• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2019.05a
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• pp.111-114
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• 2019

This paper intends to implement a software that controls TurtleBot 2 remotely. The moving of the robot TurtleBot 2 can be controlled using command control based on Windows 10 IoT core instead of the Robot Operating System (ROS). The implemented software allows the user to move remotely TurtleBot 2 in any specified direction and perform the monitoring such as reading feedback data from the robot. Through TCP/IP and serial communication technology, TurtleBot 2 can successfully receive command control and send feedback to the user. Using C# programming language, two Universal Windows Platform apps (client app and server app) have been implemented to allow communication between the user and TurtleBot 2. The result of this implementation has been verified and tested in an indoor platform.

• International Journal of Internet, Broadcasting and Communication
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• v.13 no.3
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• pp.56-62
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• 2021

MSRDS(Microsoft Robotics Developer Studio) provides the ability to simulate these technologies. SPL(Simple Programming Language) of MSRDS provides many functions for sensor programming to control autonomous robots. Sensor programming in SPL can be implemented in two types of schemes: procedure sensor notification and while-loop schemes. We considered the three programming schemes to control the robot movement after studying the advantages and disadvantages of the sensor notification procedure and the while-loop scheme. We also created simulation environments to evaluate the performance of the three considered schemes when applied to four different mazes. The simulation environment consisted of a maze and a robot with the most powerful sensor, i.e., the LRF(Laser Range Finder) sensor. We measured the required travel time and robot actions (number of turns and number of collisions) needed to escape the maze and compared the performance outcomes of the three considered schemes in the four different mazes.

• Journal of the Korea Society of Computer and Information
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• v.18 no.4
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• pp.183-190
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• 2013

Many researchers in the 21st century has found that robot education is effective to develop the learners' creativity and problem-solving ability. However, the robot education can only be applied to the students whose computer skills are high. Also it can be taught in the well-prepared computer classroom. Students have to learn machine language to control their robots, and robots are controlled by different types of software. Therefore this study has constructed command-based programming blocks to do a robot programming without computers. It also presents a prototype of the programming process and a technological method to combine the command and the programming blocks. We used the blocks which are similar with something in flow chart: to support intuition, and to help students transfer what they learned. And types of blocks and details are described for the Robot Programing Education. Combination of command blocks is made by RS-485 connection method and, it is designed to intercommunicate with connected blocks. It also presents a prototypes: of the programming process using designed command blocks, and of the possibility of Unplugged Robot Education System.

• Language and Information
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• v.17 no.2
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• pp.93-121
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• 2013

Identifying the speakers of individual utterances mentioned in textual stories is an important step towards developing applications that involve the use of unique characteristics of speakers in stories, such as robot storytelling and story-to-scene generation. Despite the usefulness, it is a challenging task because not only human entities but also animals and even inanimate objects can become speakers especially in fairytales so that the number of candidates is much more than that in other types of text. In addition, since the action of speaking is not always mentioned explicitly, it is necessary to infer the speaker from the implicitly mentioned speaking behaviors such as appearances or emotional expressions. In this paper, we investigate a method to exploit linguistic clues to identify the speakers of utterances from textual fairytale stories in Korean, especially in order to handle such challenging issues. Compared with the previous work, the present work takes into account additional linguistic features such as vocative roles and pairs of conversation participants, and proposes the use of discourse-level turn-taking behaviors between speakers to further reduce the number of possible candidate speakers. We describe a simple rule-based method to choose a speaker from candidates based on such linguistic features and turn-taking behaviors.

