• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.04a
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• pp.131-136
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• 1997

This paper represent the variable structure adaptive mode control technique which is new approach to implement the robust control of industrial robot manipulator with external disturbances and parameter uncertainties. Sliding mode control is a well-known technique for robust control of uncertain nonlinear systems. The robustness of sliding model controllers can be shown in contiuous time, but digital implementation may not preserve robustness properties because the sampling process limits the existence of a true sliding mode. the sampling process often forces the trajectory to oscillate in the neighborhood of the sliding surface. Adaptive control technique is particularly well-suited to robot manipulators where dynamic model is highly complex and may contain unknown parameters. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The proposed control scheme has a simple sturcture is computationally fast and does not require knowledge of the complex dynamic model or the parameter values of the manipulator or the payload. Simulation results show that the proposed method not only improves the performance of the system but also reduces the chattering problem of sliding mode control, Consequently, it is expected that the new adaptive sliding mode control algorithm will be suited for various practical applications of industrial robot control system.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.13 no.2
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• pp.165-170
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• 2013

This paper proposes a method of simplification for robot simulation creation using functional concise script. General robotics simulation authoring tools require professional knowledge regarding development language and their APIs, and these prerequisites are considered as a big obstacle in implementing robotics simulation. In order to resolve these problems, we developed an authoring tool using functional concise script in building simulation environment, and this concise script composes of simplified service commands and minimum options. In experiment, we educated students and teachers in High school to use this authoring tool and we verified that the proposed method makes it possible to build robotics simulation environment and control simulated robots through one-day training course for the novices.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.270-276
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• 2016

This paper proposes a design methodology of self-reconfigurable kinematics and control engine for modular and reconfigurable robots. A modular manipulator has been proposed to meet the requirement of task adaptation in versatile needs for service and industrial robot area and the function of self-reconfiguration is required to extend the application of modular robots. Kinematic and dynamic contexts are extracted from the module and assembly information and related codes are automatically generated including controller. Thus a user can easily build and use a modular robot without professional knowledge. Simulation results are presented to verify the validity of the proposed method.

• Journal of the Korea Knowledge Information Technology Society
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• v.13 no.3
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• pp.327-339
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• 2018

This study is on the elderly people's use and experience of pet robots (companion robots). Applying companion robots for the elderly's daily lives can enhance their quality of life. Leisure is main activity of the elderly who are out of work. Therefore, the quality and diversity of leisure can affect the quality of their life. Companion Robots could provide them with more advanced and interesting experiences. Around the world, population aging becomes one of the most important trends in each country. The social and economic burden of aging is serious challenge on sustainability of the world, including S. Korea. The authors examine use of Companion Robots for elderly (from 50 years old to 90 years old). In this experiment, the authors study and measure many factors including system quality, interface quality, displeasure, enjoyment, willingness to reuse, perception on new technology. In regression analysis, intimacy(t=-2.006, p<.05) is significant factor on displeasure of Companion Robot. In another regression, displeasure of Companion Robot (independent variable) is significant factor on enjoyment(t=-3.327, p<.01) and willingness to reuse(t=-2.636, p<.01). Therefore, when elderly one feels less displeasure of Companion Robot, he/she feels more enjoyment and willingness to reuse. As a result, the elderly who don't familiar to new technology could improve quality of life and leisure activity by using companion robot.

• Journal of Engineering Education Research
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• v.22 no.2
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• pp.61-70
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• 2019

This paper deals with a 'Designeer' education program that has a specific objective of educating design to undergraduate students in mechanical engineering with the aim of enhancing their ability of collaboration with designers when they are going to work in the field after graduation. The entire curriculum of the Designeer education program is introduced first, the end of which two-semester Capstone Design Courses for senior students is offered to let them practice all the knowledge and skills in a project-based learning environment. Learning specific matters such as sketching & visual thinking, prototyping and user experience design is one thing and practicing those knowledge and skills into a Capstone Design project is another. At this point, design thinking process needs to be in place to give students a foresight of one-year journey and to ensure that they will produce a desirable, feasible and viable product at the end of the year when they define the right problem at the beginning. Their frustrations and discoveries while applying design thinking throughout the year is explained by taking an example of a Robot Vacuum Cleaner design project. Finally, we provide real examples of effective methods to practice divergent and convergent phases.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.1
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• pp.109-115
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• 2010

