• 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.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.1
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• pp.1-7
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• 2014

In this paper, it is suggested a method of mission planning and management for robots based on the unit mission. In order to make robots execute given missions continuously as time goes by, a new concept for planning the mission which is composed of one or more unit missions and an automatic mission management scheme are developed. For managing robot's missions in real time, six management methods are devised as well in order to cope with the mismatches, which occur frequently during the mission execution, as to the initial plan. Without the operator's involvement, any mismatch can be adjusted automatically by applying one of the mission management methods. The suggested concept of mission planning and mission management methods based on the unit mission are partially realized in the Dog-Horse robot system and it is checked that it can be a viable one for developing effective robot operation systems.

• The Journal of Korean Institute for Practical Engineering Education
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• v.1 no.1
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• pp.91-98
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• 2009

In approach of human-robot interaction, it is importance task in future robot industry to make to robot recognize, express, coping the emotions. The purpose of this study was to examination the effects unconscious positive and negative emotion of information processing of motor program. 13 participants(male=11, female=2) viewed smile-face picture and angry-face picture priming at 10ms level, and then performanced button press, button press and one tennis ball hitting, and button press and two tennis ball hitting task. The results appeared that positive emotion triggered more fast RT than negative emotion in planning complex motor program. Possible explanations for the performance differences depended on emotion are discussed and future research directions were provided.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.6
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• pp.1497-1508
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• 1993

Real-time mobile robot controllers usually have been designed focused on control theory without paying attention to the importance of system integration. This paper demonstrates that autonomous mobile robots require a real-time controller with a wide range of capabilities in addition to control theory. An architectural frame work supporting these capabilities has been designed in actual hardware environments. Individual modules such as a path planner, a path tracking controller, position estimators, wheel controllers and other cruical elements have been successfully integrated into the control system using this frame work. The overall performance of the system was investigated via a series of tracking experiments with a prototype mobile robot named LCAR deveoped in the laboratory. The context of the research involves the architecture, its implementation and experimental results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.2
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• pp.385-393
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• 2016

This paper presents the new position estimation method which contains the optical displacement sensor and the dead reckoning based position estimation algorithm for automation of hull cleaning robot. To evaluate feasibility of the proposed position estimation method on the hull cleaning robot, it was applied on the small scale robot model which has an identical drive method with the hull cleaning robot and then a set of the position estimation experiments were performed. The experimental results of the position estimation demonstrate that the estimated results with the optical displacement sensors is more accurate than used rotary encoder method. In addition, it continuously calculated the robot position quite close to the real robot driving path. In a follow-up study, the proposed position estimation method will be complemented and exploited on the actual hull cleaning robot by adding additional sensor modules that correct measurement errors.

• The Journal of the Convergence on Culture Technology
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• v.8 no.6
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• pp.911-919
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• 2022

In this paper, we analyzed to find out the effects of phonological awareness game using teacher assisted robot on 5-year-old children's reading ability and reading interest. A total of 30 5-year-old children were equally divided into two groups: the experimental group and the control group. The experimental group conducted a total of 16 game activities using an educational robot twice a week for three weeks, the control group conducted the same 16 game activities without the robot during the same period. The results are as follows. Firstly, the experimental group was better in reading ability than that of the control group, especially total scores, word meaning, omission, and replacement. Secondly, the experimental group showed more interest in reading than the control group. From these findings, it can be suggested that phonological awareness games using the educational robot lay foundation to developing and enhancing on 5-year-old children's reading abilities and interest in reading.

• Journal of the Korean Regional Science Association
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• v.39 no.4
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• pp.73-90
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• 2023

This research examines the impact of robotics integration on job dynamics in the U.S. manufacturing sector, adding to the critical dialogue on technological evolution and the future of jobs. Anchored in the task-model framework, the study hypothesizes that robotic integration exerts differential influences on diverse occupational clusters, each identified by their unique task-specific attributes. An in-depth examination was undertaken to elucidate the interplay between robotic integration and the occupation clusters. Employing a multilevel growth curve model, our empirical investigation tracked employment dynamics from 2012 to 2022 across 52 U.S. regions, covering 307 manufacturing occupations. The findings suggest a pronounced job decline within occupations necessitating manual dexterity. Nonetheless, the evidence does not conclusively support that the extent of robotics integration exacerbates this trend. These findings imply that the employment shifts in the U.S. manufacturing sector are predominantly driven by long-standing trends of deindustrialization and functional specialization, rather than by the recent diffusion of robotic technologies.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.9
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• pp.1718-1726
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• 2006

In this paper, we proposed a fuzzy controller and algorithm for efficiently obstacle avoidance in unknown space. The ultrasonic sensor is used for position and distance recognition of obstacle, and fuzzy controller is used for left and right wheels angular velocity control. The fuzzification is used singleton method and the control rule is each wheel forty-nine. The fuzzy inference is used simplified Mamdani's reasoning and defuzzification is used SCOG(Simplified Center Of Gravity). The computer simulation based on mobile robot modelling was performed for the capacity of fuzzy controller and the really applicable possibility revaluation of the proposed avoidance algorithm and fuzzy controller. As a result, mobile robot was exactly reached in target and it avoided obstacle efficiently.

• Journal of IKEEE
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• v.23 no.4
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• pp.1387-1392
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• 2019

Aspherical mirrors have lighter weight and better performance than spherical mirrors, but it is difficult to process their shape and measure the processing precision. Especially, large aperture aspherical mirrors mounted on satellites need high processing precision and long processing time. The computerized numerically controlled machine of gantry type has been used in polishing process, but it has difficulties in processing the complex shapes due to the lack of degrees of freedom. In order to overcome this problem we developed a polishing system using an articulated industrial robot. The system consists of tool path generating program, real-time robot monitoring, and control program. We show the performance of the developed system through the computer simulation and actual robot operation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.4
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• pp.782-791
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• 2005

In this paper, path planning and tracking problems are mentioned to guarantee efficient and safe navigation of autonomous mobile robots. We focus on the path planning and also deal with the path tracking and obstacle avoidance. We improved the conventional distance transform (DT) algorithm for the path planning. Using the improved DT algorithm, we obtain paths with shorter distances compared to the conventional DT algorithm. In the stage of the Path tracking, we employ the fuzzy logic controller to conduct the path tracking behavior and obstacle avoidance behavior. Through computer simulation studies, we show the effectiveness of the Nosed navigational algorithm for autonomous mobile robots.