• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.9
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• pp.1069-1075
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• 2013

An effective method is necessary for the real-time analysis of an unmanned military robot. To achieve highly efficient simulations, a subsystem synthesis method has been developed. The subsystem synthesis method separately generates equations of motion for the base body and for the subsystem. The equations of motion are expressed by DAE, which consist of differential equations and algebraic equations. To increase the accuracy and efficiency of solutions, DAE solvers such as the Direct, CS (Constraint Stabilization), and GCP (Generalized Coordinate Partitioning) method are employed. In this study, the subsystem synthesis method is applied for effective multi-body dynamics analysis of an unmanned military robot, and a comparative study of three different DAE solvers is carried out.

• Journal of KIISE:Software and Applications
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• v.34 no.10
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• pp.910-917
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• 2007

Of the possible interactions between human and robot, touch is an important means of providing human beings with emotional relief. However, most previous studies have focused on interactions based on voice and images. In this paper. a method of recognizing human touching behaviors is proposed for developing a robot that can naturally interact with humans through touch. In this method, the recognition process is divided into pre-process and recognition Phases. In the Pre-Process Phase, recognizable characteristics are calculated from the data generated by the touch detector which was fabricated using force sensors. The force sensor used an FSR (force sensing register). The recognition phase classifies human touching behaviors using a multi-layer perceptron which is a neural network model. Experimental data was generated by six men employing three types of human touching behaviors including 'hitting', 'stroking' and 'tickling'. As the experimental result of a recognizer being generated for each user and being evaluated as cross-validation, the average recognition rate was 82.9% while the result of a single recognizer for all users showed a 74.5% average recognition rate.

• Journal of Appropriate Technology
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• v.7 no.1
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• pp.2-25
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• 2021

This study evaluated gender preferences regarding the mechanical properties of polymers that are typically used as cooperative robot skin. Gender-based preferences of workers aged 20~30 and polydimethylsiloxane were examined according to the body parts which is most frequently in contact with the robot during operation. The factors influencing preference, i.e., stiffness and stickiness, as measured by strain rate and contact angle, respectively, were analyzed to compare gender-based differences. Female preferred stiffer materials with small strain rates while male preferred softer materials with large strain rates. As a result of evaluating mechanical properties of the materials to relate to gender-based preference, we found that female tended to prefer Dragon-skin with the lowest stickiness, and a low strain rate, during compressive creep tests. In contrast, male tended to prefer Ecoflex with high strain rate regardless of stickiness. Therefore, these results provide basis for material selection when considering cooperative robot skin.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1786-1795
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• 2011

The trajectory control for omni-directional mobile robot is not easy. Especially, the tracking control which system uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy multi-layered algorithm. The fuzzy control method is able to solve the problems of classical adaptive controller and conventional fuzzy adaptive controllers. It explains the architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller. The basic idea of new adaptive control scheme is that an adaptive controller can be constructed with parallel combination of robust controllers. This new adaptive controller uses a fuzzy multi-layered architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. This paper proposes a design procedure which can be carried out mathematically and systematically from the model of a controlled system; related mathematical theorems and their proofs are also given. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.463-466
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• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.

• Journal of the Korea Society of Computer and Information
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• v.18 no.10
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• pp.109-119
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• 2013

An unmanned ground vehicle(UGV) today plays a significant role in both civilian and military areas. Predominantly these systems are used to replace humans in hazardous situations. To take unmanned ground vehicles systems to the next level and increase their capabilities and the range of missions they are able to perform in the combat field, new technologies are needed in the area of command and control. For this reason, we present war field simulator based on information fusion technology to efficiently control UGV. In this paper, we present the war field simulator which is made of critical components, that is, simulation controller, virtual image viewer, and remote control device to efficiently control UGV in the future combat fields. In our information fusion technology, improved methods of target detection, recognition, and location are proposed. In addition, time reduction method of target detection is also proposed. In the consequence of the operation test, we expect that our war field simulator based on information fusion technology plays an important role in the future military operation significantly.

• The Journal of the Convergence on Culture Technology
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• v.10 no.4
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• pp.357-365
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• 2024

The purpose of this study is to investigate the effects of children's robot-based play on sequential thinking through appreciation of picture books. For this purpose, 15 children aged 5 years old in each kindergarten located in Seoul were selected and J kindergarten (experimental group) supported <Picture book appreciation robot play> and C kindergarten (comparison group) supported <Picture book appreciation free play>. In order to examine the difference in play experience between the two groups, the score data before and after play support was collected using the sequential thinking test tool, and the collected data were analyzed using SPSS 28.0 program to perform ANCOVA (Covariance Analysis). As a result, the experimental group that experienced robot-based play through picture book appreciation showed significant improvement in the total score of sequential thinking and the sub-areas of dynamics, behavior, and intention compared to the control group.The results of this study are valuable as a play study to discover the value of robots as a creative play medium led by young children and to promote sequential thinking ability, which is emphasized as the capacity of future society.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.693-699
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• 2006

An accurate and compact map is essential to an autonomous mobile robot system. For navigation, it is efficient to use an occupancy grid map because the environment is represented by probability distribution. But it is difficult to apply it to the large environment since it needs a large amount of memory proportional to the environment size. As an alternative, a topological map can be used to represent it in terms of the discrete nodes with edges connecting them. It is usually constructed by the Voronoi-like graphs, but in this paper the topological map is incrementally built based on the local grid map using the thinning algorithm. This algorithm can extract only meaningful topological information by using the C-obstacle concept in real-time and is robust to the environment change, because its underlying local grid map is constructed based on the Bayesian update formula. In this paper, the position probability is defined to evaluate the quantitative reliability of the end nodes of this thinning-based topological map (TTM). The global TTM can be constructed by merging each local TTM by matching the reliable end nodes determined by the position probability. It is shown that the proposed TTM can represent the environment accurately in real-time and it is readily extended to the global TTM.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.4
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• pp.397-403
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• 2015

This paper proposes the development of a method for assessing the system reliability of an unmanned control robot system for an excavator. It then shows the results of the reliability qualification test based on the proposed method. The robot system functions to ensure the safety of the workers who control excavators in dangerous working environments, and the system reliability was calculated by integrating the reliabilities of the system components. Thus, test equipment for the three key units of the robot system were constructed and used in accelerated life testing. From the life testing results, guaranteed mean time between failures for the chosen confidence level was estimated, and the reliability qualification testing method of the robot system using small sample sizes was proposed.

• The Journal of the Korea Contents Association
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• v.18 no.9
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• pp.116-124
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• 2018

This study aimed to interpreting the view of current media by artificial intelligence(AI) with the case of a TV show Person of Interest, which was broadcasted until 2016 in US. In this study, we first attempted to find how AI reflects the three laws of robotics, which often appear in Science Fictions. In addition, we paid attention to how the society looks according to the change of the manipulator of the AI, and as a result we derived the distinguishes of the show from other content dealing with robots or AI in terms of narrative. Through this study, we classified the messages in accordance of AI into three categories- importance of data sovereignty, potential of intelligence explosion, and blind faith in high technology. This study suggested that the show emphasizes the consciousness and attitude that should be possessed as a citizen who meets the era of AI prior to raising issue of 'what artificial intelligence is should be developed for our convenience?'