• 로봇학회논문지
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• 제5권2호
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• pp.93-101
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• 2010

This paper presents the system design and implementation of 'Mon-e', the KT's edutainment robot for young children. We paid our special attention to the computer- illiterate young children, and the provision of the physical and friendly human interface of robots. Specifically, the paper focuses on the video telephony and home monitoring service using the Mon-e robot. RFID cards -based calling makes it possible for the computer-illiterate children to make a phone call to their parents. The SIP and DTMF based remote control of the robot enables the search and track of the children. This experimental development shows the potentialities and values of the convergence service of telecommunication and robotics.

• 로봇학회논문지
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• 제7권3호
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• pp.216-221
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• 2012

Recently, although the need of marine robots being raised in extreme areas, the basis is very deficient. Fortunately, as the robot competition is vitalizing and the need of the robot education is increasing, it is desirable to establish the basis of the R&D and industrialization of marine robots and to train professionals through the development and diffusion of marine robot kits. However, in conventional case, there is no remotely operated aerial robot-kit based on the balloon for the marine robot competition, which has the abilities of the airborne locomotion and obstacle avoidance. To solve this problem, an aerial robot-kit which has the abilities of the airborne locomotion and remote control, is developed. To verify the performance of the developed kit, test and evaluation such as surge, yaw and pitch is performed. The test and evaluation results show that the possibility of the real applications of the developed kit.

• 대한임베디드공학회논문지
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• 제3권2호
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• pp.91-101
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• 2008

For a friendly interaction between human and robot, emotional interchange has recently been more important. So many researchers who are investigating the emotion generation model tried to naturalize the robot's emotional state and to improve the usability of the model for the designer of the robot. And also the various emotion generation of the robot is needed to increase the believability of the robot. So in this paper we used the hybrid emotion generation architecture, and defined the generalized context input of emotion generation model for the designer to easily implement it to the robot. And we developed the personality and loyalty model based on the psychology for various emotion generation. Robot's personality is implemented with the emotional stability from Big-Five, and loyalty is made of familiarity generation, expression, and learning procedure which are based on the human-human social relationship such as balance theory and social exchange theory. We verify this emotion generation model by implementing it to the 'user calling and scheduling' scenario.

• 한국전자통신학회논문지
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• 제7권2호
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• pp.425-431
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• 2012

로봇의 실외 주행의 경우 실내 주행과 달리 실외 환경 전체에 대한 지도를 미리 작성할 수 없어 대부분 GPS를 이용하고 있으며 지도에 기반한 연구는 거의 없는 상황이다. 본 논문에서는 경사 구간이 없는 2차원 평면의 실외환경에서 정밀 GPS를 사용하여 GPS 데이터를 MCL 알고리즘에 적용하여 실외 로봇 위치 추정을 구현하고, 이를 적용하여 간단한 임무 시나리오를 수행하였다. 그리고 미들웨어 기반의 OpenRTM을 적용하여 관리자가 서버를 통해 원격으로 로봇을 제어하거나 상황을 관제할 수 있도록 하였다.

• 노인간호학회지
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• 제20권sup1호
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• pp.127-136
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• 2018

Purpose: The purpose of this study was to investigate the possibility of using intelligent robot based nursing practice as discussed in previous research and also, to propose directions for robot care for elders. Methods: For this study 28 previous researches using robots in health care field were reviewed and related research trends introduced. Results: Robot applications in the healthcare field were mainly for rehabilitation, surgery, interaction, and nursing assistance through robotics. Especially types of robot include pet type robots, humanoid robots, surgical robots, rehabilitation robots, robot suit and entertainment robots with monitors. The research participants were patients with dementia and institutionalized elderly people. It was found that a human-robot interaction was effective from physical, mental, emotional and social aspects. Conclusion: Robots can be used for various purposes such as nursing assistance, patient health promotion and education. It is necessary to reduce the human burden of care work using robots and to introduce robot care programs which can meet the needs of elders. Therefore, korean nurses should make efforts to change their practice to new geriatric nursing through repeated research based on the scientific data.

