• Nuclear Engineering and Technology
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• v.55 no.11
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• pp.4282-4286
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• 2023

Nuclear energy is estimated by the machine learning method as the mathematical quantifications where neural networking is the major algorithm of the data propagations from input to output. As the aspect of nuclear energy, the other energy sources of the traditional carbon emission-characterized oil and coal are compared. The artificial intelligence (AI) oriented algorithm like the intelligence of a robot is applied to the modeling in which the mimicking of biological neurons is utilized in the mathematical calculations. There are graphs for nuclear priority weighted by climate factor and for carbon dioxide mitigation weighted by climate factor in which the carbon dioxide quantities are divided by the weighting that produces some results. Nuclear Priority and CO2 Mitigation values give the dimensionless values that are the comparative quantities with the normalization in 2010. The values are 1.0 in 2010 of the graphs which are changed to 24.318 and 0.0657 in 2040, respectively. So, the carbon dioxide emissions could be reduced in this study.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.435-441
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• 2013

A swarm robot system consists of with multiple mobile robots, each of which is called an agent. Each agent interacts with others and cooperates for a given task and a given environment. For the swarm robotic system, the loss of the entire work capability by malfunction or damage to a single robot is relatively small and replacement and repair of the robot is less costly. So, it is suitable to perform more complex tasks. The essential component for a swarm robotic system is an inter-robot collaboration strategy for teamwork. Recently, the swarm intelligence theory is applied to robotic system domain as a new framework of collective robotic system design. In this paper, FA (Firefly Algorithm) which is based on firefly's reaction to the lights of other fireflies and their social behavior is employed to optimize the group behavior of multiple robots. The main application of the firefly algorithm is performed on path planning of swarm mobile robots and its effectiveness is verified by simulations under various conditions.

• Journal of Ocean Engineering and Technology
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• v.33 no.6
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• pp.620-626
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• 2019

With the development of robot technology, the expectation of autonomous mission operations has increased, and the research on robot control architectures and mission planners has continued. A scalable and robust control architecture is required for unmanned surface vehicles (USVs) to perform a variety of tasks, such as surveillance, reconnaissance, and search and rescue operations, in unstructured and time-varying maritime environments. In this paper, we propose a robot control architecture along with a new utility function that can be extended to various applications for USVs. Also, an additional structure is proposed to reflect the operator's command and improve the performance of the autonomous mission. The proposed architecture was developed using a robot operating system (ROS), and the performance and feasibility of the architecture were verified through simulations.

• ETRI Journal
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• v.40 no.4
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• pp.511-521
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• 2018

The ability to realize human-motion imitation using robots is closely related to developments in the field of artificial intelligence. However, it is not easy to imitate human motions entirely owing to the physical differences between the human body and robots. In this paper, we propose a work chain-based inverse kinematics to enable a robot to imitate the human motion of upper limbs in real time. Two work chains are built on each arm to ensure that there is motion similarity, such as the end effector trajectory and the joint-angle configuration. In addition, a two-phase filter is used to remove the interference and noise, together with a self-collision avoidance scheme to maintain the stability of the robot during the imitation. Experimental results verify the effectiveness of our solution on the humanoid robot Nao-H25 in terms of accuracy and real-time performance.

• Journal of Intelligence and Information Systems
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• v.15 no.3
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• pp.17-29
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• 2009

C programming is a main programming for the Educational Robot Arm which is based on AVR ATmega128. The development environment is not integrated, so it is complex and difficult to study for middle or high school students who want to learn programming and control the educational robot arm. Furthermore, there is no debug and testing environment support. This paper presents a Java-based development platform for the educational robot arm. This platform includes: an up-to-date tiny Java Virtual Machine (NanoVM) for the educational robot arm; An Eclipse based Java integrated development environment as an Eclipse plug-in; a 3D simulator on the PCs to support testing and debugging programs without real robots. The Java programming environment makes development for educational robot arm easier for students.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1232-1239
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• 2009

