• 한국콘텐츠학회논문지
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• 제17권10호
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• pp.190-205
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• 2017

본 연구는 국내 로봇활용 SW교육에 관한 최근 연구 동향을 분석하고, 로봇활용 SW교육 및 연구 시사점을 제안하는 것을 목적으로 한다. 이를 위해 최근 11년간 국내 학술지에 게재된 로봇활용 SW교육 관련 논문 108편을 대상으로 연구동향을 분석하였다. 연구결과, 국내 로봇활용 SW교육 연구는 점차 증가하는 추세이며, 연구방법은 개발연구가 가장 많이 이루어졌다. 과반수이상의 연구에서 초등학생을 대상으로 연구를 진행하였으며, 프로그래밍 도구로는 스크래치, NXT-G 등을, 로봇 도구로는 마인드스톰 시리즈, 피코크리켓 등을 활용하는 것으로 나타났다. 또한 로봇활용 SW교수설계 시 PBL, CPS 등의 교수설계 모형을 적용하였으며, 로봇활용 SW교육은 학습자의 인지적 정의적 영역의 향상에 긍정적인 영향을 미치는 것으로 나타났다. 본 연구는 국내 로봇활용 SW교육의 교육적 가치를 확인하고, 향후 로봇활용 SW교육 연구의 방향성을 제공하였다는 점에서 의의가 있다.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2019년도 제60차 하계학술대회논문집 27권2호
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• pp.437-438
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• 2019

본 논문에서는 ROS(Robot Operating System)기반으로한 로봇(Robot)에 레이저 거리 센서(LiDAR)를 설치하여 SLAM(Simultaneous Localization and Mapping : 동시적 위치 추적 지도 작성)기법으로 맵 정보를 습득하고, 저장하여 이를 기반으로 장애물과 건물의 실내 복도 안전하고 정확하게 순찰 할 수 있도록 하였다. 또한, 순찰 로봇(Robot)에 장착된 Raspberry카메라와 OpenCV 영상인식 기술을 이용하여 실시간 영상으로 실내 복도를 순찰하면서 사전에 설정된 특이사항이 있을 시 발견하고 기록하도록 시스템을 개발하였다.

• 한국시뮬레이션학회논문지
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• 제14권1호
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• pp.43-53
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• 2005

We developed the module of the software that robot designers can perform their work faster and more easily. The parametric modeler is founded on the virtual robot design program. The virtual robot design program is the powerful software which may be used to solve various problems of robot kinematics and dynamics. The parametric modeler in the software we developed is that all the positions of joints and links are changed automatically when the designer changes one joint or one link in the robot system. Without parametric method, robot-designers must change all the positions of connected joints and links. It might become time-consuming. However, it is very efficient for designers to use the method of batch-processing in performing design-changes of robot-links using the parametric modeler.

• ETRI Journal
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• 제32권5호
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• pp.646-656
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• 2010

A component is a reusable and replaceable software module accessed through its interface. Component-based development is expected to shorten the development period, reduce maintenance costs, and improve program reusability and the interoperability of components. This paper proposes a new robot software component platform in order to support the entire process of robot software development. It consists of specifications of a component model, component authoring tool, component composer, and component execution engine. To show its feasibility, this paper presents the analysis results of the component's communication overhead, a comparison with other robotic software platforms, and applications in commercial robots.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2005년도 추계학술대회 학술발표 논문집 제15권 제2호
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• pp.179-184
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• 2005

Recently, studying on modeling the emotion of a robot has become issued among fields of a humanoid robot and an interaction of human and robot. Especially, modeling of the motivation, the emotion, the behavior, and so on, in the robot, is hard and need to make efforts to use our originality. In this paper, new modeling using mathematical formulations to represent the emotion and the behavior selection is proposed for the software robot with virtual sensor modules. Various Points which affect six emotional states such as happy or sad are formulated as simple exponential equations with various parameters. There are several experiments with seven external sensor inputs from virtual environment and human to evaluate this modeling.

• 한국지능시스템학회논문지
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• 제16권1호
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• pp.37-42
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• 2006

Recently, studying on modeling the emotion of a robot has become issued among fields of a humanoid robot and an interaction of human and robot. Especially, modeling of the motivation, the emotion, the behavior. and so on, in the robot, is hard and need to make efforts to use ow originality. In this paper, new modeling using mathematical formulations to represent the emotion and the behavior selection is proposed for the software robot with virtual sensor modules. Various points which affect six emotional states such as happy or sad are formulated as simple exponential equations with various parameters. There are several experiments with seven external sensor inputs from virtual environment and human to evaluate this modeling.

• 한국CDE학회논문집
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• 제11권3호
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• pp.197-204
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• 2006

This paper introduces a development of an internet based robot on the view of product development for hardware and software convergences. The robot can report moving images of remote places and navigate there autonomously. In addition it can be controlled by remote users through wireless internet. Even the control program for the robot can be updated by the remote users during the regular operation mode. This paper provides a consistent product data model and generic product development processes that can support the development of the robot, a convergence of various hardware and software parts. It also includes discussions and experiences about the development of the convergence product.

• 로봇학회논문지
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• 제5권2호
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• pp.169-176
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• 2010

Robotic software has been dramatically complicated as performing intelligent service tasks. These types of robots demand a very powerful software framework to make them easy. Robotic software framework means an integrated software environment that simplifies jobs of robotic software engineer by providing tools, reusable components, and runtime environments. Finally it reduces the project cost. There are lots of works related with them. Among them we focus on five frameworks that are MSRDS, ERSP, OROCOS, OpenRTM, and OPRoS. In terms of intelligent service robot, the study on robotic software frameworks is very important. And outlook on them is also very important in the sense of that the robotic software frameworks should be used to initiate service robot market.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2022년도 제65차 동계학술대회논문집 30권1호
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• pp.321-322
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• 2022

본 논문에서는 ROS(Robot Operating System) 기반으로 한 로봇(Robot)에 레이저 거리 센서(LiDAR)를 설치하여 SLAM(Simultaneous Localization And Mapping) 기법으로 지도 정보를 습득 및 저장하고, 이를 기반으로 맵핑된 환경과 환경 내 장애물을 회피하여 안전하고 정확하게 이동할 수 있도록 하였다. ROS는 하드웨어 추상화, 장치 드라이버, 시각화 도구, 패키지 관리 등 로봇 애플리케이션을 개발할 수 있도록 라이브러리와 도구를 제공한다. 또한 로봇 동작에 사용되는 프로세스 간 TCP-IP 통신을 통해 연동할 수 있도록 한다[1]. Ubuntu 18.04 버전의 OS에 ROS Melodic 버전을 설치해서 앱으로 선택된 목적지로 이동하는 물류 이송 로봇을 구현하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1071-1076
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• 2003

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.