• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.65-71
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• 2007

Adjustable autonomy architecture provides various ways for a human operator to participate as a member of a human-robot team in improving the performance of the team by resolving issues that the robots cannot deal with or performing tasks that the robots alone would unable to do. According to the level of involvement of the human operator, the robots have to adjust their level of autonomy and, in consequence, the operation mode of the overall system shifts. This paper deals with the implementation issues of seamless switching when the level of autonomy of the human-robot team shifts from one level to another. Especially, we focus on developing reliable methods for monitoring the task progress and maximizing the system flexibility by coping with the detailed differences between humans and robots in their characteristics of motions and their choices of positions, paths, and sequences of sub-goals to achieve a given task. To test and motivate the proposed methods, we have assembled three heterogeneous robots which work together to dock both ends of a suspended beam into stanchions.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.10a
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• pp.187-192
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• 2004

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.278-286
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• 2008

Reliable functionalities for autonomous navigation and object recognition/handling are key technologies to service robots for executing useful services in human environments. A considerable amount of research has been conducted to make the service robot perform these operations with its own sensors, actuators and a knowledge database. With all heavy sensors, actuators and a database, the robot could have performed the given tasks in a limited environment or showed the limited capabilities in a natural environment. With the new paradigms on robot technologies, we attempted to apply smart environments technologies-such as RFID, sensor network and wireless network- to robot functionalities for executing reliable services. In this paper, we introduce concepts of proposed smart environments based robot navigation and object recognition/handling method and present results on robot services. Even though our methods are different from existing robot technologies, successful implementation result on real applications shows the effectiveness of our approaches.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.3
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• pp.261-266
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• 2004

Recently, a variety of intelligent robots are developed for the personal purpose beyond the industrial application. These intelligent robots have ranges of sensors, actuators, and control algorithms to their application. In this paper we propose a reconfigurable robot controller, $SR^2$c (The SOPC-based Reconfigurable Robot Controller), based on SOPC (System on a Programmable Chip), that can be reconfigurable easily by software. The proposed robot controller contains not only a processing module but also robot-specific IP's. To show a feasibility of the proposed robot controller, a small entertainment robot, Wizard-4 is implemented with a single chip controller as proposed in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.18-23
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• 1991

We need general developing environment to control robot with effect but less energy. So, software and hardware tools are very important. In this paper, we present a general-purpose robot control language and its implementation on Real Time O/S and VME bus system. The system runs on the VMEexec Real Time Operating System and robot program is written in the "C" language. The developed program is linked with the robot control C library io produce an executable image. Under the developed robot control environment, the user can write a general high-level control program leaving all the specific information about the robot in a robot specific file.ific file.

• Journal of Korea Society of Digital Industry and Information Management
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• v.5 no.4
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• pp.77-85
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• 2009

In this paper, the implementation of creative engineering robot with MCU platform is described. This robot, as a platform of robot system to be used as creative engineering education, has to satisfy restrictions in many aspects in order to study algorithm and apply for the processor based function and pattern recognition application. Considering many restrictions of the mobile platform for creative robot system, we made this robot autonomous by using efficiently the LINUX embedded system. And we choose Marvell Monahan processor(PXA320) as MCU flatform, and used CentOS5.2 as an embedded OS that has the function of robustness and optimality. For flexibility and modularity, the platform has expansion ports. The results of experiment are described to show the pattern matching of creative engineering mobile robot with LINUX programming environments.

• International journal of advanced smart convergence
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• v.5 no.4
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• pp.40-47
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• 2016

Journalism robot by using a computer algorithm, while maintaining the precision and reliability of the existing media refers to an article which is automatically created. In this paper, we introduce 'stock robot' of robot journalism which writes securities articles and describe artificial intelligence algorithms in stages. Key steps of stock robot implemented artificial intelligence algorithm through four steps of data collection and storage, key event extraction, article content production, and article production. This research has developed a stock robot that collects and analyzes data on social issues and stock indexes for the last 2 years. In the future, as the algorithm is further developed, it becomes possible to write securities articles quickly and accurately through social issues. It will also provide customized information tailored to the user's preferences.

• The Journal of Korea Robotics Society
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• v.5 no.2
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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.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.3
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• pp.421-432
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• 2013

This paper describes implementation of functions for mobile robot localization, which is one of the vital technologies for autonomous navigation of a mobile robot. There are several function libraries for mobile robot navigation. Some of them have limited applicability for practical use since they can be used only for simulation. Our research focuses on development of functions which can be used for localization of indoor robots. The functions implement deadreckoning and motion model of mobile robots, measurement model of range sensors, and frequently used calculations on angular directions. The functions encompass various types of robots and sensors. Also, various types of uncertainties in robot motion and sensor measurements are implemented so that the user can select proper ones for their use. The functions are tested and verified through simulation and experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.6
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• pp.720-725
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• 2004

Robot systems have applied to manufacturing or industrial field for reducing the need for human presence in dangerous and/or repetitive tasks. However, robot applications are transformed from industrial field to human life in recent tendency Nowadays, final goal of robot is to make a intelligent robot that can understand what human say and learn by itself and have internal emotion. For example Home service robots are able to provice functions such as security, housework, entertainment, education and secretary To provide various functions, home robots need to recognize human`s requirement and environment, and it is indispensable to use artificial intelligence technology for implementation of home robots. In this paper, implemented robot system takes data from several sensors and fuses the data to recognize environment information. Also, it can select a proper behavior for environment using soft computing method. Each behavior is composed with intuitive motion and sound in order to let human realize robot behavior well.