This paper proposes an exploration strategy to efficiently find a specific place in large unknown environments with wall-following based path planning. Many exploration methods proposed so far showed good performance but they focused only on efficient planning for modeling unknown environments. Therefore, to successfully accomplish the room finding task, two additional requirements should be considered. First, suitable path-planning is needed to recognize the room number. Most conventional exploration schemes used the gradient method to extract the optimal path. In these schemes, the paths are extracted in the middle of the free space which is usually far from the wall. If the robot follows such a path, it is not likely to recognize the room number written on the wall because room numbers are usually too small to be recognized by camera image from a distance. Second, the behavior which re-explores the explored area is needed. Even though the robot completes exploration, it is possible that some rooms are not registered in the constructed map for some reasons such as poor recognition performance, occlusion by a human and so on. With this scheme, the robot does not have to visit and model the whole environment. This proposed method is very simple but it guarantees that the robot can find a specific room in most cases. The proposed exploration strategy was verified by various experiments.

• International Journal of Precision Engineering and Manufacturing
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• v.9 no.2
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• pp.69-74
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• 2008

Robotics and artificial intelligence are components of IT that involve networks, electrical and electronic engineering, and wireless communication. We consider an algorithm for efficient navigation by building a precise map in a multi-robot system under conditions of limited and unlimited communications. The basis of the navigation algorithm described in this paper is a wave algorithm, which is effective in obtaining an accurate map. Each robot in a multi-robot system has its own task such as building a map for its local position. By combining their data into a shared map, the robots can actively seek to verify their relative locations. Using shared maps, they coordinate their exploration strategies to maximize exploration efficiency. To prove the efficiency of the proposed technique, we compared the final results with the results in $Burgard^{8}$ and $Stachniss.^{9-10}$ All of the simulation comparisons, which are shown as graphs, were made in four different environments.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.877-882
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• 2016

Disaster robots have accepted tele-operation in order to share the intelligence of human operators and robot systems. Virtual wall is one of the tele-operation technology to support recognition of human operator. If the virtual wall can block the robot from dangers, the operator will feel comfortable and can concentrate on fundamental missions. In this paper, we proposes and compares three methods for virtual wall visualization in tele-operation using 3D reconstruction. First is a virtual wall visualized only with edges. A wall filled with transparent color is the second method. Finally, third method is a texture-mapped virtual wall. In the experiments, we discuss their merits and demerits in view of robot tele-operation.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.322-333
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• 2022

The Avatar robot, which is one of the teleoperation robots, aims to enable users to feel the robot as a part of the body to intuitively and naturally perform various tasks. Considering the purpose of the avatar robot, an end-effector identical to a human hand is advantageous, but a robotic hand with human hand level performance has not yet been developed. In this paper we propose a new 3-finger robotic hand with human-avatar hand posture mapping algorithm which were integrated with TOCABI-AVATAR, one of the teleoperation system. Due to the flexible rolling contact joints and tendon driven mechanism applied to the finger, the finger could implement adaptive grasping and absorb the impact force caused by unexpected contacts. In addition, human-avatar hand mapping algorithm using five calibration hand postures propose to compensate physical differences between operators. Using the TOCABI-AVATAR system with the robotic hands and mapping algorithm, the operator can perform 13 out of 16 hand postures of grasping taxonomy and 4 gestures. In addition, using the system, we participated in the ANA AVATAR XPRIZE Semi-final and successfully performed three scenarios which including various social interactions as well as object manipulation.

• Journal of the KSME
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• v.34 no.10
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• pp.780-786
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• 1994

지금까지는 많은 노력이 로봇자체의 지능화 노력과 각종 센서의 개발과 활용기술의 발달로 로 봇이 작업상황과 환경을 쉽게 인식할 수 있게 되었으며, 이러한 센서들의 원리와 응용에 대한 정보는 문헌에서 쉽게 찾아 볼 수 있다. 따라서 여기서는 로봇제어의 관점에서 본 인공지능의 활용측면에서 서술하고자 한다.