• 한국인터넷방송통신학회논문지
• /
• 제12권4호
• /
• pp.43-49
• /
• 2012

최근에 컴퓨터 기술, 특히 영상 처리, 무선 통신, 프로그래머블 로봇 기술이 발전하여 우리 일상 생활에 활발히 적용되고 있다. 본 논문에서는 이러한 기술들을 융합하여 사용자의 잘못된 자세를 탐지하고, 이를 사용자에게 알려주고, 사용자로 하여금 적극적으로 자세 교정을 할 수 있도록 도움을 주는 프로그래머블 로봇기반 방석을 개발한다. 또한 이를 통해 컴퓨터 관련 학과 학부생들이 창의적으로 문제를 정의하고 해결하는 과정에서 IT 융합형 프로그래머블 로봇이 갖는 효과를 분석한다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.119-122
• /
• 2005

Lego company created a set called Robotic Invention System as a kind of Mindstorm set. This system helps to understand the technology of both robot and programming language. It also improves creativeness by building and controlling the robot we make. This paper will introduce basic idea of controlling the RCX(Programmable Lego Block) in C language. Also, this paper will show different idea of teaching C language by using other types of robots.

• 인터넷정보학회논문지
• /
• 제10권6호
• /
• pp.159-171
• /
• 2009

본 연구의 목적은 초등학교 교육과정에서 활용이 가능한 학습도구로서 프로그래밍이 가능한 로봇의 활용 방안을 알아보기 위함이다. 로봇은 다른 디지털 교구와는 달리 프로그래밍과 이를 통한 조작이 쉽다는 점에서 교수-학습목적의 차별화된 매체적인 특성을 갖는다. 이 연구에서는 초등학교 학생들에게 컴퓨터 프로그램의 핵심인 알고리즘을 가르치기 위한 도구로서 로봇게임프로젝트 개발을 통해 연구목적을 달성하고자 하였다. 본 연구에서 교구로 사용한 레고는 프로그래밍을 할 수 있는 환경을 갖추고 있으며, 중앙제어장치, 센서 및 모터세트를 기계적으로 조합하여 로봇을 만들 수 있다. 개발한 프로젝트는 학생들이 6차시 수업을 통해 3개의 과제를 해결하도록 하는 과정에서 이루어졌다. 이들 각각은 알고리즘의 기본적 원리들을 바탕으로 구성되었으며, 이 프로그램을 교실수업에 적용해 본 결과, 학생들이 상대적으로 학습의 즐거움을 경험하고 몰입의 효과가 나타났음을 알 수 있었다. 이러한 결과는 일반적인 초등학교 교실에서 직접 로봇을 조작하는 활동이 학교교육활동에 새로운 가능성을 가져올 수 있음을 보여준 것이라고 하겠다.

• 제어로봇시스템학회논문지
• /
• 제10권3호
• /
• pp.261-266
• /
• 2004

Recently, a variety of intelligent robots are developed for the personal purpose beyond the industrial application. These intelligent robots have ranges of sensors, actuators, and control algorithms to their application. In this paper we propose a reconfigurable robot controller, $SR^2$c (The SOPC-based Reconfigurable Robot Controller), based on SOPC (System on a Programmable Chip), that can be reconfigurable easily by software. The proposed robot controller contains not only a processing module but also robot-specific IP's. To show a feasibility of the proposed robot controller, a small entertainment robot, Wizard-4 is implemented with a single chip controller as proposed in this paper.

• 제어로봇시스템학회논문지
• /
• 제22권2호
• /
• pp.89-96
• /
• 2016

This paper describes the design of a force measurement and communication system for the force measuring system in industrial robots. The force measurement and communication system is composed of a multi-axis force sensor and a controller for measuring the forces (x-direction force, y-direction force and z-direction force) and sending the measured forces to the robot's controller (PLC: Programmable Logic Controller). In this paper, the force measurement and communication system was designed and fabricated by using a DSP (Digital Signal Processor). An environment test and a grinding and deburring test using an industrial robot with the force measurement and communication system with three-axis force sensor were carried out to characterize the system. The tests showed that the system could safely measure the forces from the three-axis force sensor and send the measured forces to the industrial robot's controller while the grinding and deburring test was performed. Thus, it is thought that the fabricated force measurement and communication system could be used for controlling the force for an industrial robot's grinding and deburring.

