• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.2
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• pp.13-22
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• 2008

For the accuracy correction of the micro-positioning industrial robot, micro-manipulator has been devised. The compliant mechanisms using piezoelectric actuators is necessary geometrically and structurally to be developed by the optimization approaches. The overall geometric advantage as the mechanical efficiencies of the mechanism are considered as objective functions, which respectively art the ratio of output displacement to input force, and their constraints are the vertical notion of supporting leg and the structural strength of manipulation. In optimizing the compliant mechanical amplifier, the sequential linear programming and an optimality criteria method are used for the geometrical dimensions of compliant bridges and flexure hinges. This paper presents the integrated design process which not only can maximize the mechanism feasibilities but also can ensure the positioning accuracy and sufficient workspace. Experiment and simulation are presented for validating the design process through the comparisons of the kinematical and structural performances.

• Proceedings of the Korean Society of Computer Information Conference
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• 2018.01a
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• pp.97-98
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• 2018

로봇 프로그래밍 교육에 있어 여학생이 남학생에 비해 흥미나 학습 효과 등에서 낮은 결과를 보이는 경우가 많다. 이는 로봇 프로그래밍의 주제나 교수 학습 활동이 남학생이 선호하는 방식으로 진행됨에 따라 남녀 성차에 따른 능력 차이가 발생한다고 볼 수 있다. 본 연구의 목적은 남학생과 여학생의 성별 차이를 고려한 로봇 프로그래밍 교육 방안을 제시하는 데에 있다. 본 연구에서는 제안하는 구체적인 교수 학습 방안을 통해 남학생과 여학생 모두에게 보다 효과적인 로봇 프로그래밍 교육이 이루어지길 기대한다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.135-138
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• 2005

Robotic devices have been widely used in many medical applications due to their accuracy and programming ability. One of the applications is a virtual reality medical simulator, which trains medical personnel in a computer generated environment. In this paper, we are going to present an application, an epidural anesthesia trainer. Because performing epidural injections is a delicate task, it demands a high level of skill and precision from the physician. This trainer uses a robotic device and computer controlled solenoid valve to recreate interaction forces between the needle and the various layers of tissues around the spinal cord. The robotic device is responsible for generation of interaction forces in real time and can be used to be haptic guidance that allows the user to follow a previous recorded expert procedure and feel the encountered forces.

• Proceedings of the Korean Society of Computer Information Conference
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• 2011.06a
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• pp.233-236
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• 2011

본 논문에서는 ARCS 전략을 활용한 STEM 기반 로봇 프로그래밍 학습 프로그램의 개발을 하고자 한다. 프로그래밍 교육은 문제해결력을 향상시키고 추상적 사고를 강화할 수 있는 등 효과가 높은 학습도구이나 접근하기 힘든 어려움이 있다. 이를 초등학생이 접근하기 쉬운 수준의 로봇프로그래밍으로 접근하여 해결하였다. 또한 로봇프로그래밍의 학습을 위한 여러 가지 접근 방법 중 로봇프로그래밍에 가장 적합한 STEM 통합교육 기반으로 학습 프로그램을 설계하였으며 효과를 극대화하기 위하여 ARCS 전략을 적용한 프로그램으로 개발하여 제시하였다. 향후 효과성 검증에 대한 연구가 지속될 예정이다.

• Proceedings of the Korea Information Processing Society Conference
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• 2010.04a
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• pp.272-275
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• 2010

인간이 하기 힘들거나 번거로운 작업은 지능형 로봇이 대체하고 있다. 하지만 로봇을 개발하기 위해서 설계, 구현 단계에서 실제 로봇을 사용하기 어려워 시뮬레이션 환경이 많이 사용된다. 실제 로봇을 사용할 경우 시간과 비용이 많이 들며 개발에 실패하거나 문제가 생겼을 경우 위험부담이 크다. 그러므로 위험부담을 줄이고 개발기간을 단축하기 위해서 실제 구성될 환경과 동작 환경을 고려한 시뮬레이션 환경이 로봇 제어 프로그램 개발에 많이 사용되고 있다. Pyro는 교육과 개발의 용도로 많이 사용되고 있으며, 로봇에 대한 세부적인 지식이 없더라도 제어 프로그램을 충분히 구현할 수 있어 시뮬레이션 환경으로 적합한 로봇 개발 플랫폼이다. 본 논문에서는 Pyro에 대해서 알아보고 Pyro 플랫폼들을 비교해본다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.22 no.1
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• pp.9-16
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• 2018

