• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.227-232
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• 1998

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• Journal of the Korea Society of Computer and Information
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• v.20 no.5
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• pp.161-169
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• 2015

In this paper, we propose an smart device based robot programming education program and analyzing students' perceptions such as satisfaction, Expectancy-Value of IT convergence learning after the robot education program according to elementary gifted students' level. Smart device based robot programming education program designed based on schematic of the convergence suggested by WTEC and consist of creative phase, integration/fusion phase, innovation phase, outcome phase for learning practical process of the IT convergence. We are conducting a smart device based robot programming education class to consist of 126 gifted students and analysing the difference of perception. According to analysis of the result, core and advanced students' perception on satisfaction score shows also high. However, advanced level students' satisfaction score shows higher than core students' satisfaction score. Also, advanced level students' expectancy-value score on IT convergence learning shows higher than core students' score.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.182-189
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• 2018

The purpose of this paper is to suggest the methodology for the establishment of operational concept for speed-up of defense robot and improvement direction of the defense acquisition system for the defense robot. In order to achieve this goal, the current defense acquisition system was analyzed into long-term planning, mid-term programming, and project execution stages. And I suggest the methodology for the establishment of operational concept for speed-up of defense robot and direction of development of the defense robot acquisition system considering the characteristics of the robot in terms of core technologies of robot, robot ecosystem and effectiveness-based-robot-design, respectively. Based on the methodology for establishment of the operational concept of defense robot and development direction of the defense acquisition system presented in this study, it will be possible to design efficiently the defense robot in the future.

• Journal of IKEEE
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• v.19 no.2
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• pp.276-281
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• 2015

Engineers increasingly rely on computers and their computer programming skills for their works. As a result, most engineering curricula have introduced a computer programming courses. However, students consider the subject to be unrelated to their core interests and often feel uncomfortable when learning to program for the first time. To overcome these difficulties, several studies have proposed the use of physical computing paradigm. This paradigm takes the computational concepts out of the PC screen and into the real world so that the student can interact with them. This paper proposes Arduino platform as a tool for attracting interest of the programming and reports the results of questionnaire survey analysis.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.4
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• pp.24-33
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• 1996

PLCs are vital components of modern automation systems, which have penetrated into almost every industry. Many industries have a demand for facilitation of PLC programming. In this study, a programning system for sequential control is developed on a personal computer. This programming system consists of two main parts, a GRAFCET editor and a GRAFCET compiler. The GRAFCET editor enables us to model an actual sequential process by a GRAFCET diagram. This GRAFCET editor is developed by the menu-driven method based on specific menus and graphic symbols. The GRAFCET compiler consists of two parts, a GRAFCET parser and a code generator. The possible errors in a drawn GRAFCET diagram are first checked by the GRAFCET parser which generates finally an intermediate code from a verified CRAFCET diagram. Then the intermediate code is converted into a control code of an actual sequential controller by the code generator. To show the usefulness of this programming system, this system is applied to a pneumatically controlled handling robot. For this robot, a Z-80 microprocessor is used as the actual sequential controller.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.6
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• pp.611-618
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• 2020

In this paper, we propose a design and implementation method of speed quiz content that can be driven by a social robot capable of interacting with humans, and a method of developing an intelligent module necessary for implementation. In addition, we propose a method of implementing speed quiz content through the process of constructing a map by arranging and connecting intelligent module blocks. Recently, software education has become mandatory and interest in programming is increasing. However, programming is difficult for students without basic knowledge of programming languages to directly access, and interest in block-type programming platforms suitable for beginners is growing. The block-type programming platform used in this paper is a platform that supports immediate and intuitive programming by supporting interactions between humans and robots. In this paper, the intelligent module implemented for the speed quiz content was used by blocking it within a block-type programming platform. In order to implement the scenario of the speed quiz content proposed in this paper, we implement a total of three image-based artificial intelligence modules. In addition to the intelligent module, various functional blocks were placed to implement the speed quiz content. In this paper, we propose a method of designing a speed quiz content scenario and a method of implementing an intelligent module for speed quiz content.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.517-517
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• 2000

Welding automation is one of the most important manufacturing issues in shipbuilding in order to lower the cost, increase the quality, and avoid the labor problems. Generally the on-line teaching is utilized on the robot that is used in the welding automation system, but it requires much effort and long time to program. Especially, if the system is composed of more than two cooperating robots, it demands much more skill to program the robots' motion. Thus, a convenient programming tool is required for efficient utilization of welding automation system. In this study, a convenient programming tool is developed for welding automation in which gantry-robot system is used. The system is composed of a gantry transporter and two robots mounted on the gantry to cover the wide work range in the ship building application. As a programming tool, an off-line programming software based on PC is developed. By using this software, field operator does not need to concern about coding of task programs for three control units, one is for gantry and two are for robots. The task programs are automatically generated by assembling the program modules in database according to geometrical information of workpiece and welding condition, which become the only concern of field operator, The feasibility of the generated programs can be verified via a motion simulator previously to on-line running.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1193-1200
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• 2015

An effective swing trajectory of legged robots is different from the swing trajectories of humans or animals because of different dynamic characteristics. Therefore, it is important to find optimal parameters through experiments. This paper proposes a real-time nonlinear programming (RTNLP) method for optimization of the swing trajectory of the legged robot. For parameterization of the trajectory, the swing trajectory is approximated to parabolic and cubic spline curves. The robotic leg is position-controlled by a high-gain controller, and a cost function is selected such that the sum of the motor inputs and tracking errors at each joint is minimized. A simplified dynamic model is used to simulate the dynamics of a robotic leg. The purpose of the simulation is to find the feasibility of the optimization problem before an actual experiment occurs. Finally, an experiment is carried out on a real robotic leg with two degrees of freedom. For both the simulation and the experiment, the design variables converge to a feasible point, reducing the cost value.

• Journal of Practical Engineering Education
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• v.7 no.2
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• pp.97-105
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• 2015

In this paper, we have selected physical computing as the focused learning elements with the PBL-based programming instruction method. Students experienced physical computing by using Arduino. Development of robot using Arduino can create an effective educational environment and also provide solutions for lack of environmental conditions, such as time or spatial factor restrictions and excessive expense issues; these are major obstacles to developing robot programming education. Finally, we analyzed the effects on growth of student's logical thinking and problem solving abilities by demonstrating the Arduino application courseware to the field of education.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.332-340
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• 2013

This paper reports a programming toolkit for implementing localization and navigation of a mobile robot both in real world and simulation. Many of the previous function libraries are difficult to use because of their complexity or lack of usability. The proposed toolkit consist of functions for dead reckoning, motion model, measurement model, and operations on directions or heading angles. The dead reckoning and motion model deals with differential drive robot and bicycle type robot driven by front wheel or rear wheel. The functions can be used for navigation in both real environment and simulation. To prove the feasibility of the toolkit, simulation results are shown along with the results in real environment. It is expected the proposed toolkit is used for test of algorithms for mobile robot navigation such as localization, map building, and obstacle avoidance.