Earticle

프로그래밍 교육에서 로봇의 활용은 학생의 흥미와 학습의 동기를 유발시키지만, 로봇에 대한 구조적인 이 해와 함께 로봇 프로그램의 내부적인 이해를 동시 요구한다. 따라서 문제가 발생하면 학생이 무엇에 의한 오류인지 파악하는데 어려움이 있다. 본 연구의 목적은 로봇 프로그래밍 교육에서 시뮬레이션 도구의 활용 가능성을 확인하는 것이다. 교육 가능성을 분석하기 위해 초등학생을 대상으로 하는 로봇 프로그래밍 교육에 시뮬레이션 도구와 비 시 뮬레이션 도구를 적용하고, 사용성 평가와 인식 설문을 통해 시뮬레이션 도구의 교육가능성을 분석하였다. 적용 결 과, 시뮬레이션 도구의 사용성은 기존의 비 시뮬레이션 도구와 차이가 없었다. 시뮬레이션 도구는 프로그래밍의 결과 를 미리 확인할 수 있고 오류를 쉽게 파악하는데 도움을 줄 수 있다는 긍정적인 측면이 있었다. 본 연구는 초등 로 봇 프로그래밍 교육에서 시뮬레이션 도구의 활용 가능성을 확인했다는데 의의를 찾을 수 있다.

The utilization of robots in programming education students the interest and motivation of learning. But at the same time the robot is required that understanding of the structure and understand the internal program(programming). So what problems are caused by error or if the student has difficulty identifying. The purpose of this study is the use of simulation tool in robot programming education possibilities will want to see. Elementary school students to analyze the possibility of non-simulation tool and simulation tool was applied. And usability evaluation and simulation tool, the survey recognized the potential of the education were analyzed. As a result, the usability of between simulation tool and non-simulation tool and there was no difference. And student can preview the results of programming and simulation tool can easily identify errors for recognizing the positive respectively. Based on this results, simulation tool can be utilized in robot education.

본 논문에서는 Foot Placement Estimator (FPE)를 사용하여 point foot을 갖는 이족 로봇의 3차원 시뮬레이션을 진행하고 이족로봇의 균형유지를 연구하였다. FPE 방법은 에너지 보존에 근거한 제어 방법으로서 보행 중인 로봇의 모든 에너지가 위치 에너지로 변환되는 지점에 로봇이 발을 디뎌 몸체가 넘어지지 않고 균형을 유지하며 이동하도록 하는 제어방법이다. 본 연구에서는 로봇이 이동하지는 않고 제자리에서 균형을 유지하며 서 있는 시뮬레이션을 진행하였다. 이를 위해 point foot을 갖는 6자유도 이족 로봇을 모델링하였으며 바닥과의 접촉 및 마찰 환경을 구현하였다. 로봇의 무게는 1kg이며 지면과 무게 중심점과의 거리는 1m로, 무게중심점은 로봇 몸체의 정 중앙에 위치하도록 설계하였다. 다음으로 로봇 몸체의 각속도와 직선속도 그리고 무게 중심점의 높이로 부터 FPE 지점을 계산하고 로봇이 해당 지점을 디뎌 균형을 유지하게 끔 하였다. 몸체의 초기 각도를 $5^{\circ}$, $-5^{\circ}$로 변화시키며 시뮬레이션 한 결과, 모든 초기 조건에서 로봇이 쓰러지지 않고 자세의 균형을 유지하며 서 있는 것을 확인할 수 있었다.

In this study, we investigate balance of a biped robot applying Foot Placement Estimator (FPE) in simulation. FPE method is used to determine a stable foot location for balancing the biped robot when an initial orientation of the robot body is statically unstable. In this case, the 6-DOF biped robot with point foot is modelled considering contact and friction between foot and the ground. For simulation, the mass of the robot is 1 kg assuming the center of robot mass (COM) is located at the center of the robot body. The height from the ground to the COM is 1 m. Robot balance is achieved applying stable foot locations calculated from FPE method using linear and angular velocities, and the height of the COM. The initially unstable angular postures, $5^{\circ}$ and $-5^{\circ}$, of the robot body are simulated. Simulation results confirm that the FPE method provides stable balance of the robot for all given unstable initial conditions.

SMS 문장에서 나타나는 감정 요소를 표현할 수 있는 시뮬레이션 로봇을 개발하였다. 여기서 사용되는 감정 요소는 한국어 감정 언어 특징을 기반으로 작성된 분류 체계에 의거하여 추출된다. 사람과 마찬가지 로 감정은 표정, 동작, 그리고 소리 등으로 표현되며, 본 논문에서는 로봇 하드웨어 및 여러 종류의 감정을 표시하기 위한 효과적 로봇 제작 방법을 제시하였다.

