• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.154-160
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• 2006

Instantaneous reaction and intelligence are required for autonomous mobile robots to achieve multiple goals in the unpredictable and dynamic environments. Design of the appropriate control architecture and clear definitions of systems are needed to construct and control these robots. This research proposes the hybrid deliberative/reactive control architecture which consists of three layers and uses the method of software structure design. The highest layer, Deliberative Layer makes the overall run-time schedule for navigation and/or manipulation, and the middle layer, Task Execution Layer carries out various missions. The lowest layer, Reactive Layer enables a robot to react rapidly in the dynamic environment and controls the mechanical devices concurrently. This paper proposes independent system supervisors called Manager to reuse the modules so that the Manager supports common use of the system and multi-processing tasks. It is shown that the mobile robot based on the proposed control scheme can perform the basic navigation and cope with the dynamic obstacles reasonably well.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2063-2065
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• 2003

The control rod drive mechanisms in a reactor head are arranged too narrow for a human worker to approach. Moreover, the working environment is in high radiation area. In order to inspect defections in the surfaces of the reactor head and welding parts, a visual inspection device that can approach such a narrow and high radiation area is required. This paper introduces a tele-operated mobile robot for visual inspection of a reactor head, which has pan/tilt camera, fixed rear camera, ultrasonic collision detection system, and so on. Moreover, the host controller and digital video logging system are developed and integrated control software is also developed. The robot is operated by a wireless control, which gives flexibility for the inspection.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.86-92
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• 2007

This paper presents the development of fire-fighting and rescue robot for Outdoor Environment. In the procedure of this development, we follow Target Oriented Design (TOD) which is recognized as the systematic methodology to design a system by specifying the target clearly. For some real fire fighting tasks (e.g. tasks in shopping street and a market), narrow road make it difficult for existing fire engine to access the firing place. On the other hand, for dangerous tasks (e.g. gasoline station and a storehouse) the explosive materials make it impossible for fire-fighters to access the firing place. Moreover, the smoke and the high-temperature caused by fire make fire fighting difficult. In this situation, the solution is to develop the fire-fighting and rescue robot. TOD is performed firstly by analyzing the environment properties of fro place and the demanded tasks and the fire-fighting and rescue robot is manufactured. For safety, the fire fighting robot should be controlled by remote operation to keep the operator away from the fire, and the control system is divided into three parts: the robot controllers, controller for remote operating device and wireless communication system. We have selected and developed appropriate hardware and software for each part of control system with considering TOD. As a result, the fire-fighting robot functions correctly and the performance and usefulness of our control architecture is validated by successfully performing some fire-fighting tasks.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1530-1534
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• 2004

This paper presents a novel bio-mimetic quadruped walking robot with a waist joint, which connects the front and the rear parts of the body. The new robot, called ELIRO-1(Eating LIzard RObot version 1), can bend its body while the legs is transferred, thereby increasing the stride and speed of the robot. The waist-jointed walking robot can move easily from side to side, which is an important feature to guarantee a larger gait stability margin than that of a conventional single rigid-body walking robot. We design the mechanical structure of the robot, which is small and light to have high movability and high degree of human friendship. In this paper, we describe characteristics of the waist joint and leg mechanism as well as the analysis using ADAMS to select appropriate actuators. In addition, a hardware and software of the controller of ELIRO-1 are described.

• Journal of the Korea Society of Computer and Information
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• v.24 no.1
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• pp.247-255
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• 2019

In this paper, we propose the effect of project-based robot education program on the interest toward robots and the computational thinking of elementary school students. Software education is being actively carried out around the world in order to cultivate software talents in accordance with the 4th industrial revolution. As a result, the importance of robots in education has increased, and education using robots has been actively introduced. However, the activities of simply assembling and repeating robots in schools were not effective in enhancing elementary school students' interest toward robots and computational thinking. Therefore, it is necessary to overcome traditional teaching-learning methods and to develop robot education. So, in this study, the robot education program that introduces project-based learning was developed for improvement of interest toward robots and computational thinking of elementary school students. In order to verify the developed education program, 114 elementary six grade students were selected as research subjects and the traditional teaching-learning method and project-based learning were applied to the experimental and control group. As a result, project-based learning was more effective for elementary school students' interest toward robot than traditional teaching-learning method. In computing thinking, the experimental group showed a significant improvement, but there was no statistically significant difference in the post-test.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.227-235
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• 1993

