• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.726-734
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• 2007

Generally, a mobile robot is moved by original input programs. However, it is very hard for a non-expert to change the program generating the moving path of a mobile robot, because he doesn't know almost the teaching command and operating method for driving the robot. Therefore, the teaching method with speech command for a handicapped person without hands or a non-expert without an expert knowledge to generate the path is required gradually. In this study, for easily teaching the moving path of the autonomous mobile robot, the autonomous mobile robot with the function of speech recognition is developed. The use of human voice as the teaching method provides more convenient user-interface for mobile robot. To implement the teaching function, the designed robot system is composed of three separated control modules, which are speech preprocessing module, DC servo motor control module, and main control module. In this study, we design and implement a speaker dependent isolated word recognition system for creating moving path of an autonomous mobile robot in the unknown environment. The system uses word-level Hidden Markov Models(HMM) for designated command vocabularies to control a mobile robot, and it has postprocessing by neural network according to the condition based on confidence score. As the spectral analysis method, we use a filter-bank analysis model to extract of features of the voice. The proposed word recognition system is tested using 33 Korean words for control of the mobile robot navigation, and we also evaluate the performance of navigation of a mobile robot using only voice command.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.412-412
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• 2000

This paper presents a task teaching method for off-line programming of a multi-robot system. Teaching commands were developed in order to simplify a complex teaching process, to shorten the setup time for new working environment and to have flexibility for changes in working environment. Four teaching commands can be used to automatically generate trajectories of an end-effector of the robot in electronics assembly line. The robots used in the work cell are a four-axis SCARA robot and six-axis articulated robot. Each robot is controlled in a independent way while objects, working environment and robots are modeled in corresponding modules, respectively. The off- line programming system developed uses OpenGL for a smooth graphic effect in Window s where three dimensional CAD data can be leaded for graphical modeling.

• English Language & Literature Teaching
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• v.16 no.1
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• pp.1-18
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• 2009

The study aims to answer two questions: (a) what perceptions do NNESTs have about teaching native English speaking (NES) students? (b) what perceptions do NES students have of their NNESTs? The study participants were four NNESTs and 17 NES students. Data were collected through one-on-one interviews, which were analyzed qualitatively. Major study findings showed the differences between the NNESTs and their NES students in the area of teaching and language performance. The NNESTs were perceived by their students as using ineffective teaching techniques, lacking in their command of English, especially accent; the NNESTs, in turn, perceived themselves as well-prepared teachers with not too much concern about nonnativeness of English, and felt that their students were not actively engaged in their class. The present study indicates, for both NNESTs and NES students, the need to be aware of World Englishes (WE) in terms of language and pedagogy. This involves the variety of Englishes, especially with different accents existence among nonnative speakers, and the variety of learning and teaching methods in English class, where both need to create a balance between the old and new perspective to maintain a middle ground.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.555-557
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• 1992

Recently, realization of an intelligent cooperative interaction system between a man and robot systems is required. In this paper, HyperCard with a voice control is used for above system because of its easy handling and excellent human interfaces. Clicking buttons in the HyperCard by a mouse device or a voice command means controlling each joint of a robot system. Robot teaching operation of grasping a bin and pouring liquid in it into a cup is carried out. This robot teaching method using HyperCard provides a foundation for realizing a user friendly cooperative interaction system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.281-281
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• 2000

This paper presents an implementation of speech recognition system for teaching an autonomous mobile robot. The use of human speech as the teaching method provides more convenient user-interface for the mobile robot. In this study, for easily teaching the mobile robot, a study on the autonomous mobile robot with the function of speech recognition is tried. In speech recognition system, a speech recognition algorithm using HMM(Hidden Markov Model) is presented to recognize Korean word. Filter-bank analysis model is used to extract of features as the spectral analysis method. A recognized word is converted to command for the control of robot navigation.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.7
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• pp.159-169
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• 1994

In this paper, we develop a prototype of ITS(Intelligent Tutoring Systems) system: UNIX TUTOR. It is designed for the purpose of teaching the UNIX beginners the principal concepts of UNIX and the shell commands using the communication between the student and the system. UNIX TUTOR engages the student in a two-way conversation that is mixed-initiative dialogue and attempts to teach the student UNIX via the Socratic method of guided discovery and the Coaching method interchangeably. And the student model is based on both the overlay model and the buggy model together. Thus TUTOR aims at teaching the students effectively whose levels of learning are different using various explanations which are determined by the student model. Because the knowledge representation for UNIX-TUTOR is based on the frame structure and the production rules it is easy to represent the complicated constructs. UNIX TUTOR is implemented on the SPARC station using X/Motif and C for cp command among 10 ones which were selected.

• MALSORI
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• no.51
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• pp.17-37
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• 2004

The purpose of this dissertation is to make the general korean speakers to learn the standard pronunciations. But it is in existence that the obstructions of the command of the standard pronunciations. They are the mistake in the education course on the korean pronunciations, the teacher's capability and the mass communications's duplicity. To overcome this obstructions, we must concentrate our efforts on the propagation of the standard pronunciations. To propagate of the standard pronunciations we can take a several method. These are the presentation of the pronunciation mistakes, audio-visual teaching, the presentation of the pronunciation principles and the use of the korean dictionary. The standard pronunciations are different from the pronunciations of the general korean speakers in many respects. So we can't make an accurate estimate of the pronunciation's changes. No one knows what will happen in the future about the korean pronunciations. But we must teach the standard pronunciations to the general korean speakers. The standard pronunciations are offically valid in the present time.

• KIPS Transactions on Software and Data Engineering
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• v.5 no.2
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• pp.107-116
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• 2016

Industrial robots have been usually controlled using text-based programming languages provided by each manufacturer with its button-based TP(Teaching Pendent) terminal. Unfortunately, when we consider that people who manipulate TPs in manufacturing sites are mostly unskilled with no background knowledge about computer programming, these text-based programming languages using button-based interaction on manufacturing sites are too difficult for them to learn and use. In order to overcome the weaknesses of the text-based programming language, we propose a visual programming language that can be easily used on gesture-enabled devices. Especially, in our visual programming environment, each command is represented as a block and robots are controlled by stacking those blocks using drag-and-drop gestures, which is easily learnable even by beginners. In this paper, we utilize a widely-spread device, Tablet PC as the gesture-enabled TP. Considering that Tablet PC has limited display space in contrast to PC environments, we designed different kinds of sets of command blocks and conducted user tests. Based on the experiment results, we propose an effective set of command blocks for Tablet PC environment.