• ETRI Journal
• /
• 제27권5호
• /
• pp.563-568
• /
• 2005

A motion-control chip contains major functions that are necessary to control the position of each motor, such as generating velocity command profiles, reading motor positions, producing control signals, driving several types of servo amplifiers, and interfacing host processors. Existing motion-control chips can only generate velocity profiles of fixed characteristics, typically linear and s-shape smooth symmetric curves. But velocity profiles of these two characteristics are not optimal for all tasks in industrial robots and automation systems. Velocity profiles of other characteristics are preferred for some tasks. This paper proposes a motion-control chip to generate velocity profiles of desired acceleration and deceleration characteristics. The proposed motion-control chip is implemented with a field-programmable gate array by using the Very High-Speed Integrated Circuit Hardware Description Language and Handel-C. Experiments using velocity profiles of four different characteristics will be performed.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.215-220
• /
• 2005

Nowadays, various speech processing systems are being introduced in the fields of robotics. However, real-time processing and high performances are required to properly implement speech processing system for the autonomous robots. Achieving these goals requires advanced hardware techniques including intelligent software algorithms. For example, we need nonlinear amplifier boards which are able to adjust the compression radio (CR) via computer programming. And the necessity for noise reduction, double-buffering on EPLD (Erasable programmable logic device), simultaneous multi-channel AD conversion, distant sound localization will be explained in this paper. These ideas can be used to improve distant and omni-directional speech recognition. This speech processing system, based on embedded Linux system, is supposed to be mounted on the new home service robot, which is being developed at KIST (Korea Institute of Science and Technology)

• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2013년도 춘계학술발표대회
• /
• pp.501-503
• /
• 2013

This project presents a concept of mobile robots using prototypes, computing proposal oriented to embedded systems implementation. We implement our system using GPS module, Ultrasonic sensor(range sensors), H-bridge dual stepper control, DTMF(Dual-tone Multi-Frequency ) and LCD module. In this paper we construct a mechanical simple mobile robot model, which can measure the distance from obstacle with the aid of sensor and should able to control the speed of motor accordingly. Modules were interfaced with FPGA(Field Programmable Gate Array) controller for hardware implementation.

• 한국통신학회논문지
• /
• 제19권10호
• /
• pp.1935-1944
• /
• 1994

FMS(Flexible Manufacturing System)는 로봇, 수치제어기기 등의 프로그램이 가능한 생산설비 하드웨어로 구성된 분산시스템이다. FMS의 효과적인 운용을 위해서는 생산설비 하드웨어를 통합 제어하기 위한 소프트웨어의 존재가 필수적이다. 그런데 FMS의 복잡성과 다양한 변화가능성은 통합제어 소프트웨어의 구축 및 유지, 보수를 어렵게 한다. 이를 해결하기 위하여 본 논문에서는 객체지향 FMS 통합제어 모델을 제안한다. 제안된 모델에서는 FMS에 실재하는 셀이 가상 셀 객체로 모델되어, 통합제어를 위하여 필요한 데이터와 연산들이 캡슐화되어 객체지향 데이타베이스에 관리된다. 또한 이 밖의 FMS운용을 위해 필수적인 데이타와 이들간의 관계성도 데이타베이스에 관리된다. 본 논문은 제안된 모델을 기반으로 구현한 통합제어 소프트웨어시스템인 FREE(Fms Run Time Executive Environment)를 바탕으로 통합제어 데이타베이스에 대하여 기술한다.

• Nuclear Engineering and Technology
• /
• 제55권8호
• /
• pp.2873-2878
• /
• 2023

The purpose of this study is to perform radiation monitoring by acquiring gamma images and real-time optical images for ^99mTc vial source using charge couple device (CCD) cameras equipped with the proposed compact gamma camera. The compact gamma camera measures 86×65×78.5 mm³ and weighs 934 g. It is equipped with a metal 3D printed diverging collimator manufactured in a 45 field of view (FOV) to detect the location of the source. The circuit's system uses system-on-chip (SoC) and field-programmable-gate-array (FPGA) to establish a good connection between hardware and software. In detection modules, the photodetector (multi-pixel photon counters) is tiled at 8×8 to expand the activation area and improve sensitivity. The gadolinium aluminium gallium garnet (GAGG) measuring 0.5×0.5×3.5 mm³ was arranged in 38×38 arrays. Intrinsic and extrinsic performance tests such as energy spectrum, uniformity, and system sensitivity for other radioisotopes, and sensitivity evaluation at edges within FOV were conducted. The compact gamma camera can be mounted on unmanned equipment such as drones and robots that require miniaturization and light weight, so a wide range of applications in various fields are possible.