• Proceedings of the Korea Information Processing Society Conference
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• 2012.04a
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• pp.316-318
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• 2012

본 논문의 목적은 이동 로봇이 일정한 작업 공간을 이동하며 정보를 수집한는 시스템을 구성하는 것이다. 작업 공간에는 초음파 발신장치가 있어 로봇이 이 초음파를 수신하여 자신의 위치를 확인한다. 로봇은 특정 위치의 정보를 획득하여 중앙 서버로 전송하고 서버는 이 정보를 바탕으로 3D map을 생성한다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2020.01a
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• pp.159-160
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• 2020

4차 산업 혁명을 통해 산업 현장에서 수많은 작업들이 로봇을 이용한 자동화로 대체되고 있는 가운데, 물류 산업에서는 아직도 물건이나 화물을 피킹하고, 분류하는 과정에서 많은 인력이 동원된다. 이러한 것을 극복하기 위해 해외의 다양한 회사들이 피킹/분류 작업의 자동화를 위해 많은 연구를 하고 있다. 피킹/분류 시스템은 인력을 사용하는 과정에서 많은 인건비가 발생하고, 무거운 물건을 옮기다가 허리를 다치거나 중장비 운행 중 사고로 인해 인명 피해가 발생하기도 한다. 이러한 문제점을 개선하기 위해 목적지 까지 라인 트레이서를 통해 이동하며, 원하는 물건을 적재 하도록 로봇 암을 적용한 '자동물류분류 시스템' 기술을 제안한다. 기존의 단순 반복 노동의 피킹/분류 작업을 수행하며, 자동으로 지정된 검은 라인을 따라 이동하고, 어플리케이션을 통해 선택된 물건을 찾아가 적재하는 시스템이며, 원격으로 수동 조작 또한 가능하다.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.884-886
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• 2022

본 논문에서는 GPS 기반의 자율주행 군사로봇에 사용된 각종 센서들의 융합(Sensor Fusion)에 대하여 다루고 있다. GPS 를 통한 자율주행의 경우 GPS 의 성능에 따라 정확도 차이는 있으나 특별한 지형지물 없이 로봇의 현재 위치를 파악할 수 있다는 장점이 있다. 하지만 GPS 만 이용하여 자율주행 알고리즘을 구성하는 경우 로봇의 진행 방향을 특정하지 못한다는 문제점이 발생한다. 이를 해결하기 위하여 본 논문에서는 RTK GPS 와 Lidar, IMU 센서를 ROS 환경에서 Robot_Localization 과 EKF(Extended Kalman Filter)를 이용하여 융합하는 방법에 대하여 다루었다.

• Journal of Digital Contents Society
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• v.18 no.8
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• pp.1501-1507
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• 2017

Telepresence in robot assisted learning has preferred low-height, shorter than life-size robotic platforms for reasons such as operational stability, user convenience and psychological comfort in human robot interaction. If, however, the reason for using a telepresence robot is to display the authority of a social superior to a social inferior, one can hypothesize that a robotic platform which reflects real-life height advantage would be better suited for the stated purpose than conventional low-height platforms. In order to test the hypothesis, we examined whether the height of the robot had an effect on an instructor connected to a telepresence robot in robot-assisted learning with regard to controlling a large number of elementary school students. The pre-and post experiment demonstrates that the use of a life-size telepresence robot, compared to a child-size telepresence robot, failed to make a meaningful difference in the instructors' authority being accepted by the students. However, behavioral measures shows that a taller robot has more merits in controlling students.

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.11
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• pp.1126-1130
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• 2010

Research on intelligent robot is in active progress as the next generation IT education area. Since intelligent robots are closely related to the real human world, they should provide human behaviors or judging ability as their functions. For this reason, research is recently done not only on diverse hardware of robot education but also on service component architecture which includes various functions. In this paper we propose a study on learning to creative solve problems using RDS(Robotics Developer Studio). RDS is a software tool to control or program intelligence robot as a software module. Using service component framework which considers standardization of the integrated development of intelligent robot, we expect to provide 3-dimensional visual simulation environment, and save time and costs in education the environment for the intelligence robot experiment.

