• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.617-623
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• 2012

In this paper, we propose a gait generation method for a quadruped robot to walk efficiently on the slope, which uses the waist joint of a quadruped robot. We derive the kinematic model of a quadruped robot with waist joint using the Denavit-Hartenberg representation method and the algebraic method. In addition, the gaits are generated based on the wave gait. In the proposed gait generation method, first in order to alleviate the mechanical restriction and the reduction of the stride, we determine the appropriate waist joint angle according to the slope degree, and then decide the location of the tiptoe of a quadruped robot by exploring the workspace. Finally, through computer simulations, we verify the effectiveness and applicability of the proposed method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.12
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• pp.2698-2706
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• 2010

Most tiled display systems supported a public workspace model where multiple users share the contents and work together on a large public screen. In this research, we developed ICE Display Framework, designed for supporting easy construction of tiled display applications allowing mixed-focus collaboration. Mixed-focus collaboration is a model that allows a number of users to work together as a group or individually on the large workspace. ICE Framework allows users to add personal contents on the tiled display without interrupting other users as well as to put shared works. In this paper, we compare ICE framework with previous research and explain the detail implementation. Then, we introduce the applications built with this framework and discuss the evaluation and analysis of the performance of the new framework.

• Journal of Digital Contents Society
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• v.5 no.1
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• pp.22-27
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• 2004

To handle the high level radioactive materials such a spent fuel, the master-slave manipulaters (MSM) are wide1y used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD model using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility. The 3D graphic simulator using the extermal input device of spare ball displays the movement of manipulator. To connect the exterral input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result show that the developed simulation system gives much-improved human interface characteristics and shows satisfactory reponse characteristics in terms of synchronization speed. This should be useful for the development of work`s education system in the environment.

• Journal of the Korean Society for Library and Information Science
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• v.49 no.2
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• pp.135-168
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• 2015

This study intends to design a curation system to support elementary and secondary schools for reusing and sharing instructional materials efficiently. It is proved through interviewing teachers at the chalkface that they utilize instructional materials, and there are some differences between elementary schools and secondary schools about the media for creating the instructional materials, and the purpose of using them. The functional requirements of curation system for reusing and sharing instructional materials are derived from questionnaires. The investigation of the existing curation systems was conducted to identify the strategies for policy, design, standard, and tools for effective operation of the digital curation system. The tasks and the functions of the curation system designed by reflecting the results of this study are as following. The tasks related to individual workspace include 'authentication', 'system configuration', 'registration' of created materials, 'material keeping' for the individual, and 'reusing (editing)'. The tasks related to sharing workspace contain 'receiving' for sharing, 'archiving' for accessing, 'peer evaluation', 'accessing' through the retrieval, and 'bulletin board'.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.11
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• pp.5219-5226
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• 2011

A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed In this paper. This built-in type manipulator consists of both arms with 3 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed manipulator is confirmed through live test of tasks.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.9 no.8
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• pp.845-854
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• 2019

In IoT environment, an intelligent agent is an autonomous entity with computing power that interacts with various things for specific purposes without human intervention. Recently, as the development of Internet technology has increased the size of resources and services that intelligent agents can utilize, an environment where intelligent agents can collaborate with each other is needed. To effectively support these changes, a method is needed to provide workspaces where intelligent agents can form various groups and collaborate on them. In this paper, we present TSpace which is an Ethereum-based group workspace for effective collaboration among intelligent agents. In TSpace, intelligent agents in IoT environment can use group service based on the Ethereum blockchain through the developed CoAP/RESTful web service. TSpace also introduces a new mechanism for managing Ethereum wallets of agents accessing group services and for creating Ethereum transactions using them.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.3
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• pp.507-514
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• 2022

Mobile manipulators are getting lime light in the field of home automation due to their mobility and manipulation capabilities. In this paper, we developed a small size manipulator system that can be mounted on a mobile robot as a preliminary study to develop a mobile manipulator. The developed manipulator has four degree-of-freedom. At the end-effector of manipulator, there are a camera and a gripper to recognize and manipulate the object. One of four degree-of-freedom is linear motion in vertical direction for better interaction with human hands which are located higher than the mobile manipulator. The developed manipulator was designed to dispose the four actuators close to the base of the manipulator to reduce rotational inertia of the manipulator, which improves stability of manipulation and reduces the risk of rollover. The developed manipulator repeatedly performed a pick and place task and successfully manipulate the object within the workspace of manipulator.

• Journal of the Korea Society of Computer and Information
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• v.14 no.2
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• pp.79-89
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• 2009

As an IETF standard protocol, WebDAV provides infrastructure for managing and authoring resources and supports asynchronous collaborative authoring on the Web. The CoSlide server is an extension of the Jakarta Slide WebDAV server, providing various workspaces and collaborative services through the WebDAV protocol. The CoSlide server supports workspaces for storing and sharing information of various users, and provides environment for effective collaborative authoring. Actual collaboration activities are performed through a collaboration client software which provides collaboration services along with the CoSlide server. In this paper, we describe the development of the CoSpace client which operates in association with the CoSlide server, presenting effective collaborative environment. The CoSpace client provides user interfaces for accessing and controlling the resources of each workspace on the CoSlide server. In particular, CoSpace provides the facility to launch an authoring application from its workspace view, automatic locking, and downloading the content to be edited, and resource movement using mouse drag & drop.

• Proceedings of the KIEE Conference
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• 2004.07c
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• pp.1942-1944
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• 2004

In this paper, we studied on the potential characteristics of human-body contacted the charging part. A charging part of electrical facilities and the earth are simulated by the e1ectrode pole and conductive rubber plates respectively. As the results of these follows, when the potential distribution of the human-body contacted the charging part is far from the electrode pole, a lot of currents flow through the human-body. Besides human-body non-contacted the charging part is affected by step voltage. Therefore, we could find out the causes of the electric shock accidents and be expected to the data for minimization of human error occurred the workspace.

• Journal of Korean Institute of Industrial Engineers
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• v.29 no.2
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• pp.157-164
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• 2003

The amount of information increases rapidly when working in a distributed environment where multiple collaborative partners work together on a complex product. Today's PDM (product data management) systems provide good capabilities regarding the management of product data within a single company. However, taking into account the variety of systems used at partner sites in an engineering environment one can easily imagine problems regarding the interoperability and the data consistency. This paper presents a concept to improve the workflow management using the parameters network. It shows a parameter driven engineering workflow that is able to manage engineering task across company boarders. We introduce a mechanism of workflow management based on the engineering parameters and an architecture of the distributed workspace to apply it within a PDM system. For a parameter mapping between CAD and PDM system we developed an XML-based CATIA data interface module using CAA.