• 한국정보교육학회:학술대회논문집
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• 2011.01a
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• pp.23-28
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• 2011

It is possible to solve many structural problems such as the occurrence of a lot of errors involving misspelling which may occur during the learning of existing programming language, difficulty in grammatical expression and understanding, and difficulty in the expression of algorithm if the program learning tool of the department of computer education in a college of education is utilized as an educational robot. This study developed a learning model (curriculum and a textbook) so that students who major in computer education may easily learn programming by using the NXT software of a Mindstorms robot.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.4
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• pp.24-33
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• 1996

PLCs are vital components of modern automation systems, which have penetrated into almost every industry. Many industries have a demand for facilitation of PLC programming. In this study, a programning system for sequential control is developed on a personal computer. This programming system consists of two main parts, a GRAFCET editor and a GRAFCET compiler. The GRAFCET editor enables us to model an actual sequential process by a GRAFCET diagram. This GRAFCET editor is developed by the menu-driven method based on specific menus and graphic symbols. The GRAFCET compiler consists of two parts, a GRAFCET parser and a code generator. The possible errors in a drawn GRAFCET diagram are first checked by the GRAFCET parser which generates finally an intermediate code from a verified CRAFCET diagram. Then the intermediate code is converted into a control code of an actual sequential controller by the code generator. To show the usefulness of this programming system, this system is applied to a pneumatically controlled handling robot. For this robot, a Z-80 microprocessor is used as the actual sequential controller.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.6
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• pp.1365-1376
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• 1997

In this paper, we designed real time mechanism control language and proposed execution time analysis technique. It was impossible to handle real-time mechanism control programs like programmable controller, numerical controller, distributed control system and robot controller with general purpose programming languages and operating systems because they have to process electric signals generated by thousands of sensors at the same at the same time and in real time. So we made it possible to predict plausibility of time constraint constructs of tiem constraint construct of a real time application program at compilation time by adding time constraint constructs and mechanism synchronization structure to conditional statement and iteration statement of a programming language and developing execution time analysis technique.

• Journal of KIISE:Software and Applications
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• v.37 no.10
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• pp.779-787
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• 2010

Since robots have been used widely recently, research about human-robot communication is in process actively. Typically, natural language processing or gesture generation have been applied to human-robot interaction. However, existing methods for communication among robot and human have their limits in performing only static communication, thus the method for more natural and realistic interaction is required. In this paper, an emotional gesture based dialogue management system is proposed for sophisticated human-robot communication. The proposed system performs communication by using the Bayesian networks and pattern matching, and generates emotional gestures of robots in real-time while the user communicates with the robot. Through emotional gestures robot can communicate the user more efficiently also realistically. We used behavior networks as the gesture generation method to deal with dialogue situations which change dynamically. Finally, we designed a usability test to confirm the usefulness of the proposed system by comparing with the existing dialogue system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.11
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• pp.4167-4173
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• 2010

ICT education guidelines revised in 2005 reinforce computer science elements such as algorithm, data structure, and programming covering all schools. It means that goal of computer education is improving problem-solving abilities not using of commercial software. So this paper suggests problem-solving method of maze escape through robots' cooperation in an effort of learning these elements. Problems robots should solve are first-search and role-exchange. First-search problem is that first robot searches maze and send informations about maze to the second robot in real time. Role-exchange problem is that first robot searches maze, but loses its function at any point. At this time second robot takes a role of first robot and performs first robot's missions to the end. To solve these two problems, it goes through four steps; problem analysis, algorithm description, flowchart and programming. Additional effects of our suggestion are chance of cooperation among students and use of queue in data structure. Further researches are use of more generalized mazes, application to real field and a talented curriculum.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1115-1120
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• 2003

The present paper shows the possible development of particle swarm optimization (PSO) based fuzzy-neural networks (FNN) which can be employed as an important building block in real life robot systems, controlled by voice-based commands. The PSO is employed to train the FNNs which can accurately output the crisp control signals for the robot systems, based on fuzzy linguistic spoken language commands, issued by an user. The FNN is also trained to capture the user spoken directive in the context of the present performance of the robot system. Hidden Markov Model (HMM) based automatic speech recognizers are developed, as part of the entire system, so that the system can identify important user directives from the running utterances. The system is successfully employed in a real life situation for motion control of a redundant manipulator.