• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.7
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• pp.3566-3582
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• 2019

In intelligent warehouse picking system, the allocation of tasks has an important influence on the efficiency of the whole system because of the large number of robots and orders. The paper proposes a method to solve the task allocation problem that multi-robot task allocation problem is transformed into transportation problem to find a collision-free task allocation scheme and then improve the capability of task processing. The task time window and the power consumption of multi-robot (driving distance) are regarded as the utility function and the maximized utility function is the objective function. Then an integer programming formulation is constructed considering the number of task assignment on an agent according to their battery consumption restriction. The problem of task allocation is solved by table working method. Finally, simulation modeling of the methods based on table working method is carried out. Results show that the method has good performance and can improve the efficiency of the task execution.

• Journal of Internet Computing and Services
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• v.10 no.6
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• pp.159-171
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• 2009

The objective of this research is to explore a method to utilize a programmable robot, as a potential learning tool in the elementary school's curricula. Due to their programmability and operational ease of use, programmable robots are among digital toys that today offer specially instructive features. In this research, we developed the robot game-based project contents as a tool for teaching the elementary school children to learn the algorithm, the essential part of computer programming. The LEGO material, selected as the construction kit for robot, consists of a mechanical assembly system, a set of sensors and actuators, a central control unit, a programming environment. The project requires the children to complete 3 separate tasks, each of which is developed based on the principles of algorithm. The classroom feedback supports that the robotic experiences provided the children with fun and absorption. It is likely that implementing learning with robot in regular classroom in elementary school can bring new possibilities to the educational system, provided that a thorough preparation backs up the plan.

• Journal of Internet Computing and Services
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• v.7 no.5
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• pp.135-145
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• 2006

This paper presents a novel approach to real-time recognition of 3D environment and objects for intelligent robots. First. we establish the three fundamental principles that humans use for recognizing and interacting with the environment. These principles have led to the development of an integrated approach to real-time 3D recognition and modeling, as follows: 1) It starts with a rapid but approximate characterization of the geometric configuration of workspace by identifying global plane features. 2) It quickly recognizes known objects in environment and replaces them by their models in database based on 3D registration. 3) It models the geometric details on the fly adaptively to the need of the given task based on a multi-resolution octree representation. SIFT features with their 3D position data, referred to here as stereo-sis SIFT, are used extensively, together with point clouds, for fast extraction of global plane features, for fast recognition of objects, for fast registration of scenes, as well as for overcoming incomplete and noisy nature of point clouds. The experimental results show the feasibility of real-time and behavior-oriented 3D modeling of workspace for robotic manipulative tasks.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.8
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• pp.883-892
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• 2018

Recently, as interest in social robots to support physical convenience and emotional sympathy has increased, and social internet has developed, a social robot has evolved as various services simply beyond robot function. Therefore, to develop a social robot service effectively, it is required to study the functional application and methods of interaction between user and social robot service. The purpose of this study is to classify social robot services and to suggest the types of elements that need to be considered in service development. To do this, we conducted in-depth case studies and analysis based on the theoretical definitions and characteristics of social robots. Then, based on the sympathy and functions, we classified social robot services into 1) emotional support type, 2) companion type, 3) guide type, and 4) life support type. In addition, in this study, we derive the considerable factors according to the classified types for the development of effective social robot services. This study will contribute to the understanding and development of various services using a social robot.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2481-2485
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• 2003

In this paper novel concept of real reality robot game controlled by a mobile server robot is proposed. Real reality robot game means that two real robots controlled by two human operator through the internet are playing a boxing game. The mobile server robot captures playing images of the boxing game and send them to GUI on the screen of human operators’ PC. The human operator can login to boxing game from any computer in any place if he/she is permitted. Remote control of boxing robot by a motion capture system through network is implemented. Successful motion control of a boxing robot remotely controlled by a motion capture system through network can be achieved.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.9-12
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• 2003

본 논문에서는 미지의 환경에서 인터넷 기반에 대한 이동로봇의 자율 주행이 가능하도록 비젼시스템과 퍼지규칙을 이용한 경로 설정 및 장애물 회피를 위한 알고리즘을 소개 하고자 한다. 한편 원격지에서도 로봇의 움직임을 파악할 수 있도록 인터넷을 통한 원격운용 기능을 추가함으로써 로봇의 효율적인 제어가 가능하도록 하였다. 원격지에서 제어하고자 할 때 대부분이 인터넷이나 무선을 이용한 원격제어 또는 실시간 모니터링을 통해 제어하여 그 상황을 시뮬레이션으로 구현하고 있다. 현재 이동로봇 제어를 할 때 많이 사용되는 방법은 IEEE 802.11b를 기반으로 한 wireless LAN Socket, TCP/IP, RF, 블루투스 통신등이 있다. 이러한 방식중 본 논문에서는 Internet 방식 중에 TCP/IP 프로토콜을 사용하였다. 전체 시스템은 이동로봇과 서버 그리고 클라이언트로 구성되며 이동 로봇은 인터넷을 통해서 로봇을 제어하거나 필요에 따라서는 로봇이 직접 제어권을 가지고 자율주행이 가능하도록 설계되었다. 본 논문에서는 퍼지규칙을 이용하여 경로 계획 및 장애물 회피를 위한 알고리즘을 생성하였으며, 실험을 통한 그 효율성을 검증하였다. 또한 실제 이동 로봇을 제작하여 실험한 결과에서도 제안된 알고리즘이 우수한 성능을 발휘함을 확인할 수 있었다.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.977-983
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• 2005

In this paper, novel ubiquitous concept of real reality robot game controlled by a mobile server robot is proposed. Real reality robot game means that two real robots controlled by humans/computers through the internet are playing a boxing game. The mobile server robot captures playing images of the boxing game and sends them to GUI on the screen of human operators' PC. The human operator can login to the boxing game from any computer in any place if he/she is permitted. Remote control of a boxing robot by a motion capture system through network is implemented. Successful motion control of a boxing robot remotely controlled by a motion capture system through network can be achieved. In addition, real boxing games between a human and a computer are demonstrated.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.4
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• pp.379-384
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• 2002

This paper represents the mobile robot system remote controlled by PDA(personal digital assistance). So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by PDA. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.

• Journal of Internet Computing and Services
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• v.16 no.5
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• pp.99-105
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• 2015

Currently robots are widely used in schools for educational purpose. With wide spread of robot-based education, it is known that major advantage of robot-based education is to enhance creativity and logical thinking of students. Although robots can be very useful tools for assisting students' study activities, there have not been lots of teaching-learning models for robot-based education.In this paper, a teaching-learning model is presented for robot-based education. The proposed model is designed based on constructivism. The proposed model consists of 6 stages: preparation, design, assembling, demonstration run, evaluation, and application & extension. The proposed model has the following characteristics. First, the proposed model is designed to enhance creativity and logical thinking ability of learners. Learners are supposed to be involved in self-directed activities and required to provide results based on their own ideas. Teachers are supposed to mediate students only if necessary. Second, learners are encouraged to participate in activity via diverse interaction. The interaction in this model includes learner-to-learner interaction, learner-to-teacher interaction, and learner-to-expert interaction. The proposed model encourages learners to solve the problem with cooperating each other. Also, teachers are supposed to guide students if necessary and observe and monitor behavior of students all the time. Third, motivation is provided in the beginning stage of the instruction. Fourth, in the proposed model, both study results and study process are equally important. In the model, study process is reviewed at the final stage.

• 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.