A simulation robot was developed that can express the emotional element extracted from mobile SMS(Short Message service) sentence. The emotional element is extracted based on the emotion classification system which is developed based on the characteristics of Korean emotional language. As human emotion is expressed by facial movement, voice, gesture and so on, the simulation robot was developed to be able to express facial movement, voice, and gesture to express emotion extracted from SMS. In this study the structure of Robot hardware and the making method of robot is suggested that can effectively express various kinds of emotion.

본 연구는 기존의 경직성 로봇이 갖고 있는 로봇 이외의 인력 투입을 최소화할 수 있도록 빅데이터 기반 디지털 트윈 기술을 적용한 로봇 커플링 시뮬레이션을 실험적으로 적용할 수 방안을 제안하여 스마트제조혁신을 위한 스마트공장 구현을 제안하고자 함에 연구 목적이 있다. 이제까지 제안된 디지털 트윈 모델링 및 예측기법을 고도화하여 딥 러닝, 나선형 신경망, 회귀 신경망과 같은 알고리즘을 적용하는 방법을 포함하는 실험을 통해 연구 목적을 달성하고자 하였다. 디지털 트윈 기술의 효과성과 실현 가능성을 검증하기 위하여 6축 로봇을 이용한 로봇 협력 시뮬레이션을 시행하는 실험을 수행하였다. 빅 데이터 기반의 디지털 트윈 기술의 로봇 커플링 시뮬레이션 실험을 통해 제조혁신의 효과를 발견하였는 바, 경로 계획, 동적 응답 및 운반 용량에서 기존 물리적 모델보다 우위의 결과값을 보였다. 향후 연구에서는 디지털 트윈 기술과 기존 물리 적 모델은 특정 시나리오와 요구사항에 따라 적용가능성이 상이할 수 있으므로 적용하고자 하는 시나리오를 선택할 수 있는 패러미터의 정의와 지능화 방법에 대한 연구가 이루어짐으로써 제조환경에 적합한 디지털 트윈 시뮬레이션 적용을 통한 제조 혁신이 달성될 수 있을 것으로 기대한다.

The purpose of this study is to propose a method to experimentally apply robot coupling simulation using big data-based digital twin technology to minimize the input of manpower other than robots that existing rigid robots have, and to propose a smart factory implementation for smart manufacturing innovation. The purpose of this study was to achieve the research purpose through experiments that include methods to apply algorithms such as deep learning, convolutional neural networks, and recurrent neural networks by advancing the digital twin modeling and prediction techniques proposed so far. In order to verify the effectiveness and feasibility of digital twin technology, an experiment was conducted to conduct robot coupling simulation using a 6-axis robot. Through the robot coupling simulation experiment using big data-based digital twin technology, the effect of manufacturing innovation was discovered, and it showed superior results in path planning, dynamic response, and transport capacity compared to existing physical models. In future studies, since the applicability of digital twin technology and existing physical models may differ depending on specific scenarios and requirements, it is expected that manufacturing innovation can be achieved through the application of digital twin simulation suitable for the manufacturing environment by studying the definition of parameters that can select the scenario to be applied and the method of intelligence.

국내외적으로 V2X 통신기술을 접목한 C-ITS 사업 및 자율주행 고도화 실증연구가 활발히 진행되고 있다. 실증 초기 1단계에서는 경고메시지, 차량주행정보, 교통정보 등의 방송서비스 에서 점차 실시간성을 요구하는 군집주행, 원격주행, 인식정보공유 등의 고도화된 서비스로 발 전하고 있다. 또한, 네트워크 서비스 고도화를 위해 전송속도와 지연시간 등을 개선하기 위한 기술개발이 여러모로 진행되고 있다. 본 논문에서는 3GPP 표준 기반 C-V2X 기술을 바탕으로 안정적인 드로이드 형태의 저속 로봇의 원격주행 서비스 제공을 위해 네트워크 지연시간 측면 에서 요구사항을 분석하였다. 원격주행 성능평가를 위해 오퍼레이터를 포함한 시스템 모델링 을 통한 시뮬레이션을 수행하였고, 해당 실험 조건에서 90% 이상의 성능 만족을 위해 30ms 이내의 코어 및 액세스 네트워크 지연시간이 요구된다는 것을 알 수 있었다.