• Journal of Korea Entertainment Industry Association
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• v.8 no.2
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• pp.283-297
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• 2014

The future of human life is expected to be innovative by increasing social, economic, political and personal, including all areas of life across the multi-disciplinary skills. Particularly, in the field of robotics and next-generation games with robots, by multidisciplinary contributions and interaction, convergence between technology is expected to accelerate more and more. The purpose of this study is that by new interface model beyond the technical limitations of the "human-robot interface technology," until now and time and spatial constraints and through fusion of various modalities which existing human-robot interface technologies can't have, the research of more reliable and easy free "human-robot interface technology". This is the research of robot game system which develop and utilizing real time synchronization engine linking between biped humanoid robot and the behavior of the position value of mobile device screen's 3D content (contents), robot (virtual robots), the wireless protocol for sending and receiving (Protocol) mutual information and development of a teaching program of "Direct Teaching & Play" by the study for effective teaching.

• Journal of Bio-Environment Control
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• v.24 no.2
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• pp.57-62
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• 2015

Manual grafting is a labor-intensive operation and highly susceptible to human error. Development of grafting robot has been considered as an effective alternative to manual grafting. The study was conducted to investigate the grafting efficiency between the domestically produced automated grafting robot and traditional manual grafting performed in a commercial plug seedling greenhouse. Plug seedlings of pepper (Capsicum annuum L.) 'Buchon' and 'Anseongmatchum' were sown as scions and rootstocks, respectively on March 29, 2013. The grafting was performed by a grafting robot, amateur grafters, and professional grafters on May 31, 2013. After grafting, the seedling efficiencies and seedling characteristics were compared in terms of plant height, the number of success as well as failure of seedling grafts produced in an hour. The results showed that plant heights were most uniform in the grafts performed by the professionals that had a 0.6 cm difference whereas an uneven difference of 2.1 cm difference was observed in plug seedling grafted by an amateur. However, plug seedlings grafted by the grafting robot were found to be uniform with 1 cm plant height difference. Moreover, the maximum number of grafting processed plug seedlings per hour (667 plants) was achieved by the grafting robot on compared with the seedlings grafted (466 plants) by the professionals. Furthermore, the least failure rate of 21.7% was noted upon the usage of grafting robot than the manual grafters. Thus, the results demonstrate that the technology of automated grafting robots is the most appealing and can be employed in commercial plug seedling greenhouses to overcome the drawbacks of manual grafting.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.8
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• pp.1756-1763
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• 2011

This paper was researched the straight cruise of fish robot according to biological mimic, and it was compared the proposed method which was considered up to 7th order components in fourier series of Liu's tail motion function with the approximate method which was used general sine function by simulation. If fish robot has a large number of links and if the length of tail link is long. The end rotary joint trajectory of tail motion function generally is different from sine function. Therefore The approximate method which expresses tail motion trajectories as fundamental component in fourier series has a problem. Through the computer simulation, the proposed method showed 10% excellent propulsion and velocity than the conventional method.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.01a
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• pp.77-82
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• 2022

GUI(Graphical User Interface)를 대신하는 차세대 인터페이스로서 NUI(Natural User Interace)에 기대가 모이는 것은 자연스러운 흐름이다. 본 연구는 NUI의 손가락 관절을 포함한 손동작 전체를 인식시키기 위해 웹캠과 카메라를 활용하여 다양한 배경과 각도의 손동작 데이터를 수집한다. 수집된 데이터는 전처리를 거쳐 데이터셋을 구축하며, ResNet50 모델을 활용하여 전이학습한 합성곱 신경망(Convolutional Neural Network) 알고리즘 분류기를 설계한다. 구축한 데이터셋을 입력시켜 분류학습 및 예측을 진행하며, 실시간 영상에서 인식되는 손동작을 설계한 모델에 입력시켜 나온 결과를 통해 가위바위보 게임을 구현한다.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.9
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• pp.802-809
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• 2005

A hybrid genetic algorithm is proposed for the problem of generating laser torch paths to cut a stock plate nested with free-formed parts each having a set of sub-parts. In the problem, the total unproductive travel distance of the torch is minimized. The problem is shown to be formulated as a special case of the standard travelling salesman problem. The hybrid genetic algorithm for solving the problem is hierarchically structured: First, it uses a genetic algorithm to find the cutting path f3r the parts and then, based on the obtained cutting path, sequence of sub-parts and their piercing locations are optimally determined by using a combined genetic and heuristic algorithms. This process is repeated until any progress in the total unproductive travel distance is not achieved. Computational results are provided to illustrate the validity of the proposed algorithm.