• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.3
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• pp.136-142
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• 2008

Mobile robots can offer services like intelligent monitoring in an indoor environment using network connection with remote users. In this paper, we designed and developed a networked security robot system with various sensors, such as flame detector, gas detector, sound monitoring module, and temperature sensor, etc. The robot can be accessed through a web service and the user can check the status of the environment. Using ADAMS software, we defined the motor specification for a worst-case condition of climbing over a obstacle. We applied the robot system in monitoring office condition.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.8
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• pp.189-197
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• 2000

This paper addresses that the autonomous mobile robot with the function of teaching a moving path by speech and avoiding a collision is developed. The use of human speech as the teaching method provides more convenient user-interface for a mobile robot. In speech recognition system a speech recognition algorithm using neural is proposed to recognize Korean syllable. For the safe navigation the autonomous mobile robot needs abilities to recognize a surrounding environment and to avoid collision with obstacles. To obtain the distance from the mobile robot to the various obstacles in surrounding environment ultrasonic sensors is used. By the navigation algorithm the robot forecasts the collision possibility with obstacles and modifies a moving path if it detects a dangerous obstacle.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.679-685
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• 2006

In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.

• Journal of the Korea Society of Computer and Information
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• v.23 no.1
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• pp.49-55
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• 2018

In this paper, we propose a design and development of instructional cards to understand the grammar of coding, solving the problems and extending the computational thinking in the robot-driven environment. First, we designed the input/output module of the robot to process the coding grammar through the function analysis of the robot. And we designed the module of command card to learn coding grammar using color sensors. We have proven the validity of the designed instruction card by examining the experts to see if it is suitable for coding grammar learning. Designed robot and command card were developed with 28 cards and sensor robot. After applying the developed robot and command card to the elementary school students, the questionnaire showed that students grow the understanding and confidence of coding. In addition, students showed an increased need for programming learning.

• Journal of the Korea Society of Computer and Information
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• v.20 no.4
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• pp.33-40
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• 2015

This paper presents the design and implementation of the educational remote controlled robot system including remote sensing in the embedded environment. The design of sensing information processing, software design and template design mechanism for the programming practice are introduced. LPC1769 using Cortex-M3 core as CPU, LPCXPRESSO as debugging environment, C language as firmware development language and FreeRTOS as OS are used in development environment. The control command is received via RF communication by the server and the robot system which is operated by driving the various sensors. The educational procedure is from robot demo operation program as hands-on practice and then compiling, loading of the basic robot operation program, already supplied. Thereafter the verification is checked by using the basic robot operation to allow demo operation such as hands-on-training procedure. The original protocol is designed via RF communication between server and robot system, and the satisfied performance result is presented by analyzing the robot sensing data processing.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.954-962
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• 2002

In a park or street, we can see many people jogging or walking with their dogs tracking their masters. In this study, an entertainment robot that imitates a dog's behavior is created. The robot's task is tracking a moving target that is recognized as the master. In order to design the robot, the ecological approach. in which the robot's goals and surroundings heavily influence its design, is used. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a human jogging in outdoor space like a park. A sensor system which can detect the position of a master for the robot in the outdoor space, is developed. This sensor system consists of a signal transmitter which is at the hand of a master and some sensors which are mounted on the robot. The transmitter emits RF(radio frequency) and ultrasonic signals and the sensors detect the direction and distance from the robot to the transmitter by using the received signals. For the control architecture of the robot, a purely reactive behavior-based method is used in order to increase speed of response. The developed robot is evaluated through experiments conducted in indoor and outdoor environments.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.361-367
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• 2010

This paper reports the development of a mobile robot for patrol using a single laser range finder. A Laser range finder is useful for outdoor environment regardless of illumination change or various weather conditions. In this paper we combined the motion control of the mobile robot and the algorithm for detecting the outdoor environment. For obstacle avoidance, we adopted the Vector Field Histogram algorithm. A laser range finder is mounted on the mobile robot and looking down the road with a small tilt angle. We propose an algorithm for detecting the surface of the road. The outdoor patrol robot platform is equipped with a DGPS system, a gyro-compass sensor, and a laser range finder. The proposed obstacle avoidance and road detection algorithms were experimentally tested in success.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.2
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• pp.345-352
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• 2017

In this paper, we design and implement an educational robot system that can use scratch education with the function of user demanding to perform robot education in actual school site in an embedded environment. It is developed to enable physical education for sensing information processing, software design and programming practice training that is the basis of robotic system. The development environment of the system is Arduino Uno based product using Atmega 328 core, debugging environment based on Arduino Sketch, firmware development language using C language, OS using Windows, Linux, Mac OS X. The system operation process receives the control command of the server using the Bluetooth communication, and drives various sensors of the educational robot. The curriculum includes Scratch program and Bluetooth communication, which enables real-time scratch training. It also provides smartphone apps and is designed to enable education like C and Python through expansion. Teachers at the school site used the developed products and presented performance processing results satisfying the missionary needs of the missionaries.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.724-727
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• 1997

In this paper, we developed a Windows 95 version Off-Line Programming System which can simulate a Robot model in 3D Graphic space. 4 axes SCARA Robot (especially FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.227-232
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• 1998

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.