• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.57.4-57
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• 2001

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. Some workers tend to gradually avoid the polishing work because of the poor working conditions caused by dust and noise. In the our previous study, an automatic polishing system was developed to reduce the polishing time and cope with the shortage of skilled workers. And, to operate the polishing robot system from remote sites, communication network was constructed and monitoring programs (a server program and a client program)) were developed. However, to monitor polishing process in remote sites, users have to install monitoring programs in a client PC. Thus, user can only operate the polishibg system ...

• Proceedings of the Korea Information Processing Society Conference
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• 2011.11a
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• pp.171-174
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• 2011

최근 로봇의 통합적인 개발과 관리 및 응용을 위한 로봇 미들웨어가 많이 연구되고 있다. 이러한 로봇 미들웨어의 로봇 서비스는 클라이언트 측에서의 로봇 서비스와 서버 측의 로봇 서비스로 구별될 수 있다. 제안하는 로봇 미들웨어 구조에서는 클라이언트 측의 로봇 서비스와 서버 측의 로봇 서비스를 구별한다. 특히 서버 측에서 클라이언트 측에서 만들어진 로봇 서비스를 응용하기 위해 로봇 서비스 실행 언어인 RSEL 을 사용하며 이를 통해 새로운 로봇 서비스를 조합하여 새로운 로봇 서비스를 만들어내고 제공한다. 제안하는 구성요소의 구현을 보이기 위해 시나리오를 이용한 시뮬레이션을 수행한다. 이 시뮬레이션을 통해 RSEL 의 문서의 작성과 그 사용을 봄으로써 제안하는 로봇 미들웨어 구조를 확인한다.

• Proceedings of the Korea Contents Association Conference
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• 2006.11a
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• pp.70-74
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• 2006

In this paper, We propose the real-time monitor and control mechanism based-on web service for intelligent robot called URC(Ubiquitous Robotic Companion). URC is intelligent robot designed to interact with external digital device that can communicate through wire or wireless. In this paper, we designed the result of this study into the target robot called NETTORO and proved its practical worth. we optimized web-service technology in Embedded system environment so that can monitor and control indoors in remote place through acquired information from various sensors / actuators and then we designed. Also, we described command port to WSDL, so that can apply variously such as web server or application program in AXIS engine through gSOAP transmission protocol.

• Journal of Korea Multimedia Society
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• v.2 no.1
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• pp.1-8
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• 1999

To provide information service with time constraints, it is required to support real-time information system for retrieval and update of distributed information. In this paper, we propose an information retrieval system model for internet. We design and implement a Domain Administration-Oriented search engine for the regional information network. Accordingly, an intelligent robot gathering and updating distributed information is implemented. And, in order to improves the performance of the system, a realtime robot control policy based on the loads of network and web server is proposed.

• The Journal of the Korea Contents Association
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• v.19 no.2
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• pp.469-476
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• 2019

Robotic motion is designed by the rotation and the translation of multiple joint coordinates in a three-dimensional space. Joint coordinates are generally modeled by homogeneous transform matrix. However, the complexity of three dimensional motions prefers the visualization methods based on simulation environments in which models and generated motions work properly. Many simulation environments have the limitations of usability and functional extension from platform dependency and interpretation of predefined commands. This paper proposes the web-based three dimensional simulation environment toward high user accessibility. Also, it covers the small size web server that is linked with Python script. The non linearities of robot control apply to verify the computing efficiency, the process management, and the extendability of user scripts.

• Journal of Semiconductor Engineering
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• v.2 no.2
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• pp.130-135
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• 2021

Recently, deep neural networks (DNNs) are actively used for action control so that an autonomous system, such as the robot, can perform human-like behaviors and operations. Unlike recognition tasks, the real-time operation is essential in action control, and it is too slow to use remote learning on a server communicating through a network. New learning techniques, such as reinforcement learning (RL), are needed to determine and select the correct robot behavior locally. In this paper, we propose an energy-efficient DNN processor with a LUT-based processing engine and near-zero skipper. A CNN-based facial emotion recognition and an RNN-based emotional dialogue generation model is integrated for natural HRI system and tested with the proposed processor. It supports 1b to 16b variable weight bit precision with and 57.6% and 28.5% lower energy consumption than conventional MAC arithmetic units for 1b and 16b weight precision. Also, the near-zero skipper reduces 36% of MAC operation and consumes 28% lower energy consumption for facial emotion recognition tasks. Implemented in 65nm CMOS process, the proposed processor occupies 1784×1784 um2 areas and dissipates 0.28 mW and 34.4 mW at 1fps and 30fps facial emotion recognition tasks.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.227-235
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• 1993

