• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.1007-1008
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• 2006

This paper presents a optimal path search of mobile robot using energy efficiency. Proposed method has two goals that determining the velocity of mobile robot and finding the optimal path. We model the relationship of motors' speed and power consumption with quadratic polynomials. In order to verify the effectiveness of the proposed method, we performed simulations on the energy consumption of different paths.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.3
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• pp.6-15
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• 1992

This paper proposes a method for the global optimization of redundancy over the whole task period for a kinematically redundant robot. The necessary conditions based on the calculus of variations for an integral type cost criterion result in a second-order differential equation. For a cyclic task, the periodic boundary conditions due to conservativity requirements are discussed. We refine the two-point boundary value problem to an initial value adjustment problem and suggest a numerical search method for providing the conservative global optimal solution using the gradient projection method. Since the initial joint velocity is parameterized with the number of the redundancy, we only search the parameter value in the space of as many dimensions as the number of degrees of redundancy. We show through numerical examples that multiple nonhomotopic extremal solutions and the generality of the proposed method by considering the dynamics of a robot.

• 한국정보교육학회:학술대회논문집
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• 2010.08a
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• pp.227-233
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• 2010

Graph is applied to GIS, Network, AI and so on. We use graph concept in our daily life unconsciously. So this paper describe how graph concept is used when robot searches shortest path between two distinct vertices. It is performed in real world. For this, it consists of three step; maze traverse, graph generation, and shortest path search. Maze traverse steps is that robot navigates maze. It is most difficult step. Graph generation step is to represent structural information into graph. Shortest path search step is to that robot move between two vertices. It is not implemented yet. So we introduce process in design level.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.2
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• pp.285-292
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• 2018

In this paper, we propose a distributed search of a cluster robot using tree structure in an unknown environment. In the proposed method, the cluster robot divides the unknown environment into 4 regions by using the LRF (Laser Range Finder) sensor information and divides the maximum detection distance into 4 regions, and detects feature points of the obstacle. Also, we define the detected feature points as Voronoi Generators of the Voronoi Diagram and apply the Voronoi diagram. The Voronoi Space, the Voronoi Partition, and the Voronoi Vertex, components of Voronoi, are created. The generated Voronoi partition is the path of the robot. Voronoi vertices are defined as each node and consist of the proposed tree structure. The root of the tree is the starting point, and the node with the least significant bit and no children is the target point. Finally, we demonstrate the superiority of the proposed method through several simulations.

• The Transactions of the Korea Information Processing Society
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• v.2 no.3
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• pp.354-363
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• 1995

We propose a new search method which is based on the precedence relationship between subgoals.The prosed method reducess both the branching factor of and the depth of the search space by making use of the precedence relationship between subgoals, and further improves the efficiency of A.I.search by immediately achieving directly achievable maximal subgoals and immediately performing the directly applicable actions which must be eventually done.The efficiency of our method has been analysed theoretically.We have also implemented a robot planning system equipped with versions of DFID and IDA which are modified by applying our proposed strategies, and experimentally showed the efficiency of our strategy.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.3
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• pp.185-190
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• 2002

In distributed autonomous robotic systems (DARS), each robot must behave by itself according to its states ad environments, and if necessary, must cooperate with other robots in order to carry out their given tasks. Its most significant merit is that they determine their behavior independently, and cooperate with other robots in order to perform the given tasks. Especially, in DARS, it is essential for each robot to have evolution ability in order to increase the performance of system. In this paper, a schema co-evolutionary algorithm is proposed for the evolution of collective autonomous mobile robots. Each robot exchanges the information, chromosome used in this algorithm, through communication with other robots. Each robot diffuses its chromosome to two or more robots, receives other robot's chromosome and creates new species. Therefore if one robot receives another robot's chromosome, the robot creates new chromosome. We verify the effectiveness of the proposed algorithm by applying it to cooperative search problem.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.93-101
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• 2010

This paper presents the system design and implementation of 'Mon-e', the KT's edutainment robot for young children. We paid our special attention to the computer- illiterate young children, and the provision of the physical and friendly human interface of robots. Specifically, the paper focuses on the video telephony and home monitoring service using the Mon-e robot. RFID cards -based calling makes it possible for the computer-illiterate children to make a phone call to their parents. The SIP and DTMF based remote control of the robot enables the search and track of the children. This experimental development shows the potentialities and values of the convergence service of telecommunication and robotics.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.66-73
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• 2008

The pipes have been laid underground while the industry is developing. We have to take maintenance procedure when the pipes are cracked or ruptured. It is very difficult jop to check pipe's crack because the pipes are narrow and laid underground. Using in-pipe robot, we can check the conditions of inner section of pipes, therefore, we designed a crawler type robot to search cracked pipe. In this paper, we have made a special focus on the control of the robot using differential drive algorithm to move in curved section of pipes. The detailed design of the robot with experimental result show the effectiveness of the robot in pipe maintenance.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.345-346
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• 2007

This paper deals with design of a cube-style modular robot. The modular robot can change its own form according to the working environment. Therefore it is suitable to work in the search and rescue area with the shape of snake, legged robot and humanoid robot. Each of modular unit has to install its own controller on the body and driving mechanism in order to give it mobility autonomously. And also they should attach and detach each other with docking mechanism and algorithm. Using this mechanism, they can make union, separation, recombination. The other important point is that some information of each cell should be exchanged to reconfigure their shape and to make some docking of the modular cell. In this paper we suggested a design concept of our modular robot focused on the docking mechanism of the robot.

• Journal of Information Technology Services
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• v.13 no.1
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• pp.147-159
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• 2014

Recently, the quantity of information that is accessible from the Internet is being dramatically increased. Searching the Web for useful information has therefore become increasingly difficult. Thus, much research has been done on web robots which perform internet information filtering based on user interest. If a web site which users want to visit is found, its content is searched by following the searching list or Web sites links in order. This search process takes a long time according as the number of page or site increases so that its performance need to be improved. In order to minimize unnecessary search with web robots, this paper proposes an efficient information collection system based on compare and merge method. In the proposed system, a web robot initially collects information from web sites which users register. From the next visit to the web sites, the web robot compares what it collected with what the web sites have currently. If they are different, the web robot updates what it collected. Only updated web page information is classified according to subject and provided to users so that users can access the updated information quickly.