구
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• 제21권A호
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• pp.97-103
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• 2001

This paper presents the development of the I/O Interface for the real time parallel data communication between controller of a six-axis industrial robot(CRS-A460) and an external computer. The proposed I/O Interface consists of the hardware I/O interface and the software that is downloaded to the robot controller and executed by the controller operating system. The constitution of the digital I/O Port for CRS-A460 robot controller and the digital I/O board for IBM-PC are presented as well as the Process Control Program of the robot controller. The developed protocol for the parallel data communication is described. The data communication is tested, and the performance is analysed. In particular, it is shown that the real-time constraint of the robot controller process is satisfied.