• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.663-668
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• 1991

In order to navigate, mobile robot needs to avoid obstacles on his way. We describe a stereo vision method for detecting obstacles on the floor ground. With the knowledge of floor geometry, stereo images are transformed so that the relative views of obstacle to the floor are seen. After comparing the transformed images, obstacles information such as location and size are extracted and determined from the local disparities. Some experimental results are shown.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.517-522
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• 2000

When a real robot manipulator is mathematically modeled. uncertainties are not avoidable. The uncertainties are often nonlinear and time-varying. The uncertain factors collie from imperfect knowledge ok system parameters. payload change. friction. external disturbance. and etc. In this paper. we propose a class of robust hybrid controls of manipulators without knowing the exact stiffness and provide the stability analysis. Simulation results are provided to show the effectiveness of the algorithms.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2019년도 추계학술발표대회
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• pp.984-985
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• 2019

건강검진 데이터 공유로 일반인의 다양한 상태 분석 연구가 가능해졌다. 규칙추론 알고리즘으로 다양한 건강 데이터의 패턴을 파악할 수 있으나, 산출된 규칙이 많아지면 쉽게 해석하기가 힘들다. 본 연구에서는 스타차트를 활용하여 다수의 규칙을 보다 편하게 표현 할 수 있는 방법을 제안했다.

• 대한인간공학회지
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• 제6권2호
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• pp.19-28
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• 1987

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment, then the mode changes into the manual mode. The operation by program and the operation by hyman recover the error in the manual mode. The system resumew the automatic mode and continues the given task. In order to utilize the inverse kinematics as means of the operation by program in the manual mode, Lee and Nagamachi determined the end point of the robot trajectory planning which varied with the height of the task object recognized by a T.V monitor, solved the end point by the fuzzy set theory, and controlled the position of the robot hand by the inverse kinematics and the posture of the robot hand by the operation by human. But the operation by human did take a lot of task time because the position and the posture of the robot hand were separately controlled. To reduce the task time by human, this paper developes an error recovery expert system (ERES). The position of the robot hand is controlled by the inverse kinematics of the cartesian coordinate system to the end point which is deter- mined by the fuzzy set theory. The posture of the robot hand is controlled by the modulality of the robot hand's motion which is made by the posture of the task object. The knowledge base and the inference engine of the ERES is developed using the muLISP-86 language. The experimental results show that the average task time by human the ERES which was performed by the integration of the position and the posture control of the robot hand is shorter than that of the research, done by the preliminary experiment, which was performed by the separation of the position and the posture control of the robot hand. A further study is likely to research into an even more intelligent robot system control usint a superimposed display and digitizer which can present two-dimensional coordinate of the work space for the convenience of human interaction.

• 정보교육학회논문지
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• 제13권3호
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• pp.273-280
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• 2009

인터넷은 지식정보화 사회의 새로운 커뮤니케이션 도구가 되면서 사람들 간의 정보 교류와 의사소통의 장으로 확장되고 있다. 최근 로봇교육기관들도 인터넷을 이용한 각자의 홈페이지들을 구축, 운영하면서 다양한 로봇관련 자료들을 제공하고 있다. 그러나 로봇교육기관 홈페이지들은 대부분 제한적인 검색기능과 일반적인 자료만 제공하고 있어 사용자들을 위한 유용한 로봇교육정보들과 교육활동들을 공유할 수 있는 기능은 미흡한 실정이다. 이에 로봇교육교사들과 사용자들을 위한 로봇교육소식제공, 로봇학습기능, 다양한 로봇교육경험의 공유, 실시간 정보교류를 할 수 있는 온라인 로봇교육 커뮤니티 시스템을 연구하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1309-1314
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• 2003

If an agent has a learning ability using previous knowledge, then it is expected that the agent can speed up learning by interacting with environment. In this paper, we present an improved reinforcement learning algorithm using domain knowledge which can be represented by problem-independent features and their classifiers. Here, neural networks are employed as knowledge classifiers. To show the validity of our proposed algorithm, computer simulations are illustrated, where navigation problem of a mobile robot and a micro aerial vehicle(MAV) are considered.

• 대한안전경영과학회지
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• 제2권4호
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• pp.59-70
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• 2000

To keep enterprise's competitiveness on condition of the automatic manufacturing system such as FA, FMS and CIM, all the maintenance problems should be considered seriously in not only production and maintenance but also related industrial safety. As we analyze in the surveys for the maintenance management of domestic enterprises and the causes of Industrial accident, there will be necessity of drawing up countermeasures for prevention of industrial accidents and for ensuring expertise maintenance technologies. Based on these analyses, this study studied the safety information system, maintenance management information system, and the machinery condition diagnosis technique by using of the knowledge-based system under the internet environment. This web based knowledge-based diagnosis system can easily provide not only the knowledge of expert about deterioration phenomenon of industrial robot, but also the knowledge of relating safety and facility on everywhere, everytime. Therefore, when we use this system, it is expected to improve the efficiency of business processes in the production and safety.

• 대한안전경영과학회:학술대회논문집
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• 대한안전경영과학회 2000년도 추계학술발표논문집
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• pp.269-279
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• 2000

To keep enterprise's competitiveness on condition of the automatic manufacturing system such as FA, FMS and CIM, all the maintenance problems should be considered seriously in not only production and maintenance but also related Industrial safety. As we analyze in the surveys for the maintenance management of domestic enterprises and the causes of industrial accident, there will be necessity of drawing up countermeasures for prevention of industrial accidents and for ensuring expertise maintenance technologies. Based on these analyses, this study studied the safety information system, maintenance management information system, and the machinery condition diagnosis technique by using of the knowledge-based system under the internet environment. This web based knowledge-based diagnosis system can easily provide not only the knowledge of expert about deterioration phenomenon of industrial robot, but also the knowledge of relating safety and facility on everywhere, everytime. Therefore, when we use this system, it is expected to improve the efficiency of business processes in the production and safety.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1039-1043
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• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.

• 공학교육연구
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• 제13권2호
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• pp.64-69
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• 2010

Electronics machines make daily human life more convenient and comfortable and try to ease burdens. When designing and manufacturing such mechatronic systems, the engineers need to have a wide range of knowledge. The purpose of our education is for students to learn to use mechatronic techniques. To realize our goal, we regard "an interest in creation" of our student as an important educational method. In this paper, we propose and try an educational method for mechatronics creation using "their interest". The method is to hold robot competitions between 1st and 3rd year students as a regular curriculum. In order to confirm the progress of our students in our engineering course, in the last year, some students entered the Rescue Robot Contest held in Kobe Japan. As a result, our student team got second place, a great honor considering it was our first attempt. We confirm that the robot competition is a useful method to make students study by themselves.