• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.68-72
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• 1990

This paper describes a method of calculating the viewing parameters of a camera using a perspective view of a circular pattern. The proposed method determines the angle of pan, tilt, and swing, as well as the distance from the camera to the reference point of a world coordinate system, using simple equations. The proposed method is so simple and accurate that when used in a well-controled environment as in robot vision systems or visual inspection systems it may even seem trivial.

• Journal of Intelligence and Information Systems
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• v.27 no.1
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• pp.129-149
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• 2021

Recently, interest in social robots that can socially interact with humans is increasing. Thanks to the development of ICT technology, social robots have become easier to provide personalized services and emotional connection to individuals, and the role of social robots is drawing attention as a means to solve modern social problems and the resulting decline in the quality of individual lives. Along with the interest in social robots, the spread of social robots is also increasing significantly. Many companies are introducing robot products to the market to target various target markets, but so far there is no clear trend leading the market. Accordingly, there are more and more attempts to differentiate robots through the design of social robots. In particular, anthropomorphism has been studied importantly in social robot design, and many approaches have been attempted to anthropomorphize social robots to produce positive effects. However, there is a lack of research that systematically describes the mechanism by which anthropomorphism for social robots is formed. Most of the existing studies have focused on verifying the positive effects of the anthropomorphism of social robots on consumers. In addition, the formation of anthropomorphism of social robots may vary depending on the individual's motivation or temperament, but there are not many studies examining this. A vague understanding of anthropomorphism makes it difficult to derive design optimal points for shaping the anthropomorphism of social robots. The purpose of this study is to verify the mechanism by which the anthropomorphism of social robots is formed. This study confirmed the effect of the human-likeness of social robots(Within-subjects) and the construal level of consumers(Between-subjects) on the formation of anthropomorphism through an experimental study of 3×2 mixed design. Research hypotheses on the mechanism by which anthropomorphism is formed were presented, and the hypotheses were verified by analyzing data from a sample of 206 people. The first hypothesis in this study is that the higher the human-likeness of the robot, the higher the level of anthropomorphism for the robot. Hypothesis 1 was supported by a one-way repeated measures ANOVA and a post hoc test. The second hypothesis in this study is that depending on the construal level of consumers, the effect of human-likeness on the level of anthropomorphism will be different. First, this study predicts that the difference in the level of anthropomorphism as human-likeness increases will be greater under high construal condition than under low construal condition.Second, If the robot has no human-likeness, there will be no difference in the level of anthropomorphism according to the construal level. Thirdly,If the robot has low human-likeness, the low construal level condition will make the robot more anthropomorphic than the high construal level condition. Finally, If the robot has high human-likeness, the high construal levelcondition will make the robot more anthropomorphic than the low construal level condition. We performed two-way repeated measures ANOVA to test these hypotheses, and confirmed that the interaction effect of human-likeness and construal level was significant. Further analysis to specifically confirm interaction effect has also provided results in support of our hypotheses. The analysis shows that the human-likeness of the robot increases the level of anthropomorphism of social robots, and the effect of human-likeness on anthropomorphism varies depending on the construal level of consumers. This study has implications in that it explains the mechanism by which anthropomorphism is formed by considering the human-likeness, which is the design attribute of social robots, and the construal level of consumers, which is the way of thinking of individuals. We expect to use the findings of this study as the basis for design optimization for the formation of anthropomorphism in social robots.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.5
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• pp.398-406
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• 2003

In modular fixturing systems, a given part or a subassembly is fixed by placing fixture elements such as locators and clamps adequately on a plate with a lattice of holes. It is known that the minimal number of point contacts to restrict translational and rotational motions on a plane is four and the type of three locators and a clamp(3L/1C) is the minimal future. Brost and Goldberg developed the complete algorithm to automatically synthesize 3L/1C types of fixtures which satisfy the condition of form closure. Due to the nature of the fixture, the clearance between the fixture and the part is extremely small. It is hard to load the part repeatedly and accurately for human as well as for robot. However the condition of loadability has not been taken into account in the B&G algorithm. In this paper, a new method to decide a given fixture to be loadable by using configuration space is proposed. A method to plan for a part to be loaded by using compliance safely even in the presence of control and sensing uncertainty is proposed is well.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.716-721
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• 2004