In this paper, the development of a high performance flexible controller is described. The hardware of the controller, based on VME-bus, consists of four M68020 single-board computers (32-bit) with M68881 numerical coprocessors, two M68040 single board donputers, I/O devices (such as A/D and D/A converters, paraller I/O, encoder counters), and bus-to-bus adaptor. This software, written in C and based on X-window environment with Unix operating system, includes : text editor, compiler, downloader, and plotter running in a host computer for developing control program ; device drivers, scheduler, and mathemetical routines for the real time control purpose ; message passing, file server, source level debugger virtural terminal, etc. The hardware and software are structured so that the controller might have both flexibility and extensibility. In papallel to the controller, a three degrees of freedom kinematically redundant robot has been developed at the same time. The development of the same time. The development of the robot was undertaken in order to provide, on the one hand, a computationally intensive plant to which to apply the controller, and on the other hand a research tool in the field of kinematically redundant manipulator, which is, as such, an important area. By using the controller, dynamic control of the redundant manipulator was successfully experimented, showing the effectiveness and flexibility of the controller.

• Journal of IKEEE
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• v.15 no.3
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• pp.227-234
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• 2011

The Interest in robotics has been steadily increasing in recent times both in Korea as well as abroad. Research on robots for new and diverse fields is ongoing. This study discusses the current research and development on robot actuator, which are used to control the joints of robots, and focuses on developing more efficient technology for joint control, as compared with the current technologies. It also aims to find means to apply the abovementioned technology to diverse industrial fields. We found that easy and effective control of actuators could be achieved by using ZigBee sensor networks, which were widely being used on wireless communications. Throughout the experiments it is proved that the developed wireless actuator could be used for easy control of various robot joints. This technology can be effectively applied to develop two-legged robots that will be able to walk like human, or even quadruped and hexapod robots. It can also be applied to motors used in industry. In this study, we develop an extremely minimized ZigBee sensor network module that can be used to control various servo motors with low power consumption even if it is long distances. We realized effective wireless control by optimizing the ZigBee antenna, and were able to quickly check the status of relevant Tree node through mutual communication between the servo motors composing the ZigBee sensor network and the main server control modules. The developed Servo Motor with ZigBee sensor network modules can be applied in both robotics as well as for home or factory automation.

• The Journal of the Korea Contents Association
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• v.19 no.12
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• pp.164-172
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• 2019

In this paper, we implement a wheeled mobile robot that accurately and autonomously finds the optimal route from the starting point to the destination point based on computer vision in a complex indoor environment. We get a number of waypoints from the starting point to get the best route to the target through deep reinforcement learning. However, in the case of autonomous driving, the majority of cases do not reach their destination accurately due to external factors such as surface curvature and foreign objects. Therefore, we propose an algorithm to deepen the waypoints and destinations included in the planned route and then correct the route through the waypoint recognition while driving to reach the planned destination. We built an autonomous wheeled mobile robot controlled by Arduino and equipped with Raspberry Pi and Pycamera and tested the planned route in the indoor environment using the proposed algorithm through real-time linkage with the server in the OSX environment.

• The Journal of the Convergence on Culture Technology
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• v.6 no.2
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• pp.561-566
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• 2020

We propose to design and to implement a recreational and end - of - play robot for symptom relief in patients with depression. The main symptom of depression is the loss of interest and interest in life. The depression diagnosis patient confirms the emotional analysis revealed by his / her robot through the robot, and performs the greeting or ending play. After analyzing the emotions in the expressions after the play, the function of the embodying robot is confirmed by receiving the report. A simple play can not completely cure a patient with a diagnosis of depression, but it can contribute to symptom relief through gradual use. The design of the play-by-play robot is using Q.bo One, an open-source robot that can interact with Thecorpora. Q.bo One's system captures a user's face, takes a picture, passes the value to the Azure server, and checks the emotional analysis before and after the play with the accumulated data.Play is implemented in Rasubian, the OS of Q.bo One, using the programming language Python and interacting with external sensors. The purpose of this paper is to help the symptom relief of depressive patients in a relatively short time with a play robot.