• 제어로봇시스템학회논문지
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• 제7권3호
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• pp.255-262
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• 2001

According to the advancement of web related technologies, many works on robots using these technologies, called web-based robots enables sharing of expensive equipments as well as control of remote robots. But none of the existing methods about web-based robots in-clude robot simulators in their web browser, which transfer appropriate information of a remote place to the local users. In this paper, a web-based robot simulator is proposed and developed to control a remote robot by using the web. The proposed simulator can transfer the 3D information about the remote robot to the local users by using 3D graphics, which has not been previously developed. Also, it sends the camera image of a remote place to the local users so that the users can use this camera image as well as 3D information in order to control the remote robot.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1267-1271
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• 2014

There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots' sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.

• Journal of Information Processing Systems
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• 제4권4호
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• pp.159-168
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• 2008

Human-Robot Interaction (HRI), based on already well-researched Human-Computer Interaction (HCI), has been under vigorous scrutiny since recent developments in robot technology. Robots may be more successful in establishing common ground in project-based education or foreign language learning for children than in traditional media. Backed by its strong IT environment and advances in robot technology, Korea has developed the world's first available e-Learning home robot. This has demonstrated the potential for robots to be used as a new educational media - robot-learning, referred to as 'r-Learning'. Robot technology is expected to become more interactive and user-friendly than computers. Also, robots can exhibit various forms of communication such as gestures, motions and facial expressions. This study compared the effects of non-computer based (NCB) media (using a book with audiotape) and Web-Based Instruction (WBI), with the effects of Home Robot-Assisted Learning (HRL) for children. The robot gestured and spoke in English, and children could touch its monitor if it did not recognize their voice command. Compared to other learning programs, the HRL was superior in promoting and improving children's concentration, interest, and academic achievement. In addition, the children felt that a home robot was friendlier than other types of instructional media. The HRL group had longer concentration spans than the other groups, and the p-value demonstrated a significant difference in concentration among the groups. In regard to the children's interest in learning, the HRL group showed the highest level of interest, the NCB group and the WBI group came next in order. Also, academic achievement was the highest in the HRL group, followed by the WBI group and the NCB group respectively. However, a significant difference was also found in the children's academic achievement among the groups. These results suggest that home robots are more effective as regards children's learning concentration, learning interest and academic achievement than other types of instructional media (such as: books with audiotape and WBI) for English as a foreign language.

• 로봇학회논문지
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• 제5권1호
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• pp.23-31
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• 2010

This paper suggests a multiple robot simulator which considers the uncertainties in robot motion and sensing. A mobile robot moves with errors due to some kinds of uncertainties from actuators, wheels, electrical components, environments. In addition, sensors attached to a mobile robot can't make accurate output information because of uncertainties of the sensor itself and environment. Uncertainties in robot motion and sensing leads researchers find difficulty in building mobile robot navigation algorithms. Generally, a robot algorithm without considering unexpected uncertainties fails to control its action in a real working environment and it leads to some troubles and damages. Thus, the authors propose a simulator model which includes robot motion and sensing uncertainties to help making robust algorithms. Sensor uncertainties are applied in range sensors which are widely used in mobile robot localization, obstacle detection, and map building. The paper shows performances of the proposed simulator by comparing it with a simulator without any uncertainty.

• 한국전자통신학회논문지
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• 제8권8호
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• pp.1213-1218
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• 2013

최근에는 극한 분야에서 수상로봇, 수중로봇, 공중로봇과 같은 해양로봇의 필요성이 제기되고 있음에도 불구하고, 그 기반은 매우 부족하다. 다행히도, 로봇교육에 대한 요구가 증가하고 있으므로, 해양로봇키트의 개발 및 보급을 통하여 연구개발 기반을 마련하고 미래 인재를 양성하는 것이 바람직하다. 그러나, 기존에는 공중 이동 및 장애물회피가 가능한 풍선기반의 해양로봇키트가 없다. 이 문제를 해결하기 위해서, 적외선 센서를 이용하여 장애물회피가 가능한 풍선기반 자율 공중로봇키트가 개발되었다. 시험평가 결과는 실제 적용 가능성과 추가 연구의 필요성을 보여준다.