• 한국정보과학회논문지:소프트웨어및응용
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• 제37권10호
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• pp.779-787
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• 2010

최근 로봇의 다양한 활용과 더불어 로봇-사람간의 상호작용에 대한 연구 또한 활발하게 진행되고 있으며, 대표적으로 자연어 처리나 대화중 제스처 생성 등의 방법이 로봇과 사람간의 의사소통에 적용되었다. 그러나 기존의 로봇-사람간의 의사소통을 위한 방법을 통해서는 정적인 의사소통만을 수행할 수 있다는 한계가 존재하며, 보다 자연스럽고 사실적인 의사소통 방법에 대한 연구가 필요하다. 본 논문에서는 보다 수준 높은 의사소통을 위해 감정형 제스처 기반 대화 관리 시스템을 제안한다. 제안하는 시스템은 베이지안 네트워크와 패턴 매칭을 이용하여 로봇과 사람간의 대화를 수행함과 동시에 로봇-사람간의 대화 도중 실시간으로 상황에 어울리는 로봇의 감정형 제스처를 생성한다 감정형 제스처 생성을 통해 로봇은 사람에게 대화를 보다 효과적으로 전달함과 더불어 사실적인 상호작용을 수행할 수 있다. 제스처 생성은 동적으로 변화하는 대화 상황에 유연하게 대처할 수 있도록 행동 네트워크를 사용하였다. 이후 제안하는 감정형 제스처 기반 시스템의 유용성을 검증하기 위해 사용성 평가를 통해 감정이니 제스처를 사용하지 않는 기존의 대화 관리 시스템과의 비교를 수행하였다.

• 정보관리학회지
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• 제37권4호
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• pp.61-80
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• 2020

이 연구는 도서관에서 도입 및 운영 중인 로봇에 대한 분석을 통해 다양한 활용 방안과 기능 개선 방안을 제안하고자 하였으며, 이를 위하여 먼저 국내외 16개 도서관이 운영 중인 로봇의 종류, 기능에 대해서 살펴보았다. 대부분 사서보조업무(장서점검, 자료이송 등)와 이용자 서비스업무(도서관 안내, 자료검색 보조 등)에 활용되고 있었다. 그리고 국립중앙도서관이 도입한 로봇의 특징과 기능적 한계를 살펴보았다. 이러한 결과를 종합하여, 1) 로봇의 추가기능 개발 필요성, 2) 방역 및 안전관리 로봇 도입 필요성, 3) 국가차원의 로봇 확산정책의 필요성, 4) 로봇생태계 구축의 필요성을 제안하였다.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.312-318
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• 2022

Robot-based layout automation has been recently promoted for the purpose of improving productivity and quality. Marking robots have various functional demands to secure marking precision and environmental adaptability. In particular, in order to automate marking work of building structure, correction of the marking line through position recognition of rebars placed is required. Because the rebars must maintain a constant cover thickness from the formwork surface, if the rebars are out of planned position, the rebar or marking line need to be corrected to secure the cover thickness. Thus, the marking robot for structural work needs to have the function for determining the position correction of the rebar or the marking line. In order to judge the correction of marking line, it is required to measure the distance between the planned marking line and the rebar placed. Therefore, this study proposes an algorithm that can measure the distance between the planned line and the rebar, and correct marking line for the automatic operation of the marking robot. The results of this study will be utilized as a core function for unmanned operation of the marking robot and contribute to securing precise marking by reflecting construction errors.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.622-627
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• 2003

The existing remote control system have some inherent disadvantage of direct control in the limit range. In some special cases, for example, a power apparatus, an unmanned factory, a nuclear factory, a security management system, the tele-operation is needed to control remote robot without limit space. This field is based on the Internet communication. Because the Internet is constructed all over the world. And it is possible that we control remote mobile robot in the long distance. In this paper, we developed a remote control system. This system is divided into two primary parts. These are local site and remote site. There are the moving robot and web server in the remote site and there is the robot control device in local site. The moving robot is moved by two stepper motors and the robot control device consists of SA-1100 micro controller and embedded Linux. And this controller is an embedded system. Public personal computer which is connected the Internet is used for the web server. The web server provides the mobile robot control interface program to the remote controller and captures the image for feedback information. In the whole system, a robot control device is connected with moving robot and web server through the Internet. So the operator can control the moving robot in the distance through the Internet.

• 한국태양에너지학회 논문집
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• 제32권spc3호
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• pp.275-281
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• 2012

Proton Exchange Membrane Fuel Cells (PEMFC) are the most appropriate for energy source of small robot applications. PEMFC has superior in power density and thermodynamic efficiency as compared with the Direct Methaol Fuel Cell (DMFC). Furthermore, PEMFC has lighter weight and smaller size than DMFC which are very important factors as small robot power system. The most significant factor of mobile robots is weight which relates closely with energy consumption and robot operation. This research tried to find optimum specifications in terms of type, number of cell, active area, cooling method, weight, and size. In order to find optimum 500W PEMFC, six options are designed in this paper and studied to reduce total stack weight by applying new materials and design innovations. However, still remaining problems are thermal management, robot space for energy sources, and soon. For a thermal management, design options need to analysis of Computational Fluid Dynamics (CFD) for determining which option has the improved performance and durability.

