• International journal of advanced smart convergence
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• v.8 no.4
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• pp.147-153
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• 2019

Recently, the perception of software education, which had been considered as a field of education for programmers in this field, is changing in response to recent changes with the trend of 4th industrial revolution. Major counties competitively invest in software education and the target age group for software education is also on the decline. However, the traditional text-based programing languages such as JAVA and Python, have a high entry barrier. To address the shortcoming, a variety of methods have been recently proposed for the effective software education for kindergarten and elementary school student. In this paper, we propose a robot-based coding education system with steps for coding education for effective software education. The proposed method is divided into three stages, depending on the level of the student being trained in the software coding education to interact with robots. The proposed stages consists of unplugged coding using a remote control, coding using a graphic-based programming language and text- based coding. We conducted an experiment with performing separate missions while providing propoer tutorials for each stage to verify the effectiveness of the proposed software education system.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.5
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• pp.157-162
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• 2019

Recently, the awareness of S/W education, which was confined to the profession, is changing due to the changing industrial environment based on ICT technology World main countries invest competitively in S/W education and the target age group is getting lower Among them, the unplugged coding method using the robot platform is known as one of the most effective S/W training methods targeting the elementary age by the intuitive coding method and the robot platform feedback. However, the unplugged coding method using the robot platform has a disadvantage that it can not configure various interfaces for complicated coding due to limitations of H/W. In this paper, we have proposed an unplugged coding system which can input various commands for robot control by IR remote control as an interface and minute signals using robot sensor.

• Journal of Korea Game Society
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• v.16 no.6
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• pp.131-142
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• 2016

Recently, a variety of methodologies based on the use of educational coding robots have been proposed and experimented in newly emerging korean educational coding markets. Due to imprecise movement accuracy of the existing coding robots, however, such robots are mainly used as a toy. Inspired by these observations, we developed a simple adjustment method during robot movements, which is based on the observation results of 6 line-tracking sensors: 3 sensors in the center of a robot and other 3 sensors at the front. These sensors help to determine whether the robot is in the right location and whether it rotates as expected. Through the well-designed experiments, we report the effectiveness of our proposed solution: the average distance error of 1.57cm and the average degree error of 2.38 degree before and after complex movements. In near future, we hope our method to be popularly used in various educational coding robot platforms.

• Design Convergence Study
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• v.16 no.6
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• pp.137-152
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• 2017

This research aims to develop the companion robot experience design for elderly in korea based on needs-function deploy matrix of robot and emotion expression research of robot in multimodal interaction. First, Elder users' main needs were categorized into 4 groups based on ethnographic research. Second, the functional elements and physical actuators of robot were mapped to user needs in function- needs deploy matrix. The final UX design prototype was implemented with a robot type that has a verbal non-touch multi modal interface with emotional facial expression based on Ekman's Facial Action Coding System (FACS). The proposed robot prototype was validated through a user test session to analyze the influence of the robot interaction on the cognition and emotion of users by Story Recall Test and face emotion analysis software; Emotion API when the robot changes facial expression corresponds to the emotion of the delivered information by the robot and when the robot initiated interaction cycle voluntarily. The group with emotional robot showed a relatively high recall rate in the delayed recall test and In the facial expression analysis, the facial expression and the interaction initiation of the robot affected on emotion and preference of the elderly participants.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.176-181
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• 2007

This paper presents evolvable neural networks based on a developmental model for navigation control of autonomous mobile robots in dynamic operating environments. Bio-inspired mechanisms have been applied to autonomous design of artificial neural networks for solving practical problems. The proposed neural network architecture is grown from an initial developmental model by a set of production rules of the L-system that are represented by the DNA coding. The L-system is based on parallel rewriting mechanism motivated by the growth models of plants. DNA coding gives an effective method of expressing general production rules. Experiments show that the evolvable neural network designed by the production rules of the L-system develops into a controller for mobile robot navigation to avoid collisions with the obstacles.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.1
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• pp.119-126
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• 2002

In this paper, we present a new approach based on an elitist genetic algorithm for the task of aligning the position of a robot gripper using CCD cameras. The vision-based control scheme for the task of aligning the gripper with the desired position is implemented by image information. The relationship between the camera space location and the robot joint coordinates is estimated using a camera-space parameter modal that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation. To find the joint angles of a robot manipulator for reaching the target position in the image space, we apply an elitist genetic algorithm instead of a nonlinear least square error method. Since GA employs parallel search, it has good performance in solving optimization problems. In order to improve convergence speed, the real coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using an elitist genetic algorithm with a real coding method.

• Journal of The Korean Association of Information Education
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• v.22 no.4
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• pp.447-455
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• 2018

The purpose of this study is to investigate the effects of SW education using robot based on card coding on learning motivation and attitude of elementary school students. To do this, we conducted 8-hour SW education based on the CT concept of sequence, repetition, event, and control using the Truetrue, which is coded by command card for the 3rd grade of elementary school students. For the experiment, we examined the learning motivation for SW education and the attitude toward SW education based on the robot in advance. As a result, the students' motivation to learn SW education showed a statistically significant improvement. In addition, the attitude toward robot-based SW education improved statistically significantly as "good, convenient, interesting, easy, friendly, active, special, understandable, easy, simple". These results are expected to contribute to the expansion of education through various approaches of SW education.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.561-566
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• 2002

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.10a
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• pp.146-151
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• 2001

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.3
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• pp.126-132
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• 2004

This paper proposed trajectory tracking control based on genetic algorithm. Trajectory tracking control scheme are real coding genetic algorithm(RCGA) and back-propagation algorithm(BPA). Control scheme ability experience proposed simulation. Stable tracking control problem of mobile robots have been studied in recent years. These studies have guaranteed stability of controller, but the performance of transient state has not been guaranteed. In some situations, constant gain controller shows overshoots and oscillations. So we introduce better control scheme using real coding genetic algorithm and neural network. Using RCGA, we can find proper gains in several situations and these gains are generalized by neural network. The generalization power of neural network will give proper gain in untrained situation. Performance of proposed controller will verity numerical simulations and the results show better performance than constant gain controller.