• 융합신호처리학회논문지
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• 제5권4호
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• pp.308-316
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• 2004

실내 환경에서 자율이동 로봇은 방향의 전환과 움직임에 있어서 많은 제약이 따른다. 본 연구는 이런 제약을 해결하기 위하여 수평, 대각이동이 가능한 Omni-Directional Wheel을 로봇 구동부에 적용하였다. 하지만 Slip에 의해서 동력을 얻는 Omni Directional Wheel 구동방식은 Slip에 의한 오차가 발생하는 문제점이 있었다. 이 문제점을 해결하기 위해 개발된 Slip 보정 알고리즘은 하나의 타일을 지날 때마다 외곽선을 추출하고, 추출된 외곽선과 로봇의 절대방위가 이루는 각도를 비교하여 오차가 발생할 경우 로봇의 절대방위를 수정하게 한다. 또한 로봇은 보안기능과 서비스 기능을 수행한다. 보안기능은 차 영상을 이용하여 움직임을 감지한다. 서비스 기능으로는 로봇에 입력되는 영상을 일반사용자에게 다중전송 하고, 간단한 이동명령이 있다. 본 연구에서 제안한 로봇 시스템은 실제 사무실에서 사용가능한 하나의 모델이 될 수 있다.

• International Journal of Computer Science & Network Security
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• 제22권11호
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• pp.294-302
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• 2022

The article explores the prospects and trends for the transformation of some basic concepts of law associated with the development of artificial intelligence systems and the problems of liability for harm caused by a robot. The prospects, conditions and consequences of vesting robots with partial (quasi) or full legal personality are explored. This process should lead to a revision of the concepts of will, subjective side and legal responsibility in the direction of their greater universalization. The legally significant signs of will, legal personality, legal liability in relation to robots, artificial intelligence systems and other complex automated information systems are clarified. The author identifies the following essential factors of legal qualification of an act committed by a robot: goals, reasons for setting goals, connections between the planned result and the action taken, the actual result, the reasons for the difference between the actual result and the planned one. The article pays special attention to the preventive function of legal liability, which, when applied to robot subjects, can be expressed in the following basic procedures. 1. Accounting for legal requirements in the behavior of the robot. 2. Timely adaptation of the robot to changes in legislation and other regulatory legal acts that affect its behavior. 3. Accounting for incidents. 4. Destruction of a series of robots whose actions lead to unacceptable consequences.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.505-510
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• 2009

In recent years the space where a robot works has been expanding to the human space unlike traditional industrial robots that work only at fixed positions apart from humans. A human in the recent situation may be the owner of a robot or the target in a robotic application. This paper deals with the latter case; when a robot vision system is employed to monitor humans for a surveillance application, each person in a scene needs to be identified. Humans, however, often move together, and occlusions between them occur frequently. Although this problem has not been seriously tackled in relevant literature, it brings difficulty into later image analysis steps such as tracking and scene understanding. In this paper, a probabilistic neural network is employed to learn the patterns of the best dividing position along the top pixels of an image region of partly occlude people. As this method uses only shape information from an image, it is simple and can be implemented in real time.

• Journal of Construction Engineering and Project Management
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• 제6권2호
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• pp.30-39
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• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.314-321
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• 2005

In this paper an intelligence embedding quadruped pet robot is described. It has 15 degrees of freedom and consists of various sensors such as CMOS image, voice recognition and sound localization, inclinometer, thermistor, real-time clock, tactile touch, PIR and IR to allows owners to interact with pet robot according to human's intention as well as the original features of pet animals. The architecture is flexible and adopts various embedded processors for handling sensors to provide modular structure. The pet robot is also used for additional purpose such like security, gaming visual tracking, and research platform. It is possible to generate various actions and behaviors and to download voice or music files to maintain a close relation of users. With cost-effective sensor, the pet robot is able to find its recharge station and recharge itself when its battery runs low. To facilitate programming of the robot, we support several development environments. Therefore, the developed system is a low-cost programmable entertainment robot platform.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권5호
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• pp.300-306
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• 2005

In this paper we present a guideline to evaluate how easy the use of personal robots is and how good their learning abilities are, based on the analysis of their built-in commands, user interfaces, and intelligences. Recently, we are living with robots that can be able to do lots of roles; cleaning, security, pets and education in real life. They can be classified as home robots, guide robots, service robots, robot pets, and so on. There we, however, no standards to evaluate their abilities, so it is not easy to select an appropriate robot when a user wants to buy it. Thus, we present, as a guideline that can be a standard for the evaluation of the personal robots, the standards by means of analyzing existing personal robots and results of the recent research works. We will, also, demonstrate how to apply the evaluation method to the cleaning robot as an example.

