• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.638-642
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• 2005

This research develops the robot for the machining work. For machining work(cutting, milling, grilling, etc.), a robot manipulator is constructed by combining a parallel and a serial mechanism to increase stiffness as well as enlarge workspace. Based on the geometric constraints, this paper develops the formulation for inverse/direct kinematics and Jacobian to design and control a robot. Workspace is also analyzed to prove the advantage of the proposed robot.

• Journal of Advanced Navigation Technology
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• v.14 no.2
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• pp.206-212
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• 2010

In this paper, we introduce the concept of robotic zigbee network as a necessary network to provide an application service of robot in the ubiquitous environment and propose an application scenario using the concept of robot Zigbee network. We have performed experiments on the network connection and data transmission which are basic of proposed an application scenario. Through the result of the experiments, we provide basis for development of robot localization and tracking algorithm which minimizes the localization error using robot Zigbee network in the future.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.24.4-24
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• 2001

Many livings form groups which we consider as collective systems. The collective motion of the group shows various dynamics and patterns, and many model equations are proposed to explain such phenomenon. In our previous work, We proposed simple deterministic model which shows various types of group behaviors. In this paper, we modify it in order to apply to a real robotic system. Here we assume that the space resolution of each robot´s sensors is low and that the sensors detect the nearest robots. It was confirmed the robots with modified model also shows various types of motion.

• Laser Solutions
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• v.11 no.4
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• pp.21-28
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• 2008

Remote Laser welding technology for manufacturing automotive body is studied. Laser welding and industrial robot systems are used for the robot based laser welding system. The laser system is used 1.6kW Fiber laser(YLR-1600) of IPG. The robot system is used HX130-02 of Hyundai Heavy Industry(payload : 130kg). The robot based laser welding system is equipped with laser scanner system for remote laser welding. The welding joints of steel plate and steel plate coated with zinc are butt and lapped joints. The quality test of the laser welding are through the observation the shape of bead on plate and cross-section of welding part. During past three years the laser system, 4kW Nd:YAG laser (HL4006D) of Trumpf was used and the robot system, IRB6400R of ABB (payload:120kg) was used. The new laser source, robot and laser scanner system are used to increase the processing speed and to improve the process efficiency. This paper introduces the robot based remote laser welding system to resolve the limited welding speed and accuracy of the conventional laser welding system.

• Journal of Korean Academy of Nursing
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• v.45 no.3
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• pp.388-396
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• 2015

Purpose: The purpose of this study was to identify the effects on cognitive function, depression, and activities of daily living of Silver- Care-Robot Program for institutionalized elders. Methods: This study was a nonequivalent control group pretest-posttest design. The participants were 42 institutionalized elders (17 in the experimental group and 25 in the control group). The Silver-Care-Robot Program was provided as an intervention which was conducted twice a week for 5 weeks. The Silver-Care-Robot Program is an integrated entertainment program to help the mental, emotional, and physical health of elderly people. Pre-test was conducted on the two groups, and, in order to examine the effects of intervention, a post-test was conducted after 5 weeks. Results: There were significant differences in cognitive function and ADL (activities of daily living) between two groups after the program. But the difference in depression in the institutionalized elders was not statistically significant between the two groups. Conclusion: The Silver-Care-Robot Program should be considered as a regular program for cognitive function and activities of daily living for institutionalized elders.

• International Journal of CAD/CAM
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• v.3 no.1_2
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• pp.77-83
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• 2003

We propose two algorithms to generate (1) polygonal meshes and (2) developable surface patches far generalized cylinders defined by contours of discrete curves. To solve the contour blending problem of generalized cylinder, the presented algorithms have adopted the algorithm and related properties of LIDM (linear interpolation by direction map) that interpolate geometric shapes based on direction map merging and group scaling operations. Proposed methods are fast to compute and easy to implement.

• 대한공업교육학회지
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• v.34 no.1
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• pp.210-237
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• 2009

The aim of this thesis is to develop a robot C programming curriculum with the subject of the students in the middle & High School and to prove the effect of the programming on creativity and programming ability. The content of the robot C programming curriculum consists of the introduction, basic knowledge and assembling of the robot (usage of kits and the theory of mechanism); the learning of the robot c programming; the assigned robot making; the original robot making, which is ultimately designed to improve the creative robot programming ability of students. The subjects are divided into two groups(38); one groups(11) taking the course of C++programming and the other(27) taking the robot C programming as well as C++programming. Then each group's improvement of creativity and programming ability is measured in both pretest and posttest. The students taking the robot C programming curriculum gain the product of the assigned robot and the original robot. Besides, it turns out that the curriculum have a meaningful effect in that students acquire the enhanced creativity according to the result of TTCT Creativity Test. Self evaluation also indicates the improvement of C++programming ability.

• Design Convergence Study
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• v.16 no.6
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• pp.137-152
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• 2017

This research aims to develop the companion robot experience design for elderly in korea based on needs-function deploy matrix of robot and emotion expression research of robot in multimodal interaction. First, Elder users' main needs were categorized into 4 groups based on ethnographic research. Second, the functional elements and physical actuators of robot were mapped to user needs in function- needs deploy matrix. The final UX design prototype was implemented with a robot type that has a verbal non-touch multi modal interface with emotional facial expression based on Ekman's Facial Action Coding System (FACS). The proposed robot prototype was validated through a user test session to analyze the influence of the robot interaction on the cognition and emotion of users by Story Recall Test and face emotion analysis software; Emotion API when the robot changes facial expression corresponds to the emotion of the delivered information by the robot and when the robot initiated interaction cycle voluntarily. The group with emotional robot showed a relatively high recall rate in the delayed recall test and In the facial expression analysis, the facial expression and the interaction initiation of the robot affected on emotion and preference of the elderly participants.

• Physical Therapy Korea
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• v.22 no.2
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• pp.30-40
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• 2015

Robot-assisted rehabilitation therapy has been used to increase physical function in post-stroke patients. The aim of this meta-analysis was to identify whether robot-assisted gait training can improve patients' functional abilities. A comprehensive search was performed of PubMed, Cochrane Central Register of Controlled Trials (CENTRAL), Physiotherapy Evidence Database (PEDro), Academic Search Premier (ASP), ScienceDirect, Korean Studies Information Service System (KISS), Research Information Sharing Service (RISS), Korea National Library, and the Korean Medical Database up to April, 2014. Fifteen eligible studies researched the effects of robot-assisted gait training to a control group. All outcome measures were classified by International Classification of Functioning, Disability, and Health (ICF) domains (body function and structures, activity, and participation) and were pooled for calculating the effect size. The overall effect size of the robot-assisted gait training was .356 [95% confidence interval (CI): .186~.526]. When the effect was compared by the type of electromechanical robot, Gait Trainer (GT) (.471, 95% CI: .320~.621) showed more effective than Lokomat (.169, 95% CI: .063~.275). In addition, acute stroke patients showed more improvement than others. Although robot-assisted gait training may improve function, but there is no scientific evidence about the appropriate treatment time for one session or the appropriate duration of treatment. Additional researchers are needed to include more well-designed trials in order to resolve these uncertainties.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.2
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• pp.35-42
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• 2008

This study introduces a robust feature detector for sonar data from a general fixed-type of sonar ring. The detector is composed of a data association filter and a feature extractor. The data association filter removes false returns provided frequently from sonar sensors, and classifies set of data from various objects and robot positions into a group in which all the data are from the same object. The feature extractor calculates the geometries of the feature for the group. We show the possibility of extracting circle feature as well as a line and a point features. The proposed method was applied to a real home environment with a real robot.