• Proceedings of the KAIS Fall Conference
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• 2009.12a
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• pp.299-302
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• 2009

본 논문에서는 Home Robots을 위한 OSGi 프레임워크(framework) 기반의 홈네트워크(home network) 미들웨어(middleware)를 제안한다. 홈네트워크 서비스는 가정에서의 편안함과 즐거움을 주기 위한 기술로서, 국제 산업 표준 단체에 의해 상호운용성에 대한 표준화가 진행되어 가고 있다. 본 논문에서 제안하는 미들웨어는 Home Robots이 댁내의 네트워크에 동적으로 구성되며, 홈로봇을 통해 다양한 서비스를 이용할 수 있다.

• Proceedings of the KAIS Fall Conference
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• 2008.05a
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• pp.354-357
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• 2008

In this paper, we develop business models for the robot industry that facilitates to explore new business opportunities in the convergence age. Considering the trend of convergence society, we analyze the market drivers. Analyzing market dynamics and value chain, we design a set of the business model for the robot industry focused on u-health robots. In addition, we describe the evolution path of the proposed business model in terms of technology development and market. Finally, we develop a framework for evaluating the effectiveness of the business model.

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.282-287
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• 2008

In distributed mobile robot systems, autonomous robots accomplish complicated tasks through intelligent cooperation with each other. This paper presents behavior learning and online distributed evolution for cooperative behavior of a group of autonomous robots. Learning and evolution capabilities are essential for a group of autonomous robots to adapt to unstructured environments. Behavior learning finds an optimal state-action mapping of a robot for a given operating condition. In behavior learning, a Q-learning algorithm is modified to handle delayed rewards in the distributed robot systems. A group of robots implements cooperative behaviors through communication with other robots. Individual robots improve the state-action mapping through online evolution with the crossover operator based on the Q-values and their update frequencies. A cooperative material search problem demonstrated the effectiveness of the proposed behavior learning and online distributed evolution method for implementing cooperative behavior of a group of autonomous mobile robots.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.5
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• pp.35-44
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• 2018

The purpose of this study was to derive the factors that affect the development cost and the priority/weight of effectiveness in the pre-development stage of a service robot to estimate the development cost. In particular, the functions of service robots vary according to the field of application, and their prices are not only different but most of them are small-scale production; hence, a cost estimation is necessary. In this research, the factors affecting the service robot development cost in the process of service robot development and adding functions are classified as a functional factor while the factors that affect the entire development cost due to environmental causes, in which the service robot is operated or in the development process, are classified as an adjustment factor. The FGI was conducted to derive the factors and a Delphi survey was conducted among 84 domestic experts to determine the weights of the factors. As a result of the analysis, six functional factors (41 detailed criteria) and five adjustment factors (17 criteria) were derived, the cost weight and rank of the factors were suggested. This study suggests that the development cost of the service robot can be used as a decision-making strategy to select the operation functions in the development process, and can be utilized as an essential tool for the service robot development.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.8
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• pp.3626-3635
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• 2011

The modular robots are a kind of system that was developed to overcome the limitation of the movement for the mobile robot with wheels or legs. In legs type mobile robot case, they are limited for velocity and balance during moving at the uneven terrain. In wheeled mobile robot case, they are also limited to overcome dump, stair and so on. The modular robots can overcome moving limitation because of their transforming ability. However, they are researched not only driving mechanism but also combination mechanism. In this paper we proposed four kinds of unique structure for the combination and separation and also its algorithm. The effectiveness of the structure is verified with building the real structure and taking experiments to the designed modular robot

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.4
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• pp.2370-2378
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• 2015

This paper proposes an algorithm using Lagrange interpolation method to realize trajectory planning for torque minimization of robot manipulators. For the algorithm, position constraints of robot manipulators should be given and the stability of robot manipulators should be satisfied. In order to avoid Runge's phenomenon, we set up time interpolation points using Chebyshev interpolation points. After that, we found suitable angle which corresponds to the points and then we got trajectories of joint's angle, velocity, acceleration using Lagrange interpolation method. We selected performance index for torque consumption optimization of robot manipulator. The method went through repetitive computation process to have minimum value of the performance index by calculated trajectory. Through the process, we could get optimized trajectory to minimize torque and performance index and guarantee safety of the motion for manipulator performance.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.8
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• pp.2126-2133
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• 2009

As expected that a robot-industry will grow up rapidly toward a huge market, many countries try to develop the official policies to support a robot-industry. Following this trend, many robot researches are proceeded in the various technical areas by the government-initiated R&D strategies in Korea. These R&D programs are archived by academic-industrial collaboration and furthermore, include the disseminated linkage of academic-industrial collaboration and the human resource development program which pursues the problem solving and technical training for companies suffered by several technical difficulties. This paper shows the several analyses and considerations of provisional results of these collaboration programs. First, each program of specialized plan for next generation is reviewed and the accomplishment of human resource development for robot research is evaluated. Finally, several considerations are represented for continuous and desirable expansion of these programs.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.11
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• pp.4087-4094
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• 2010

The sensor data which is measured by Quadruped robot is utilized to recognize the physical environment or other information and to control the posture and walking of robot system. In order to control the robot precisely, high accuracy of sensor data is required, most of these sensors however, belongs to expensive and low-durable products. Moreover, these are exposed excessive load operation in a field condition if it is applied to field robot system. This issue becomes more serious one when the robot system is manufactured as a mass product. As in this context, this study suggests a virtual sensor technology to alternate or assist the main sensor system. This scheme is realized by using back-propagation algorithm of neural network theory, and the quality of estimated sensor data could be improved through the algorithmic and hardware based treatments. This study performs the various trial to identify the effective parameters which effect to the quality and reliability of estimated sensor data and tries to show the possibility of proposed methodology.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.8
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• pp.856-866
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• 1992

In this paper, the graphic simulation system Is presented which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi robot motions, two problems are described. First problem is that all the robot motions must be determined using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. There ore, robot motions can be easily modifiable with #he various object motions. This type of motion determination Is different from that of the master-slaves method using the master robot motions.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1713-1718
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• 2013

In this paper we implement collision avoidance using an artificial potential field and remote control of a mobile robot through ROS(Robot Operating System) among the robot's middleware. We also apply dynamic reconfigure to a node of collision avoidance. The main purposes of ROS are sharing and cooperation. In order to make to fit the purpose of ROS, the hardware that frequently is used in the robot such as LRF and joystick, were reused as node that provide in the ROS.