• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.176-187
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• 2002

This paper focuses on the study of simulation and evolution of Micro Air Vehicles. Micro Air Vehicles or MAVs are small flying robots that are used for surveillance, search and rescue, and other missions. The simulated robots are designed based on realistic characteristics and the brains (controllers) of the robots are generated using genetic algorithms, i .e., simulated evolution. The objective for the experiments is to investigate the effects of robot team size and topology (simulation environment) on the evolution of simulated robots. The testing of team sizes deals with finding an ideal number of robots to be deployed for a given mission. The goal of the topology experiments is to see if there is an ideal topology (environment) to evolve the robots in order to increase their utility in most environments. We compare the results of the various experiments by evaluating the fitness values of the robots i .e., performance measure. In addition, evolved robot teams are tested in different situation in order to determine if the results can be generalized, and statistical analysis is performed to evaluate the evolved results.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.287-296
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• 2017

Robots are used in early childhood education as a new instructional media, and educational activities using robots have been increased. So the purpose of this study is to investigate the effect of educational activities using hands-on robots on logic-mathematical knowledge and creative problem-solving ability of young children. The total number of subjects was 43, and they were all five-year-old children. The experimental group and control group did activities with hands-on robots and general free activities, respectively. Results using ANCONA have shown that the activities with hands-on robots positively affected logic-mathematical knowledge and creative problem-solving ability of young children. These meaningful results have shown the possibility of early childhood educational use as the effectiveness of hands-on robots has come out.

• Journal of Digital Contents Society
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• v.17 no.6
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• pp.531-536
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• 2016

This study highlights the effectiveness of analyzing the feelings children have when interacting with robots in a dramatic play setting using augmented reality in Human Robot Interaction (HRI). Existing dramatic play activities using robots by QR-markers were edited, and their weaknesses have been corrected so that children could interact more effectively with robots. Additionally, children's levels of interest and engagement in dramatic play activities, the accuracy of robotic props, and the smartness of robots were analyzed throughout children's interactions during such activities using augmented reality. Younger participants were more likely to find robots interesting and intelligent, and participants with no previous experience with robots had relatively higher levels of interest in robots and tended to notice changes in robots' costumes.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.33 no.5
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• pp.380-385
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• 2020

Over the past decade, small robots have been of particular interest in the engineering field. Among the various types of small robots, biomimetic robots, which mimic animals and insects, have been developed for special activities in areas where humans cannot physically access. The optimal motion of a walking robot can be determined by the characteristics of the traversed surface (e.g., roughness, curvature, slope, materials, etc.). This study proposes three types of piezoelectric structures using different driving mechanisms, depending on the application range of the small walking robots. Dynamic modeling using computer-aided engineering optimized the shape of the robot to maximize its moving characteristics, and the results were also verified through its fabrication and experimentation. Three types of robots, named by their actuator shapes as I, π, & T-shape, were proposed regarding application for small scale ambulatory robots to different terrain conditions. Among these, the T-shaped robots were shown to have a wide range of speeds (from 2 mm/s up to 255 mm/s) and good carrying capacity (up to 10 g at 50 mm/s) through driving experiments. Based on this study, we proposed possible application areas for the three types of walking robot actuators.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.419-425
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• 2012

This paper presents an approach to implement the behaviors of multi-robots responding to user's input characters. The robots are appropriately displaced to express any input characters. Using our method, any user can easily and friendly control multirobots. The responses of the robots to the user's input are intuitive. We utilize the centroidal Voronoi algorithm and the continuoustime Lloyd algorithm, which have popularly been used for the optimal sensing coverage problems. Collision protection is considered to be applied for real robots. LED sensors are used to identify positions of multi-robots. Our approach is evaluated through experiments with five mobile robots. When a user draw alphabets, the robots are deployed correspondingly. By checking position errors, the feasibility of our method is validated.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.6
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• pp.518-522
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• 2001

The main problem of the calibration of robots is to measure the position and orientation of a robot end effector. The calibration methods can be used as tool to improve the accuracy of robots without change of the arm or control architecture or robots. But such calibration methods require accurate measurements. Dynamic measurement of position and orientation provides a solution for this problem and improves dynamic accuracy by dynamic calibration of robots. This paper describes the development of the laser tracking system capable of determining the static and dynamic performance of industrial robots. The structure and systems components are presented and basic experimental results are included to demonstrated the instrument performance. The system can be applied to the remote controlled mobile robots as well s the calibration of robots.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.5
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• pp.300-306
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• 2005

In this paper we present a guideline to evaluate how easy the use of personal robots is and how good their learning abilities are, based on the analysis of their built-in commands, user interfaces, and intelligences. Recently, we are living with robots that can be able to do lots of roles; cleaning, security, pets and education in real life. They can be classified as home robots, guide robots, service robots, robot pets, and so on. There we, however, no standards to evaluate their abilities, so it is not easy to select an appropriate robot when a user wants to buy it. Thus, we present, as a guideline that can be a standard for the evaluation of the personal robots, the standards by means of analyzing existing personal robots and results of the recent research works. We will, also, demonstrate how to apply the evaluation method to the cleaning robot as an example.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.293-299
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• 2010

The multiple block localization method in a wide area for multiple robots using iGS is proposed in this paper. The iGS is developed for the indoor global localization using ultrasonic and RF sensors. To measure the distance between a mobile robot and a beacon, the tag on the mobile robot wakes up one beacon to send out the ultrasonic signal and measures the traveling time from the beacon to the mobile robot. As the number of robots is increased, the sampling time of localization also becomes longer. Note that only one robot can localize its own position calling beacons one by one during each of the sampling interval. This is a severe constraint for the localization of multiple robots in a wide area. This paper proposes an efficient localization algorithm for the multiple robots in a wide area which can be divided into multiple blocks. For a given block, a master beacon is designated to synchronize robots. By the access of the synchronization signal, each beacon in the selected group sends out an ultrasonic signal. When the robots in the block receive the ultrasonic signal, they can calculate their own locations based on the distances to the beacons, which are obtained by the multiplication of flight time and velocity of the ultrasonic signal. The efficiency of the algorithm is verified through the real experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.2
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• pp.224-229
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• 2009

When swarm robots exist in the same workspace, first we have to decide robots in order to accomplish some tasks. There have been a lot of works that research how to control robots in cooperation. The interest in using swarm robot systems is due to their unique characteristics such as increasing the adaptability and the flexibility of mission execution. When an invader is discovered, swarm robots have to enclose a invader through a variety of path, expecting invader's move, in order to effective enclose. In this paper, we propose an effective swarm robots enclosing and distributed moving algorithm in a two dimensional map.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.433-439
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• 2010

This paper proposes a beacon color code scheduling algorithm for the localization of multiple robots in a multi-block workspace. With the developments of intelligent robotics and ubiquitous technology, service robots are applicable for the wide area such as airports and train stations where multiple indoor GPS systems are required for the localization of the mobile robots. Indoor localization schemes using ultrasonic sensors have been widely studied due to its cheap price and high accuracy. However, ultrasonic sensors have some shortages of short transmission range and interferences with other ultrasonic signals. In order to use multiple robots in wide workspace concurrently, it is necessary to resolve the interference problem among the multiple robots in the localization process. This paper proposes an indoor localization system for concurrent multiple robots localization in a wide service area which is divided into multi-block for the reliable sensor operation. The beacon color code scheduling algorithm is developed to avoid the signal interferences and to achieve efficient localization with high accuracy and short sampling time. The performance of the proposed localization system is verified through the simulations and the real experiments.