• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.67-77
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• 2014

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

• Speech Sciences
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• v.12 no.4
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• pp.53-70
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• 2005

A Vowel of speech signals are multicomponent signals composed of AM-FM components whose instantaneous frequency and instantaneous amplitude are time-varying. The changes of emotion states cause the variation of the instantaneous frequencies and the instantaneous amplitudes of AM-FM components. Therefore, it is important to estimate exactly the instantaneous frequencies and the instantaneous amplitudes of AM-FM components for the extraction of key information representing emotion states and changes in speech signals. In tills paper, firstly a method decomposing speech signals into AM - FM components is addressed. Secondly, the fundamental frequency of vowel sound is estimated by the simple method based on the spectrogram. The estimate of the fundamental frequency is used for decomposing speech signals into AM-FM components. Thirdly, an estimation method is suggested for separation of the instantaneous frequencies and the instantaneous amplitudes of the decomposed AM - FM components, based on Hilbert transform and the demodulation property of the extended Fourier transform. The estimates of the instantaneous frequencies and the instantaneous amplitudes can be used for modification of the spectral distribution and smooth connection of two words in the speech synthesis systems based on a corpus.

• ETRI Journal
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• v.33 no.2
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• pp.251-258
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• 2011

Applying face alignment after face detection exerts a heavy influence on face recognition. Many researchers have recently investigated face alignment using databases collected from images taken at close distances and with low magnification. However, in the cases of home-service robots, captured images generally are of low resolution and low quality. Therefore, previous face alignment research, such as eye detection, is not appropriate for robot environments. The main purpose of this paper is to provide a new and effective approach in the alignment of small and blurred faces. We propose a face alignment method using the confidence value of Real-AdaBoost with a modified census transform feature. We also evaluate the face recognition system to compare the proposed face alignment module with those of other systems. Experimental results show that the proposed method has a high recognition rate, higher than face alignment methods using a manually-marked eye position.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.117-122
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• 1998

The recent developments and studies in the framework of output tracking control in the field of robotics that has been studied in the Control Laboratory, are presented. An output controller based on“Hardware-ln-the-Loop Simulation”(HILS) and“Rapid Control Prototyping”(RCP) concepts is developed using dSPACE. These new concepts are shown to be particularly beneficial for manipulator control tasks. In the Elbow manipulator design, there are two kinds of manipulators, namely the serial-drive type and the parallelogram-drive manipulator, The objective of this research is to model the two Elbow manipulators and to implement the proposed controller for manipulator applications. The control goal is to force the manipulator to follow a given trajectory in the given work space. Output controllers of the two elbow manipulators that are based on the model matching control approach have been implemented in two models that represent the robot equations of motion. To reduce the efforts in evaluating the proposed algorithm, a new system configuration method, based on HILS and RCP tools, was suggested to determine the parameters of the integrated dynamic system.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.1
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• pp.24-30
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• 2006

The Controller Area Network (CAN) is being widely used for real-time control application and small-scale distributed computer controller systems. When the stuff bits are generated by bit-stuffing mechanism in the CAN network, it causes jitter including variations in response time and delay In order to eliminate this jitter, stuff bits must be controlled to minimize the response time and to reduce the variation of data transmission time. This paper proposes the method to reduce the stuff bits by restriction of available identifier and bit mask using exclusive OR operation. This da manipulation method are pretty useful to the real-time control strategy with respect to performance. However, the CAN may exhibit unfair behavior under heavy traffic conditions. When there are both high and low priority messages ready for transmission, the proposed precedence priority filtering method allows one low priority message to be exchanged between any two adjacent higher priority messages. In this way, the length of each transmission delays is upper bounded. These procedures are implemented as local controllers for the ISHURO(Inha Semvung Humanoid Robot).