This paper deals with trajectory control of computer simulated mobile robot via fuzzy control. Mobile robot is controlled by Mamdani type fuzzy controller. Inputs of the fuzzy controller are angle between mobil robot and target, changed angle and output is the steering angle, which is control input. Fuzzy rules have seven rules and are selected by human experiential knowledge. Also we propose a scaling factors tuning scheme which is the another focus in designing fuzzy controller. In this paper, we adapt the RCGA which is well known in parameter optimization to adjust scaling factors. The simulation results show that the fuzzy control effectively realize trajectory stabilization of the mobile robot along a given reference target from various initial steering angles.

• The Journal of Korean Association of Computer Education
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• v.13 no.5
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• pp.71-80
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• 2010

A lot of studies in and outside the country says that robots can become an effective tool in developing creativity, problem solving skills and positive learning motivation in the knowledge and information era. This study aims to verify the educational effect of robots in mathematics education by applying robots to mathematics education as a learning tool in an effort to improve the teaching/learning environment. For this study, the mathematics curriculum of elementary school and robot programming were analyzed and then a robot integrated mathematics program was developed. The developed program was applied to the mathematics education of an elementary school year 5 over 16 times. The result of the study showed that the experimental group which used the robot integrated program has better learning attitude and problem solving skills than the group which used the traditional method. The result also showed that the mathematics activities that used robot programming contributed to developing problem solving skills and provided positive mathematics learning experience.

• The Journal of Korea Robotics Society
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• v.10 no.2
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• pp.90-95
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• 2015

The main goal of e-learning systems is just-in-time knowledge acquisition. Rule-based e-learning systems, however, suffer from the mesa effect and the cold start problem, which both result in low user acceptance. E-learning systems suffer a further drawback in rendering the implementation of a natural interface in humanoids difficult. To address these concerns, even exceptional questions of the learner must be answerable. This paper aims to propose a method that can understand the learner's verbal cues and then intelligently explore additional domains of knowledge based on crowd data sources such as Wikipedia and social media, ultimately allowing for better answers in real-time. A prototype system was implemented using the NAO platform.

• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.1
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• pp.52-64
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• 1995

Robot manipulator is a highly nonlinear-time varying system. Therefore, a lot of control theory has been applied to the system. Robot manipulator has two types of control; one is path planning, another is path tracking. In this paper, we select the path tracking, and for this purpose, propose the intelligent control¬ler which is combined with fuzzy logic and neural network. The fuzzy logic provides an inference morphorlogy that enables approximate human reasoning to apply to knowledge-based systems, and also provides a mathematical strength to capture the uncertainties associated with human cognitive processes like thinking and reasoning. Based on this fuzzy logic, the fuzzy logic controller(FLC) provides a means of converhng a linguistic control strategy based on expert knowledge into automahc control strategy. But the construction of rule-base for a nonlinear hme-varying system such as robot, becomes much more com¬plicated because of model uncertainty and parameter variations. To cope with these problems, a auto-tuning method of the fuzzy rule-base is required. In this paper, the GA-based Fuzzy-Neural control system combining Fuzzy-Neural control theory with the genetic algorithm(GA), that is known to be very effective in the optimization problem, will be proposed. The effectiveness of the proposed control system will be demonstrated by computer simulations using a two degree of freedom robot manipulator.

• 한국정보교육학회:학술대회논문집
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• 2010.08a
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• pp.265-270
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• 2010

The qualification test for robot technology is developed to provide a standard for evaluating professional knowledge on robotics and is currently under consideration to be one of the government-approved qualification tests. This test has a level to which elementary school students can apply, but is not recognized by most teachers in elementary school compared to so called "after school robot classes." This paper addresses and analyzes the current status of the test, in particular, the qualification standards, organizing committee, examples of problems used in the test, etc. It is suggested that the level of difficulty and contents covered should be properly adjusted. Moreover, it is essential to provide well organized supplementary material for students and wide range of contents on which a solid standard for evaluating robot technologies can be developed.