• Transactions on Control, Automation and Systems Engineering
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• 제4권2호
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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.

• 로봇학회논문지
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• 제12권3호
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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.

• 디지털콘텐츠학회 논문지
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• 제17권6호
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• pp.531-536
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• 2016

이 연구에서는 인간과로봇상호작용(HRI)에서 유아들을 대상으로 로봇을 활용한 증강현실 극놀이 실험을 통하여 아동들이 느끼는 상호작용 분석을 제시하고자 한다. 기존의 극놀이 로봇콘텐츠를 아동들이 상호작용하기에 편하도록 QR 마커의 단점을 개선하여 개발하였다. 또한 로봇을 활용한 증강현실 극놀이에 대해서 로봇 극놀이에 대한 흥미, 로봇분장의 적절성, 로봇이 똑똑해 보이는 정도, 극놀이에 몰입감에 대한 아동의 반응을 분석하여 보았다. 나이가 어릴수록 재미가 높고, 로봇이 똑똑하다고 생각하였고 로봇 사용경험이 없는 아이들이 상대적 흥미가 높고, 로봇분장에 대해서는 로봇사용 경험 있는 아이들이 차이를 인지하는 것으로 나타났다.

• 한국전기전자재료학회논문지
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• 제33권5호
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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.

• 제어로봇시스템학회논문지
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• 제18권5호
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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.

• 제어로봇시스템학회논문지
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• 제7권6호
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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.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권5호
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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.

• 제어로봇시스템학회논문지
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• 제16권3호
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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.

• 한국지능시스템학회논문지
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• 제19권2호
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• pp.224-229
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• 2009

군집 로봇(swarm robots)이 같은 작업 환경에 존재할 때, 우리는 어떤 임무를 수행하기 위한 로봇들을 먼저 결정해야 한다. 이런 로봇들의 협조 행동을 제어하기 위한 연구들이 많이 있었다. 이런 군집 로봇 시스템을 사용함으로써 얻는 이점은 협조 행동을 통해서 임무 수행의 적응성과 융통성이 증가하는 특성이라 할 수 있다. 침입자가 발견 되었을 때 군집 로봇은 효율적인 포위를 위해서 침입자의 이동 경로를 예상하면서 다양한 경로를 통해서 침입자에게 접근, 포위해야 한다. 본논문에서는 2차원 맵에서의 군집 로봇의 효율적인 포위 방법과 분산 이동 알고리즘을 제안한다.

• 제어로봇시스템학회논문지
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• 제16권5호
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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.