• Journal of the Korea Institute of Information Security & Cryptology
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• v.34 no.4
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• pp.681-691
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• 2024

In recent decades, research and development in the field of industrial robotics, such as an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV), has been significant progress. In these advancements, it is important to use middleware, which facilitates communication and data management between different applications, and various industrial communication middleware protocols have been released. The robot operating system (ROS) is the most widely adopted as the main platform for robot system development among the communication middleware protocols. However, the ROS is known to be vulnerable to various cyber attacks, such as eavesdropping on communications and injecting malicious messages, because it was initially designed without security considerations. In response, numerous studies have proposed countermeasures to ROS vulnerabilities. In particular, some work has been proposed on generating ROS datasets for intrusion detection systems (IDS), but there is a lack of research in this area. In this paper, in order to contribute to improving the performance of ROS IDSs, we propose a new type of attack scenario that can occur in the ROS and build ROS attack datasets collected from a real robot system and make it available as an open dataset.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1469-1473
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• 2004

We suggest how to program off-line robot path along shoes' outsole shape in the footwear buffing process by a 5-axis microscribe system like robot arms. This microscribe system developed consists a 5-axis robot link with a turn table, signal processing circuit, PC and an application software program. It makes a robot path on the shoe's upper through the movement of a microscribe with many joints. To do this, first it reads 5-encoder's pulse values while a robot arm points a shoes' outsole shape from the initial status. This system developed calculates the encoder pulse values for the robot arm's rotation and transmits the angle pulse values to the PC through a circuit. Then, Denavit-Hartenberg's(D-H) direct kinematics is used to make the global coordinate from robot joint one. The determinant is obtained with kinematics equation and D-H variable representation. To drive the kinematics equation, we have to set up the standard coordinates first. The many links and the more complicated structure cause the difficult kinematics problem to solve in the geometrical way. Thus, we can solve the robot's kinematics problems efficiently and systematically by Denavit-Hartenberg's representation. Finally, with the coordinate values calculated above, it can draw a buffing gauge-line on the upper. Also, it can program off-line robot path on the shoes' upper. We are subjected to obtaining shoes' outline points, which are 2 outlines coupled with the points and the normal vector based on the points. These data is supposed to be transformed into .dxf file to be used for data of automatic buffing robot. This system developed is simulated by using spline curves coupled with each point from dxf file in Autocad. As a result of applying this system to the buffing robot in the flexible footwear manufacturing system, it can be used effectively to program the path of a real buffing robot.

• ICROS
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• v.5 no.2
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• pp.29-34
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• 1999

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.50.1-50
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• 2002

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.91-95
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• 1987

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2674-2676
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• 2004

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A web based monitoring system is implemented by porting Linux at embeded systems which include Xscale processors. A divice driver is developed to receive data from multy-axis force sensors in Linux operation systems. To control this device driver, a soket program for web browser is also developped.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1387-1391
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• 2003

The fundamental aim of this paper is to present a solution algorithm to achieve cooperative contour controlling, under joint acceleration constraint with maximum cooperative speed. Usually, the specifications like maximum velocity of cooperative trajectory are determined by the application itself. In resolving the cooperative trajectory into two complementary trajectories, an optimum task resolving strategy is employed so that the task assignment for each robot is fair under the joint acceleration constraint. The proposed algorithm of being an off-line technique, this could be effectively and conveniently extended to the existing servo control systems irrespective of the computational power of the controller implemented. Further, neither a change in hardware setup nor considerable reconfiguration of the existing system is required in adopting this technique. A simulation study has been carried out to verify that the proposed method can be realized in the generation of complementary trajectories so that they could meet the stipulated constraints in simultaneous maneuvering.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.6
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• pp.755-759
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• 2009

The ability to recognize human emotion is one of the hallmarks of human-robot interaction. Especially, speaker-independent emotion recognition is a challenging issue for commercial use of speech emotion recognition systems. In general, speaker-independent systems show a lower accuracy rate compared with speaker-dependent systems, as emotional feature values depend on the speaker and his/her gender. Hence, this paper describes the realization of speaker-independent emotion recognition by rejection using confidence measure to make the emotion recognition system be homogeneous and accurate. From comparison of the proposed methods with conventional method, the improvement and effectiveness of proposed methods were clearly confirmed.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1525-1529
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• 2004

Most of the recently developed robots are human friendly robots which imitate an animal or human such as entertainment robot, bio-mimetic robot and humanoid robot. Interest in these robots are increasing since the social trend is focused on health, welfare, and graying. By these social backgrounds, robots become more human friendly and suitable for home or personal environment. The more bio-mimetic robots resemble living creature, the more human feels familiarity. People feel close friendship not only when they feed a pet, but also when they watch a pet having the food. Most of entertainment robots and pet robots use internal-type batteries and have a self-recharging function. Entertainment robots and pet robots with internal-type batteries are not able to operate during charging the battery. So far there have been a few robots that do not depend on a battery. However, they need a bulky energy conversion unit and a slug or foods as an energy source, which is not suitable for home or personal application. In this paper, we introduce a new bio-mimetic entertainment robot with autonomous feeding functionality, called ELIRO-1(Eating LIzard RObot version 1). The ELIRO-1 is able to find a food (a small battery), feed by itself and evacuate. We describe the design concept of the autonomous feeding mechanism of the ELIRO-1, characteristics of sub-parts of the manufactured mechanism and the control system.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1444-1447
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• 2004

The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which is the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash and has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. It need functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulation system, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It need to also has the entertainment functions for the good communication between the human and HMR. Therefore, the Home Mess-cleanup Robot with Entertainmental Human Interface is developed in this paper. Finally, the good performance of the designed machine, HMR'4, is confirmed through the results of the mess clean-up and arrangement.