• Journal of the Korean Society for Precision Engineering
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• v.30 no.11
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• pp.1161-1169
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• 2013

In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.499-500
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• 2008

• Journal of the Korea Society of Computer and Information
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• v.20 no.4
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• pp.33-40
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• 2015

This paper presents the design and implementation of the educational remote controlled robot system including remote sensing in the embedded environment. The design of sensing information processing, software design and template design mechanism for the programming practice are introduced. LPC1769 using Cortex-M3 core as CPU, LPCXPRESSO as debugging environment, C language as firmware development language and FreeRTOS as OS are used in development environment. The control command is received via RF communication by the server and the robot system which is operated by driving the various sensors. The educational procedure is from robot demo operation program as hands-on practice and then compiling, loading of the basic robot operation program, already supplied. Thereafter the verification is checked by using the basic robot operation to allow demo operation such as hands-on-training procedure. The original protocol is designed via RF communication between server and robot system, and the satisfied performance result is presented by analyzing the robot sensing data processing.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1777-1778
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• 2007

In this paper, We design and implement a humanoid robot, With Educational purpose, which can collaborate and communicate with human. We present an affective human-robot communication system for a humanoid robot, D2, which we designed to communicate with a human through dialogue. D2 communicates with humans by understanding and expressing emotion using facial expressions, voice, gestures and posture. Interaction between a human and a robot is made possible through our affective communication framework. The framework enables a robot to catch the emotional status of the user and to respond appropriately. As a result, the robot can engage in a natural dialogue with a human. According to the aim to be interacted with a human for voice, gestures and posture, the developed Educational humanoid robot consists of upper body, two arms, wheeled mobile platform and control hardware including vision and speech capability and various control boards such as motion control boards, signal processing board proceeding several types of sensors. Using the Educational humanoid robot D2, we have presented the successful demonstrations which consist of manipulation task with two arms, tracking objects using the vision system, and communication with human by the emotional interface, the synthesized speeches, and the recognition of speech commands.

• Journal of IKEEE
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• v.23 no.1
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• pp.44-52
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• 2019

We implement an educational indoor autonomous mobile robot system that integrates LiDAR sensing information with RGB-D camera image information and exploits the integrated information. This system uses the existing sensing method employing a LiDAR with a small number of scan channels to acquire LiDAR sensing information. To remedy the weakness of the existing LiDAR sensing method, we propose the 3D structure recognition technique using depth images from a RGB-D camera and the deep learning based object recognition algorithm and apply the proposed technique to the system.

• Journal of IKEEE
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• v.22 no.4
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• pp.922-932
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• 2018

Radial distance sensors are widely used for surveying and autonomous navigation. It is necessary to train the operation principle of these sensors and how to apply them. Although commercialization of radial distance sensor continues to be cost-effective through lower performance, but it is still expensive for educational purposes. In this paper, we propose a distance sensor module with object tracking using radial array of low cost phototransistor which can be used for educational robot. The proposed method is able to detect the position of a fast moving object immediately by arranging the phototransistor in the range of 180 degrees and improve the sensing angle range and track the object by the sensor rotation using the servo motor. The scan speed of the proposed sensor is 50~200 times faster than the commercial distance sensor, thus it can be applied to a high performance educational mobile robot with 1ms control loop.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.123-128
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• 2022

This paper proposes a mobile robot platform for education that can experiment with various autonomous driving algorithms such as obstacle avoidance and path planning. The platform consists of a robot module and a remote controller module, both of which are based on the Arduino Nano 33 IoT embedded board. The robot module is designed as a differential drive type using two encoder motors, and the speed of the motor is controlled using PID control. In the case of the remote controller module, a command to control the robot platform is received with a 2-axis joystick input, and an elliptical grid mapping technique is used to convert the joystick input into a linear and angular velocity command of the robot. WiFi and Zigbee are used for communication between the robot module and the remote controller module. The proposed robot platform was tested by measuring and comparing the linear velocity and angular velocity of the actual robot according to the linear velocity and angular velocity commands of the robot generated by the input of the joystick.

• Journal of The Korean Association of Information Education
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• v.18 no.4
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• pp.615-624
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• 2014

According to the rapid growth and popularization of the SMART device, the society is being changed greatly and importance of SW education is being emphasized. Also many student have a lot of interests about mobile application programming. The latest study suggests using the robots in the programming education may help to induce learners' interest and motivation, participation, achievement. So in this research, I designed a programming educational plan for SW education using robot and mobile application development tool(App Inventor) and applied them. And I conducted a survey four ares such as class, robot, App Inventor, robot and App Inventor. As a result, learner's response of interest and satisfaction was very positive commonly at four areas. In particular, learners could get programming result immediately using smart phone and could control the robot using smart phone, so learner's interest had increased especially. The conclusion is that suggested plan for SW education using robot and mobile application development tool is useful for programming education.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.6
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• pp.1355-1360
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• 2014

In this paper, we apply the learning of the mobile robot insect augmented reality Digilog Book. In the era of electronic, book written in paper space just have moved to virtual reality space. The virtual reality, constraints spatial and physical, in the real world, it is a technique that enables to experience indirectly situation not experienced directly as user immersive experience type interface. Applied to the learning robot Digilog Book that allows the fusion of paper analog and digital content, using the augmented reality technology, to experience various interactions. Apply critical elements moving, three-dimensional images and animation to enrich the learning, for easier block assembly, designed to grasp more easily rank order between the blocks. Anywhere at any time, is capable of learning of the robot in Digilog Book to be executed by the mobile phone in particular.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.241-244
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• 2014

In this paper, we apply the learning of the mobile robot insect augmented reality Digilog Book. In the era of electronic, book written in paper space just have moved to virtual reality space. The virtual reality, constraints spatial and physical, in the real world, it is a technique that enables to experience indirectly situation not experienced directly as user immersive experience type interface. Applied to the learning robot Digilog Book that allows the fusion of paper analog and digital content, using the augmented reality technology, to experience various interactions. Apply critical elements moving, three-dimensional images and animation to enrich the learning, for easier block assembly, designed to grasp more easily rank order between the blocks. Anywhere at any time, is capable of learning of the robot in Digilog Book to be executed by the mobile phone in particular.