• Journal of Information Processing Systems
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• v.4 no.3
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• pp.97-102
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• 2008

Europeans are much more rigid in their thinking on robots and especially have a negative view on robots as peers since they regard robots as labor machines. Recently, Korea invented several educational robots as peer tutors. Therefore, study was needed to determine the difference in cultural acceptability for educational robots between Korea and Europe (Spain). We found that Europe seems to be much more rigid in its thinking on robots and especially has a negative view on educational robots. Korean parents have a strong tendency to see robots as 'the friend of children,' while on the other hand, European parents tend to see educational robots as 'machines or electronics'. Meanwhile, the expectation of children on educational robots showing identification content was higher in Europe than in Korea since European children are familiar with costume parties. This result implied that we may find a Korean market for educational robots earlier than a European market, but European children will be eager to play with educational robots even though their parents have a negative view of them.

• Proceedings of the Korea Contents Association Conference
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• 2008.05a
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• pp.846-850
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• 2008

Technologies related to sealed-type ultrasonic sensors and driving circuit modules for them are the key elements for intelligent robot industry. Those technologies are believed to yield a drastic enhancement of the performance measuring distances in the intelligent robot systems. Modulization technologies of ultrasonic sensors are expected to develop ASIC and MEMS technologies in the future. The size of domestic market for sealed-type ultrasonic sensor modules is expected to grow to 1 billion and 5.72 billion Won by 2008 and 2012, respectively. Recent interest to service robots and government-driven programs are promoting the rapid growth of the market for the service robots. Successful application of the sealed-type ultrasonic modules to the service robots is expected to replace the conventional photo-sensors in a near future.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.1
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• pp.66-73
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• 2021

In this paper, we analyzed and considered the precision of parts produced by 3D printing methods. For the latch systems applied to the Wingline folding doors, the 3D shape of the door hinge part was printed using FDM and DLP methods. Then, the 3D printed shape was scanned to measure the dimensions and dimensional changes of the actual model. In the comparison and analysis of the 3D printed door hinge parts, because the output filling density is 100% owing to the characteristics of DLP 3D printing, the filling density in FDM 3D printing was also set to 100%.

• Journal of Contemporary Eastern Asia
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• v.20 no.1
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• pp.134-150
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• 2021

Dominant approaches to designing morally capable robots have been mainly based on rule-based ethical frameworks such as deontology and consequentialism. These approaches have encountered both philosophical and computational limitations. They often struggle to accommodate remarkably diverse, unstable, and complex contexts of human-robot interaction. Roboticists and philosophers have recently been exploring underrepresented ethical traditions such as virtuous, role-based, and relational ethical frameworks for designing morally capable robots. This paper employs the lens of ethical pluralism to examine the notion of role-based morality in the global context and discuss how such cross-cultural analysis of role ethics can inform the design of morally competent robots. In doing so, it first provides a concise introduction to ethical pluralism and how it has been employed as a method to interpret issues in computer and information ethics. Second, it reviews specific schools of thought in Western ethics that derive morality from role-based obligations. Third, it presents a more recent effort in Confucianism to reconceptualize Confucian ethics as a role-based ethic. This paper then compares the shared norms and irreducible differences between Western and Eastern approaches to role ethics. Finally, it discusses how such examination of pluralist views of role ethics across cultures can be conducive to the design of morally capable robots sensitive to diverse value systems in the global context.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.4_2
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• pp.615-621
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• 2023

In this study, flow analysis of single, double, and triple filter systems of cylindrical structures was performed to analyze the flow characteristics of each filter. As a result of the flow analysis of the filter system, the number of filters and the pressure drop rate tend to be proportional to each other. It was found that the area passing through the inside of the filter had almost the same pressure. The maximum pressure drop rate of the triple filter system was about 14.9% for the forward-flow and about 12.4% for the reverse-flow. It was determined that the performance of the filter was stable within 20% of the allowable pressure drop rate of the filter system, which is the standard presented to the Korea Water Technology Certification Institute(KWTCI). In the future, a study on the decompression characteristics of the filter system according to the effect of the arrangement interval and filter density of the triple filter will be conducted.