• 한국산학기술학회논문지
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• 제13권10호
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• pp.4551-4556
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• 2012

본 논문은 한-미 FTA 체제하에서 한국의 로봇산업 수출 경쟁력을 조사하고, 로봇산업의 역량 강화를 위한 전략을 제시하고자 한다. 이러한 목적을 위하여 한국과 미국의 로봇 산업의 현재 상황과 환경 그리고 한-미 FTA의 핵심 요인들을 분석한다. 그리고 한국 로봇산업의 SWOT 분석을 통하여 우리나라 로봇산업의 특징을 분석하고, 분석결과를 바탕으로 한-미 FTA 협정 발효에 따른 로봇 산업의 경쟁력 향상 전략을 도출한다. 이러한 분석과 전략을 통하여, 한-미 FTA는 한국의 로봇 산업이 미국 시장으로의 진출하는데 다양한 이점을 가지게 하며, 한국의 수출 역량을 강화할 수 있는 기회를 제공함을 발견하였다. 결론적으로 현재의 상황을 개선하고, 경쟁력을 확보하기 위하여 로봇산업관련 정부부처 및 업체들은 한-미 FTA 효과를 중요하게 인지하고 활용하여야만 한다.

• 한국태양에너지학회:학술대회논문집
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• 한국태양에너지학회 2012년도 춘계학술발표대회 논문집
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• pp.211-216
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• 2012

Proton Exchange Membrane Fuel Cells (PEMFC) are the most appropriate for energy source of small robot applications. PEMFC has superior in power density and thermodynamic efficiency as compared with the Direct Methaol Fuel Cell (DMFC). Furthermore, PEMFC has lighter weight and smaller size than DMFC which are very important factors as small robot power system. The most significant factor of mobile robots is weight which relates closely with energy consumption and robot operation. This research tried to find optimum specifications in terms of type, number of cell, active area, cooling method, weight, and size. In order to find optimum 500W PEMFC, six options are designed in this paper and studied to reduce total stack weight by applying new materials and design innovations. However, still remaining problems are thermal management, robot space for energy sources, and so on. For a thermal management, design options need to analysis of Computational Fluid Dynamics (CFD) for determining which option has the improved performance and durability.

• 산업융합연구
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• 제15권1호
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• pp.43-52
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• 2017

Robot refers to machines that recognize the external environment and assess the given situations in order to operate autonomously by imitating the manner in which humans behave. Although Korea still lacks global competitiveness, Korea, as the $4^{th}$ ranked robot manufacturing country in the world, is currently expanding the domains of robots from application in manufacturing to application in service provision. Accordingly, this study aims to analyze the factors for the success in entry into the cooperation robot market among various robotic markets in accordance with the literary research method in consideration for the importance of robot industry that could determine the future national competitiveness. The result of the analysis of the factors for the success in entry into the cooperation robot market, shows that factors including analysis of the trends in manufacturing robot market, strategy for benchmarking of the leading cooperation robot companies, activation of small and medium enterprise-centered cooperation robotic industry, excavation of demands for cooperation robots with focus on automobile, semiconductor and IT industries, utilization of the opportunities provided by government's robotic industry policies and standardization of cooperation robot components, etc. determine whether one will succeed in the market or not. Furthermore, it is believed that fortification of competitiveness of the manufacturing sector through the powerful policy support for the robotic industry at government level and policies on cultivation of new growth engine through specialization of the robotic areas closely related to daily life must be implemented concurrently because it is forecasted that competitiveness in robotics technology will become the criterion for national competitiveness in the future.

• 로봇학회논문지
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• 제6권1호
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• pp.69-77
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• 2011

In a large scale robot system, one of important problems is software integration, which involves three elements: modularity, reusability and stability. By these issues, the degree of convenience of system integration, its required time and the performance of the system stability can be determined. In addition, the convenience of system management can be determined by the degree of completion of service components. This paper explains the template based service component (TBSC) for the integration of service components in networked robot. The important characteristics of TBSC are automatical execution and recovery process by a PnP supporting robot framework, which helps a system operator to manage a robot system comfortably. For easy implementation and system stability, we provide a service component creator and a verification tool to developers.

• Advances in robotics research
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• 제2권1호
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• pp.13-31
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• 2018

This paper presents the performance of Teaching-Learning-Based Optimization (TLBO) algorithm for optimum static balancing of a robot manipulator. Static balancing of robot manipulator is an important aspect of the overall robot performance and the most demanding process in any robot system to match the need for the production requirements. The average force on the gripper in the working area is considered as an objective function. Length of the links, angle between them and stiffness of springs are considered as the design variables. Three robot manipulator configurations are optimized. The results show the better or competitive performance of the TLBO algorithm over the other optimization algorithms considered by the previous researchers.