In this paper, the development of a high performance flexible controller is described. The hardware of the controller, based on VME-bus, consists of four M68020 single-board computers (32-bit) with M68881 numerical coprocessors, two M68040 single board donputers, I/O devices (such as A/D and D/A converters, paraller I/O, encoder counters), and bus-to-bus adaptor. This software, written in C and based on X-window environment with Unix operating system, includes : text editor, compiler, downloader, and plotter running in a host computer for developing control program ; device drivers, scheduler, and mathemetical routines for the real time control purpose ; message passing, file server, source level debugger virtural terminal, etc. The hardware and software are structured so that the controller might have both flexibility and extensibility. In papallel to the controller, a three degrees of freedom kinematically redundant robot has been developed at the same time. The development of the same time. The development of the robot was undertaken in order to provide, on the one hand, a computationally intensive plant to which to apply the controller, and on the other hand a research tool in the field of kinematically redundant manipulator, which is, as such, an important area. By using the controller, dynamic control of the redundant manipulator was successfully experimented, showing the effectiveness and flexibility of the controller.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.356-363
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• 2014

This paper covers improvement of the humanoid robot platform HUBO2, known as the HUBO2+. As a necessity of the growth of the humanoid platform, a robust, reliable and user friendly platform is needed. From this standpoint, HUBO2+ is the most improved humanoid robot platform in the HUBO series. The mechanical design has been changed to increase the movable range and to stop joint compulsion. Additionally, all of the electrical parts are re-designed to be un-breakable in an unexpected situation. A smart power controller with robot status check panel is attached on the back. Additionally, a diagnosis tool, the HUBO-i, has been developed. Moreover, each joint motor controller of HUBO2+ has a Protection Function and a PODO system is provided for handling the robot easily.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.33 no.9
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• pp.327-339
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• 1984

In this paper we present how to design the software-based speed and position controller of a DC servo drive system for an educational robot. The controller designed by fully digital scheme consists of a CPU, drive unit, encoder pulse coding unit, speed and position detector. The control algirithm of the controller is a hybrid one such that speed control and position control are switched at some instant to get more accuracy. The experimental resusts of the proposed DC servo-controller show good performances for the position and speed control of the proposed educational robot system.

• Smart Media Journal
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• v.11 no.11
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• pp.9-16
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• 2022

Among the types of robots, it is not easy to make a robot that walks on two legs. For this, it is necessary to be able to create software that can control precise servomotor settings and various operations. This process is very difficult for beginners and not easy to make because there is no suitable Arduino shield shape for the robot. Therefore, in this study, a method for manufacturing Arduino and plug-in type shield was proposed. In addition, the process of developing a PC control program that can simplify motion control, manufacturing a robot, and setting servo motor values to easily control motion was introduced. It is expected that this will be of great help to novice developers who are interested in making robots.

• Proceedings of the Korean Society of Computer Information Conference
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• 2023.01a
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• pp.113-114
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• 2023

가정용 생활 쓰레기 수거 작업은 야간이나 이른 새벽에 이루어지고 있어 환경미화원의 안전사고와 수거 차량으로 인한 소음 문제가 빈번하게 발생한다. 본 논문에서는 딥러닝 기반의 영상 인식을 활용하여 종량제 봉투를 인식하고 수거가 가능한 생활 쓰레기 수거 로봇의 설계를 제시한다. 제시하는 생활 쓰레기 수거 로봇은 지정 구역을 자율주행하며 로봇에 장착된 카메라를 이용해 학습된 모델을 기반으로 가정용 쓰레기 종량제 봉투를 검출한다. 이를 통해 처리 대상으로 지정된 종량제 봉투와 로봇 팔 사이의 거리를 카메라를 활용하여 얻은 깊이 정보와 2차원 좌표를 토대로 목표 위치를 예측해 로봇 팔의 관절을 제어하여 봉투를 수거한다. 해당 로봇은 생활 쓰레기 수거 작업 과정에서 환경미화원을 보조하여 미화원의 안전 확보와 소음 저감을 위한 기기로 활용될 수 있다.