Recently, cooperative intelligent transport systems (C-ITS) testbeds have been deployed in great numbers, and advanced autonomous driving research using V2X communication technology has been conducted actively worldwide. In particular, the broadcasting services in their beginning days, giving warning messages, basic safety messages, traffic information, etc., gradually developed into advanced network services, such as platooning, remote driving, and sensor sharing, that need to perform real-time. In addition, technologies improving these advanced network services' throughput and latency are being developed on many fronts to support these services. Notably, this research analyzed the network latency requirements of the advanced network services to develop a remote driving service for the droid type low-speed robot based on the 3GPP C-V2X communication technology. Subsequently, this remote driving service's performance was evaluated using system modeling (that included the operator behavior) and simulation. This evaluation showed that a respective core and access network latency of less than 30 ms was required to meet more than 90 % of the remote driving service's performance requirements under the given test conditions.

In this paper, we establish virtual physical model of PUMA560 industrial robot according to kinematic model and configuration parameter of PUMA560 industrial robot under VisualNastran condition. Simulating the moving track and position from one point to another along curves and straight line when the robot clamps are attached to the load of m and simulating the changing curves of force and moment of each joint when adding dynamic load under VisualNastran condition.

This paper is on the basis of the kinematics model and the structure parameters of PUMA560 industrial robot, under the environment of ADAMS, establishing the virtual physical model of PUMA560 industrial robot. And when the robot fixture has been attached a load which the quality is m, then moving from one point to another point, using interpolation method and linear motion of the fixture to simulate trajectory and position under the environment of ADAMS respectively.

The precise control of mobile robot is an important issue in robotics field. In this paper, the motion model of mobile robot is established by mechanism analysis. Then, a fuzzy PID controller is designed for trajectory tracking of mobile robot. The controller consists of a PID controller and a fuzzy inference unit with two inputs and three outputs to tune the parameters of PID controller according to the error and error rate. Finally, the model of a four-wheel mobile robot, fuzzy PID and traditional PID controller are all simulated in Simulink. Simulation experiments are reached in different conditions. The result shows that the mobile robot with the fuzzy PID controller can track the desired trail by about 3 seconds in advance and the overshoot of the system will decrease by 40 percent, comparing to the mobile robot with the traditional PID controller. The advantages of fuzzy PID controller for trajectory tracking control of mobile robot are major in its rapidity, stability, anti-interference and tracking precision.

In this paper, an LQ-servo design method based on reduced order observer is proposed in order to control the two-wheeled self balancing robot. We employ reduced order observer, which estimates the states that cannot be accessible by the direct measurements from sensors in order to make its implementation on real time digital processor simpler and cost-effective. The performance index of LQ-servo controller is determined such that overshoot and oscillation of the controlled system in time domain are minimized. The effectiveness and performance of the proposed control system are shown via numerical simulations. It is also shown from hardware-in-loop simulator that the proposed design for self balancing robot reflects the real time behavior quite well.

A 3D mathematical model of orthodontic archwire with rectangular curve is established. Simplified 3D solid model of orthodontic archwire bending robot, which is consistent of bending die, support structure and archwire are established by Creo software, then the simplified model of bending die is put into ANSYS Workbench. Material parameters the contact condition and boundary conditions are set reasonably for the model. Based on the finite element analysis method, the calculation and analysis of the nonlinear contact problem of archwire and bending die, besides the stress distribution of curve bending and bending die is got. This provides the reference for optimal design of bending planning and bending die.

Serpentine locomotion of underwater snake-like robot is very complicated. In order to better control the motion state, a simulation model of underwater snake-like robot is established to investigate the relationship between the motion performance and the mechanical structure characteristics together with serpentine gait parameters. Based on the density ratio defined as the ratio of snake-like robot density to water density, the locomotion speed, output power and energy consumption of underwater snake-like robot is discussed. Further, with the optimum density ratio, the influence of serpentine gait parameters on the locomotion speed is analyzed. The simulation results show that the density ratio has great influence on the motion performance and the energy consumption of underwater snake-like robot, which can provide important basis for the research of underwater snake-like robot in terms of motion performance optimization and mechanical structure design.

The structural dynamics in archwire-bending process is critical to the orthodontic archwire bending robot. In this paper, structure of orthodontic archwire bending robot is analyzed. Transient dynamic of orthodontic archwire bending is analyzed using the transient dynamic module of ANSYS/Workbench software. Stress curve and distribution of orthodontic archwire, fixed die, rotation die and supported end of orthodontic archwire in the process of orthodontic archwire bending is obtained. The structural dynamics simulation lays the foundation for the structural design of orthodontic archwire bending robot.