Predictive control is a very practical method that obtain the current input that minimizes the future errors of the reference command and state by use of the predictive model of the controlled object, and can also consider the constraints of the state and input. Although there have been studies in which predictive control is applied to mobile robots, performance has not been optimized as various control parameters for determining control performance have been arbitrarily specified. In this paper, we apply the genetic algorithm to the trajectory tracking control of a mobile robot with input constraints in order to minimize the trajectory tracking errors through control parameter tuning, and apply the quadratic programming Hildreth method to reflect the input constraints. Through the computer simulation, the superiority of the proposed method is confirmed by comparing with the existing method.

• Journal of the Ergonomics Society of Korea
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• v.29 no.6
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• pp.907-914
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• 2010

Cognitive model, that is cognitive architecture, is the model expressed with computer program to show the process how human solve a certain problem and it is continuously under investigation through various fields of study such as cognitive engineering, computer engineering, and cognitive psychology. In addition, the much extensive applicability of cognitive model usually helps it to be used for quantitative prediction of human Behavior or Natural programming of human performance in many HCI areas including User Interface Usability, artificial intelligence, natural programming language and also Robot engineering. Meanwhile, when a system designed, an usability test about conceptual design of interface is needed and in this case, analysis evaluation using cognitive model like GOMS or ACT-R is much more effective than empirical evaluation which naturally needs products and subjects. In particular, if we consider the recent trend of very short-end term between a previous technology development and the next new one, it would take time and much efforts to choose subjects and train them in order to conduct usability test which is repeatedly followed in the process of a system development and this finally would bring delays of development of a new system. In this study, we predicted quantitatively the human behavior processes which contains cognitive processes for menu selection in touch screen interface through ACT-R, one of the common method of usability test. Throughout the study, it was shown that the result using cognitive model was equal with the result using existing empirical evaluation. And it is expected that cognitive model has a possibility not only to be used as an effective methodology for evaluation of HCI products or system but also to contribute the activation of HCI cognitive modeling in Korea.

• Journal of The Korean Association of Information Education
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• v.14 no.3
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• pp.385-393
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• 2010

Elementary information education is currently provided in accordance with the 2000 ICT educational guidelines. Although the focus of education has shifted from practical use to computer science since 2005, in which way academic education should be led isn't yet clear. The purpose of this study was to examine the impacts of computer science education(CS education) by an education programming tool on school children's awareness of that education. The selected students received education about unplugged, scratch and robot programming, part of the computer science curriculum, in 12 sessions. As a result, there were significant differences between the experimental and control groups in all the variables that included attitude to computer science, interest in that, satisfaction level, self-efficacy and perception of the value of CS education. The findings of the study suggested that in CS education, the improvement of thinking faculty should take precedence over practical use of what's learned, which is expected to heighten the value of that education.

• The Journal of Korean Association of Computer Education
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• v.22 no.4
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• pp.21-34
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• 2019

SW education is being implemented in all the school due to the application of the 2015 Curriculum. The purpose of SW education is to improve Computational Thinking by using Unplugged Activities, Educational Programming Language, and Physical Computing. Among them, 73 domestic and 85 overseas researches related to 'Unplugged Activities' were compared and analyzed using semantic network analysis techniques. As a result, the research on 'Unplugged Activities' has been started from 1998, and the research has started in Korea since 2006. As the CT is recognized as a core competence for the future society in line with the 4th Industrial Revolution, researches have been rapidly increasing in both the domestic and overseas countries since 2016. In Korean studies, it was analyzed that many main words related to the elemental factors such as 'unplugged activity', 'robot utilization', 'educational programming language' were found. This suggests that future research should move toward research for the promotion of 'CT' which is the purpose of computer science.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.121-128
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• 2016

A furan mold design and machining system for marine propeller casting was developed. In general, a large marine propeller is produced by casting in a foundry, where the upper and lower molds are constructed of cement or other materials like furan. Then, the cast workpiece is machined and manually ground. Currently, furan mold construction requires a series of manual tasks. This introduces a fairly large amount of stock allowances, which require a considerable number of man-hours for later machining and grinding, and also increase the work processes. A mold design and off-line robot programming software tool with a six-axis robot hardware system was developed to enhance the shape accuracy and productivity. This system will be applied in a Korean ship building company.