Several Solid Freeform Fabrication Systems(SFFS) are commercialized in a few companies for rapid prototyping. However, they have many technical problems including the limitation of applicable materials. A new method of speedy prototyping is required for the recent manufacturing environments of multi-item and small quantity production. The objectives of this paper include the development of a novel method of SFFS, the ${CAFL}^{VM}$(Computer Aided Fabrication of Lamination for Various Material), and the manufacture of the various material samples for the certification of the proposed system and the creation of new application areas. For these objectives, the technologies for a highly accurate robot path control, the optimization of support structure, CAD modeling, adaptive slicing was implemented. In this paper, we design an algorithm that the cutting path of a laser beam which is controlled with constant speed. The laser beam is tangentially controlled in order to solve the inaccuracy of a 3D model surface. The designed algorithm for constant-speed path control and tangent-cutting control is implemented and experimented in the ${CAFL}^{VM}$ system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1651-1656
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• 2005

This paper describes a natural frequency analysis conducted to find out a suitable working area for a spring-manipulator system generating a large vibrating force with mechanical resonance. Large force generation is one of the functions that we hope for a robot. For example, a weeding robot is required to generate a large force, because some weeds have roots spreading deeply and tightly. The spring-manipulator system has a spring element as an end-effector, so it can be in a state of resonance with the elasticity of the spring element and the inertial characteristics of the manipulator. A force generation method utilizing the mechanical resonance has potential to produce a large force that cannot be realized by a static method. A method for calculating a natural frequency of a spring-manipulator system with the generalized inertia tensor is proposed. Then the suitable working area for the spring-manipulator system is identified based on a natural frequency analysis. If a spring-manipulator system operates in the suitable working area, it can sustain mechanical resonance and generate a large vibrating force. Moreover, it is shown that adding a mass at the tip of the manipulator expands the suitable working area.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.679-684
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• 1989

In this paper, we describe the PTP notion of robot manipulators by neural networks. The PTP motion requires the inverse kinematic redline and the joint trajectory generation algorithm. We use the multi-layered Perceptron neural networks and the Error Back Propagation(EBP) learning rule for inverse kinematic problems. Varying the number of hidden layers and the neurons of each hidden layer, we investigate the performance of the neural networks. Increasing the number of learning sweeps, we also discuss the performance of the neural networks. We propose a method for solving the inverse kinematic problems by adding the error compensation neural networks(ECNN). And, we implement the neural networks proposed by Grossberg et al. for automatic trajectory generation and discuss the problems in detail. Applying the neural networks to the current trajectory generation problems, we can refute the computation time for trajectory generation.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.226-232
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• 2016

This paper describes the design of a smart three-axis force sensor for measuring forces Fx, Fy and Fz. The smart three-axis force sensor is composed of a three-axis force sensor, a force-measuring device, housing and a cover, where the three-axis force sensor and the force-measuring device are inside the housing and the cover. The measuring device measures forces Fx, Fy and Fz from the three-axis force sensor, and calculates the resultant force using the measured forces, and then sends the resultant force and forces to a PC or other controller using RS-485 communication. The repeatability error and the non-linearity error of the smart three-axis force sensor are less than 0.03%, and the interference error of the sensor is less than 0.87%. It is thought that the sensor can be used for measuring forces in a robot, automatic systems and so on.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.805-812
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• 2013

This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.

• Journal of the Korean Society for Nondestructive Testing
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• v.22 no.3
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• pp.254-260
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• 2002

In this study, two types of mobile robotic systems using NDT (Non-destructive testing) method are developed for automatic diagnosis of the boiler tubes and large size pipelines. The developed mobile robots crawl the outer surface of the tubes or pipelines and detect in-pipe defects such as pinholes, cracks and thickness reduction by corrosion and/or erosion using EMAT (Electro-magnetic Acoustic Transducer). Automation of fault detection by means of mobile robotic systems for these large-scale structures helps to prevent significant troubles without danger of human beings under harmful environment.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.12
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• pp.1240-1247
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• 2011

The localization of mobile robot in environment is a major concern in mobile robot navigation. So, many kinds of localization techniques have been researched for several years. Among them, the positioning system using ultrasound has received attention. Most of these ultrasonic positioning systems to synchronize the transmitters and receivers are used for RF (Radio Frequencies). However, due to the use of RF, the interference problems can not be avoided and the performance of radio frequencies directly affects the positioning performance. So we proposed the ultrasonic positioning system without synchronizing RF. The proposed system is based on existing USAT (Ultrasonic Satellite System) adopted infrastructure transmitting type, and consists of transmitter and receiver synchronizing modules instead of the radio frequency transmitters and receiver. The ultrasonic transmitters and receivers are synchronized individually by the transmitter and receiver synchronizing modules. In order to calculate the bias between the transmitter and receiver synchronizing modules, new positioning algorithm similar to GPS was proposed. The positioning performance of the improved USAT without synchronizing RF and the validity of the proposed positioning algorithm are verified and evaluated by experiments.