본 논문은 기능 축약화 스크립트를 이용한 로봇 시뮬레이션을 제작하는 방법을 제안한다. 일반적인 로봇 시 뮬레이션 저작 도구들은 이를 사용하기 위한 전문적인 개발 언어와 이와 연동되는 API등에 대한 전문적인 지식을 요 구하고 있으며, 이러한 사전지식들은 로봇 시뮬레이션을 환경을 구현하는 데 매우 큰 장애 요인이 되고 있다. 이러한 문제를 해결하기 위해서 본 논문은 시뮬레이션 환경을 구성하기위해 기능 축약화 스크립트를 설계하였으며, 축약화된 스크립트는 단순화된 서비스 명령들과 최소의 옵션들로 구성된다. 실험에서는 개발된 저작 도구를 고등학교 학생과 선생님들에게 교육하였으며, 초보자들이 본 저작도구 하루의 교육과정 이수를 통해 로봇 시뮬레이션 환경을 구성하고 시뮬레이션 환경의 로봇을 제어할 수 있음을 검증하였다.

This paper proposes a method of simplification for robot simulation creation using functional concise script. General robotics simulation authoring tools require professional knowledge regarding development language and their APIs, and these prerequisites are considered as a big obstacle in implementing robotics simulation. In order to resolve these problems, we developed an authoring tool using functional concise script in building simulation environment, and this concise script composes of simplified service commands and minimum options. In experiment, we educated students and teachers in High school to use this authoring tool and we verified that the proposed method makes it possible to build robotics simulation environment and control simulated robots through one-day training course for the novices.

This paper aims at finding out dominant robot configurations with maximal position errors, which can be attributed to the parameter errors, by using Monte-Carlo simulation for error analysis of a 3-axis SCARA(Selective Compliance Assembly Robot Arm) type robot. In particular, the Monte-Carlo simulation is used for virtually measuring on the position errors, instead of physical measurement. In order to measure the observability of the model parameters with respect to a set of robot configurations, we propose the observability index which is defined as the product of singular values for error propagation matrices. Thus the index can be used for discriminating dominant robot configurations from a set of simulated ones in conjunction with standard deviation of positional errors, This paper analyzed error by robot positional error.

This paper proposes the architecture of the RILS (Robot-in-the-Loop-Simulation) consisting of the robot, the virtual robot, and the avatar robot which is the type of virtual robots operating according to the robot status and behavior. And the synchronization algorithm for mobilization part of the avatar robot is suggested, which reduces the difference between behaviors of the robot and those of the avatar robot. This difference occurs due to the environmental and mechanical mismatches between the robot and avatar robot. In order to reduce this difference in robots behaviors, the synchronization algorithm controls the avatar robot based on the data observed from the robot's behavior. The proposed architecture and the synchronization algorithm are validated from some simulation results.

For a robotic workcell, which consists of multiple robots, several interconnection methods are presented in terms of the processor based architecture. Since few attempts have been made to formulate and analyze multiple robot system(MRS), we turn the knowledge of multiple processor system(MPS) or multiple computer system(MCS) to good account. The performance evaluation is achieved through queueing analysis, the aim being to compare their response time, utilization, probability of service failure under different workload. To verify the validity of the proposed analysis methods, a computer simulation is performed. The results together with comments presented here give some useful guidelines for the selection of an appropriate interconnection method.

Demolition robot is an industrial robot with remote sensing control function, It is widely used in building demolition, emergency rescue, cement, metallurgy, nuclear energy and other industries. The operating state of its actuator is mainly controlled by the hydraulic system. So the working performance of its hydraulic system directly affects the working efficiency of the demolition robot. AMESim software is used to model the hydraulic system of the demolition robot, reasonably select and set the performance parameters of the hydraulic components, automatically generate the curves of the parameters of the rotary motor, the working arm, the walking system and the hydraulic impact head in the operation of the hydraulic system. The linear curve of the operating parameters of the hydraulic system of the demolition robot generated by AMESim software focuses on the analysis of the change of the parameters of the actuator in the hydraulic system and the influence of each other after the working state and environment of the demolition robot change. In order to find the best working state of the demolition robot, in order to achieve the demolition robot without changing the hardware structure, to optimize its working performance. It provides a theoretical basis for the engineering application of demolition robot hydraulic system.

산업현장에서 로봇의 사용이 크게 늘게 됨으로서 로봇의 배치와 움직임의 조정을 효율적으로 하는 것이 중요해 졌다. 이를 위해 가상의 공간에서 시뮬레이션 하는 오프라인 프로그래밍이 사용되고 있다. 본 논문에서는 오프라인 프로그래밍 기반의 시뮬레이션 엔진을 설계, 구현하였다. 복수의 로봇 시뮬레이션이 정적/동적인 상황에서 이루어 질 수 있도록 이벤트/사이클 혼합 방식을 사용하였다.