• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.2
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• pp.370-376
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• 2022

Smart ships related studies are being conducted in various fields owing to the development of technology, and an engine room patrol robot that can patrol the unmanned engine room is one such study. A patrol robot moves around the engine room based on the information learned through artificial intelligence and checks the machine normality and occurrence of abnormalities such as water leakage, oil leakage, and fire. Study on engine room patrol robots is mainly conducted on machine detection using artificial intelligence, however study on movement and control is insufficient. This causes a problem in that even if a patrol robot detects an object, there is no way to move to the detected object. To secure maneuverability to quickly identify the presence of abnormality in the engine room, this study experimented with whether a patrol robot can determine the shortest path by applying the A* algorithm. Data were obtained by driving a small car equipped with LiDAR in the ship engine room and creating a map by mapping the obtained data with SLAM(Simultaneous Localization And Mapping). The starting point and arrival point of the patrol robot were set on the map, and the A* algorithm was applied to determine whether the shortest path from the starting point to the arrival point was found. Simulation confirmed that the shortest route was well searched while avoiding obstacles from the starting point to the arrival point on the map. Applying this to the engine room patrol robot is believed to help improve ship safety.

• The Journal of Korea Robotics Society
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• v.4 no.2
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• pp.105-111
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• 2009

In this paper, we provide experimental results and verification for obstacle avoidance algorithm 'ELA(Emergency Level Around)', which is applicable to rescue robots. ELA is a low level intelligence-based obstacle avoidance algorithm, so can be used in fast mobile robots requiringhigh speed in operation with little computational load. Constructed system for experiments consist of laptop, sensors, peripheral devices and mobile robot platform VSTR(Variable Single-tracked Robot) to realize predetermined scenarios. Finally, experiment was conducted in indoor surroundings including miscellaneous things as well as dark environment to show fitness and robustness of ELA for rescue, and it is shown that VSTR navigates endowed area well with real-time obstacle avoidance based on ELA. Therefore, it is concluded that ELA can be a candidate algorithm to increase mobility of rescue robots in real situation.

• The Magazine of the IEIE
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• v.23 no.12
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• pp.115-125
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• 1996

This paper presents a new algorithm for the self-localization of a mobile robot using one degree perspective Invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of a simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two locally parallel sloe-lines are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points. Feature points for cross ratio are extracted robustly using a vanishing point and intersection points between two locally parallel side-lines and vertical lines. Also the local position estimation problem has been treated when feature points exist less than 4points in the viewed scene. The robustness and feasibility of our algorithms have been demonstrated through real world experiments In Indoor environments using an indoor mobile robot, KASIRI-II(KAist Simple Roving Intelligence).

• Journal of the Korean Society for Precision Engineering
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• v.28 no.8
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• pp.942-950
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• 2011

Automation is important in modern agricultural environment, which demands the highest level of technology. In the paper an independent four-wheel steering driving platform is developed especially for horticulture in glass house farm. Mathematical modeling of the four wheel system is carried out for smooth movement. The relationships between steering angle, the turning radius, and escape trajectory are simulated using the dynamic analysis program. Optimal driving algorithm is sought through the performance evaluation.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.500-503
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• 1990

Neural network is a computational model of the biological nervous system developed to exploit its intelligence and parallelism. Applying neural networks to robots creates many advantages over conventional control methods such as learning, real-time control, and continuous performance improvement through training and adaptation. In this paper, dynamic control of a six-link robot will be presented using neural networks. The neural network model used in this paper is the backpropagation network. Simulated control of the PUMA 560 arm shows that it can move at high speed as well as adapt to unforseen load changes. The results are compared with the conventional PD control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.532-532
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• 2000

Conventional artificial intelligence systems are not properly responding under dynamically changing environments. To overcome this problem, reactive planning systems implementing new Al principles, called behavior-based Al or emergent computation, have been proposed and confirmed their usefulness. As another alternative, biological information processing systems may provide many feasible ideas to these problems. Immune system, among these systems, plays important roles to maintain its own system against dynamically changing environments. Therefore, immune system would provide a new paradigm suitable for dynamic problem dealing with unknown environments. In this paper, a new approach to behavior-based Al by paying attention to biological immune system is investigated. The feasibility of this method is confirmed by applying to behavior control of an autonomous mobile robot in cluttered environment.

• Proceedings of the Korean Information Science Society Conference
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• 2010.06b
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• pp.43-46
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• 2010

지능형 로봇의 인간-로봇 상호작용(Human-Robot Interaction)은 현재 세계적으로 주목받는 연구 분야 중 하나이다. 이 논문에서는 지능형 로봇의 작업 완결성을 높이기 위한 방편의 일환으로 사용자에게 작업 내용을 공개하고, 문제 발생 시 사용자의 개입을 유도하는 형태의 인간-로봇 상호작용을 제안한다. 이러한 형태의 서비스는 지능형 로봇이 작업 수행 중 필요한 경우 사용자의 선택 통해 예상치 못한 상황에 대해 유연한 대처를 할 수 있으며, 동시에 로봇의 현재 상황을 사용자가 확인할 수 있도록 하는 수단을 제공한다. 이를 위해 이 논문은 Android 플랫폼과 로봇 간의 로봇-사용자 정보교환을 구현하고, 나아가 범용적이고 일반적인 인간-로봇 상호작용을 위한 연구방향을 제시하고자 한다.

• Journal of Engineering Education Research
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• v.22 no.1
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• pp.16-21
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• 2019

This study deals with empathic concern in the age of the fourth industrial revolution. A study, investigating emotional and empathic responses towards a situation of negative human-robot interaction, was conducted using mobile surveys and self-reports. In total, 116 subjects were recruited regardless of their disciplinary and demographic backgrounds. For data analysis, a mixed method was used. Results show that people differ in emotional and empathic responses in human-robot interaction. This individual difference was influenced by educational backgrounds and gender. Suggestions for engineering education were discussed.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2021.05a
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• pp.257-258
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• 2021

Construction robotics is rapidly forming a market in conjunction with the development of sensing and artificial intelligence technologies. The layout work for accurately constructing the shape and dimensions of the building frame requires high accuracy and precision, and is one of the high demands for productivity and quality improvement through construction automation. Thus, as a preliminary study, we derived the elemental factors and performance requirements for developing an automated layout robot. In addition, alternatives on driving and marking units were investigated based on literature review and practioner's interview. The result of this study will be used as a basic data for the layout robot design.

• Journal of the Korean Magnetics Society
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• v.27 no.4
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• pp.153-162
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• 2017

Many people have wondered that a job could be reduced greatly due to the automation by artificial intelligence and labor replacement by robot, drone, and autonomous car in the era of the $4^{th}$ industrial revolution. In this article, many foreign and domestic reports on the change of future employment were collected and discussed. And the optimistic and pessimistic prospects on employment in worldwide and domestic levels were listed and analysed.