• 융합보안논문지
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• 제17권2호
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• pp.153-158
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• 2017

로봇은 인간을 모방하여 외부환경을 인식하고 상황을 판단하며 자율적으로 동작하는 기계를 의미한다. 로봇은 제조용 로봇과 서비스용 로봇으로 구분하고 서비스용 로봇은 전문서비스용 로봇과 개인서비스용 로봇으로 분류된다. 최근 제조업의 생산성 경쟁 심화, 안전 이슈 부상, 저출산과 고령화 심화로 인해 로봇산업이 부상하고 있다. 최근 로봇산업은 첨단기술 분야의 복합체로 기술혁신성과 성장잠재력을 가지고 있기 때문에 각광받고 있는 산업분야이다. IT, BT 및 NT 관련 요소들이 융합되어 구현되는 기술로서 그 파급효과는 매우 커지고 있다. 사회구조와 생활패턴의 변화로 인해 생명 연장과 건강에 대한 사회적인 관심이 높아지고 있으며 의료관련 분야에 많은 관심이 모아지고 있다. 이제는 인공지능(AI) 산업이 급성장하고 있기 때문에 대 중소기업 협력 강화를 통한 글로벌 경쟁력을 확보하는 것이 우선 과제이다. 대기업의 장점인 R&D 투자능력과 마케팅 능력과 중소기업의 장점인 로봇 기술을 결합해야 하며 협력 모델 구축 및 M&A를 통해 글로벌 대기업과 경쟁력을 확보해야 한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.421-423
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• 2005

Power transmission lines have been playing a key role as the mainstay of national industry. When a power failure occurs, it can have severe effects on national security as well as national industry and economy. In this paper, we consider an insulator failure, which is one of the main causes of such a power failure. In spite of its importance, however, a shortage of manpower in the insulator maintenance field is getting more serious due to working environments with a high voltage and a high place. For this reason, a new active maintenance technique using a robot system is required to prevent such an insulator failure. In this paper, a new robot mechanism for insulator cleaning and inspection was developed. We confirmed its effectiveness through experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2465-2467
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• 2004

In this paper we present the guideline to evaluate the easiness of using personal robots and their learning abilities based on the analysis of their built-in commands, user interfaces, and intelligences. Recently, we are breathing with robots that can be able to do lots of roles. cleaning, security, pets and education in real life. They can be classified as home robots, guide robots, service robots, robot pets, and so on. There are, however, no standards to evaluate their ability, so it is not easy to select an appropriate robot when a user wants to buy it. Thus, we present, as a guideline that can be a standard for the evaluation of the personal robots, the standards by means of analyzing existing personal robots and results of the recent research works. We will, also, describe how to apply the evaluation method th the personal robot.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2008년도 추계종합학술대회 B
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• pp.712-715
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• 2008

RUPI 기반 로봇 서비스는 다양한 성능을 지원하는 로봇과 서버간의 연동을 통해서 융통성과 확장성을 보장하는 로봇 기반 서비스를 제공한다. 이러한 로봇 서비스를 제공하는데 있어서 안전성 보장은 필수 요소이다. 하지만 로봇 서비스에 적용되는 각 노드의 다양한 성능을 보장하기 위해서는 각 서비스에 맞는 보안 메커니즘이 적용되어야 하며, 이를 위해서 효율적인 키 관리 구조가 선행되어야 한다. 따라서 본 논문에서는, RUPI 기반 로봇 환경에 적합한 키 관리 구조를 제안한다.