• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.198-204
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• 2007

In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.712-717
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• 2007

Using home network system including home server, home service robot, a variety of device, it is generally known that application of Multi Agent System for performing variously distributed process that can be occur in home environment, is efficient method. In this system, it is intelligent service robot that a key of human interface and physical service offer Therefore, using application of established multi agent system, we can defined Multi Agent Robot System. In 'open' home environment, between all agent data interaction and cooperation are needed for Multi Agent System offer to user that more efficient service. For this, we focus our attention on define as agent that can autonomic drive and offer to user that physical service robots and, design, suggest the simulator can display that between robot agents communication or between other agents, like home server, and robot agents communication information to user interface.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1936-1939
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• 2004

This paper proposes streaming layer for personal robot's middleware. Under assumption that robot has open architecture, i.e. consists of modules created by different vendors and intercommunication between these modules is necessary, we have to consider that there are many different network interfaces. To make communication between modules possible it is necessary to develop new type of middleware. Such middleware has to support different platforms, i.e. OS, network interface, hardware, etc. In addition, it is necessary to implement effective interface between network and application in order to manage inter application communications and use network resources more effectively. Streaming layer is such interface that implements necessary functionality together with simplicity and portability. Streaming layer provides high level of abstraction and makes communication between distributed applications transparent as if are located in same module. With possibility of extension by user defined application interfaces it is suitable for distributed environments, i.e. module based architecture including small-embedded systems like as DSP board. To verify the proposed streaming layer structure it is implemented using C and tested.

• ETRI Journal
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• v.43 no.2
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• pp.221-231
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• 2021

To resolve energy depletion issues in massive Internet of Things sensor networks, we developed a set of distributed energy beamforming methods with one-bit feedback and clustering for multi-node wireless energy transfer, where multiple singleantenna distributed energy transmitters (Txs) transfer their energy to multiple nodes wirelessly. Unlike previous works focusing on distributed information beamforming using a single energy receiver (Rx) node, we developed a distributed energy beamforming method for multiple Rx nodes. Additionally, we propose two clustering methods in which each Tx node chooses a suitable Rx node. Furthermore, we propose a fast distributed beamforming method based on Tx sub-clustering. Through computer simulations, we demonstrate that the proposed distributed beamforming method makes it possible to transfer wireless energy to massive numbers of sensors effectively and rapidly with small implementation complexity. We also analyze the energy harvesting outage probability of the proposed beamforming method, which provides insights into the design of wireless energy transfer networks with distributed beamforming.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.48-53
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• 1997

The objective of this paper is to present the development and application of interface software between robot and F/T sensor for force control. The interface software for among the robot controller, F/T sensor, and host PC is based on interrupt-driven method. To show the suitability of developed interface software, writing-task is performed in real time using F/T sensor that mounts on the wrist of the robot and Scara type 4-axis robot.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.1
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• pp.137-145
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• 1992

Considering the singularity of robot, singularity avoidance control of robot is very important. Because it is very difficult structurally to exclude the wrist singularity. Then new control policy is needed to overcome wrist singularity. In this paper, the singularity states of robot wrist was analyzed and control algorithms for 3 and 4 axes robot wrist were proposed. Application results of the proposed control algorithms to the path including singularity showed us their usefulness and validity.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.149-153
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• 1989

This paper investigates the possibility of applying fuzzy algorithms to the collision avoidance problem of a cylindrical robot moving in a 3-dimensional workspace. The displacement information from the end-effector to the points via which the robot can avoid collisions is given by the human operator. Then this uncertain information is adopted for the fuzzy inference system for robot movements. The robot movement is simulated to verify the effectiveness of the proposed fuzzy algorithm.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.103-109
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• 2022

The purpose of this study is to ethical review on the development and service with care assistance robot. An integrative review concept analysis method was used. We analyzed the classification and role of service robots, the concept of the robot ethic and the care ethic. And there were derived the development and service about care assistance robot in ethical viewpoint. For improving current care problem, government had support to developing four types care assistance robots. But there were provided carefully care service due to the limitations of robot technology and lack of overall social awareness with care robot. In addition, in order to be successfully application in the field, care assistance robots were developed to provide high-quality care service that can consider to personal culture and living environment with the development of artificial intelligence and robot technology, as well as ethical care service.

• Proceedings of the Korea Society of Design Studies Conference
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• 2005.10a
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• pp.24-25
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• 2005

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.