• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2007.10a
• /
• pp.799-802
• /
• 2007

최근에 웹 기술은 PC를 념어 휴대폰, PDA, 정보가전, 로봇 등 모든 디바이스로 적용이 확대되고 있으며, 웹에 대한 국제 표준을 주도하고 있는 W3C(World Wide Web Consortium)는 2007년 상반기에 유비쿼터스 웹 응용을 위한 표준 개발을 시작하였다. 이를 담당하고 있는 유비쿼터스 웹 응용 워킹그룹은 탁상용 컴퓨터뿐 아니라 사무용품, 가정 매체 기구, 이동 전화, RFID나 바코드를 포함하는 센서나 이펙터(effector) 등의 유비쿼터스 디바이스들이 다양하게 흩어져 있는 환경에서 쉽게 웹 응용 개발을 가능하게 하는 표준 개발을 목표로 한다. 본 워킹그룹의 활동은 크게 가지로 나누어 볼 수 있다. 첫 번째는 디바이스 독립 워킹그룹(Device Independence Working Group)의 활동이 종료됨에 따라 이 워킹그룹에서 완성하지 못한 표준들을 이어받아 마무리 하는 활동이다. 두 번째는 리모트 이벤팅(remote eventing), 디바이스 코디네이션(device coordination) 그리고 의향 기반 이벤트(intent-based events) 등 유비쿼터스 웹 응용을 위해 펼요한 새로운 표준 개발을 하는 것이다. 본 논문에서는 최근에 W3C에 서 추진되고 있는 유비쿼터스 웹에 대한 표준화 동향을 설명한다.

• Proceedings of the KIEE Conference
• /
• 2002.11c
• /
• pp.159-162
• /
• 2002

This paper presents a modified localization scheme of a mobile robot. When it navigates, the position error of a robot is increased and doesn't go to a goal point where the robot intends to go at the beginning. The objective of localization is to estimate the position of a robot precisely. Many algorithms were developed and still are being researched for localization of a mobile robot at present. Among them, a localization algorithm named continuous localization proposed by Schultz has some merits on real-time navigation and is easy to be implemented compared to other localization schemes. Continuous Localization (CL) is based on map-matching algorithm with global and local maps using only ultrasonic sensors for making grid maps. However, CL has some problems in the process of searching the best-scored-map, when it is applied to a mobile robot. We here propose fast and powerful map-matching algorithm for localization of a mobile robot by experiments.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.22 no.3_1spc
• /
• pp.607-614
• /
• 2013

This paper proposes a robot driving system and sensor implementation for use with an education robot. This robot has multiple functions and was designed so that children could use it with interest and ease. The robot recognizes the location of a user and follows that user at a specific distance when the robot and user communicate with each other. In this work, the robot was designed and manufactured to evaluate its performance. In addition, an embedded board was installed with the purpose of communicating with a smart phone, and a camera mounted on the robot allowed it to monitor the environment. To allow the robot to follow a moving user, a set of sensors combined with an RF module and ultrasonic sensors were adopted to measure the distance between the user and the robot. With the help of this ultrasonic sensors arrangement, the location of the user couldbe identified in all directions, which allowed the robot to follow the moving user at the desired distance. Experiments were carried out to see how well the user's location could be recognized and to investigate how accurately the robot trackedthe user, which eventually yielded a satisfactory performance.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.4 s.97
• /
• pp.37-45
• /
• 1999

Many automated welding equipment are used in the industry. However, there are some problems to get quality welds because of the geometric error, thermal distortion, and incorrect joint fit-up. These factors can make the gap between base plates in case of a thick plate welding. The welding product with the quality welds can not be obtained without consideration of the gap. In this paper, the robot path and welding conditions are modified to get the quality weld by detecting the position and size of the gap. In this work, a low-priced laser range sensor is used. The 3-dimensional information is obtained using the motion of a robot, which holds a laser range sensor. The position and size of the gap is calculated using signal processing of the measured 3-dimensional information of joint profile geometry. The data measured by a laser range sensor is segmented by an iterative end point method. The segmented data is optimized by the least square method. The existence of gap is detected by comparing the data with the segmented shape of template. The effects of robot measuring speed and gap size are also tested. The recognizability fo the gap is verified as good by comparing the real joint profile and the calculated joint profile using the signal processing.

• Journal of the Korean Society of Industry Convergence
• /
• v.17 no.3
• /
• pp.151-169
• /
• 2014

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.15 no.2
• /
• pp.87-94
• /
• 2020

This paper introduces a method to control an industrial robot arm to imitate the movement of the human arm and hand using electromyography (EMG) signals. The proposed method is implemented on the UR3 robot that is a popular industrial robot and a MYO armband that measure the EMG signals generated by human muscles. The communications for the UR3 robot and the MYO armband are integrated in the robot operating system (ROS) that is a middle-ware to develop robot systems easily. The movement of the human arm and hand is detected by the MYO armband, which is utilized to recognize and to estimate the speed of the movement of the operator's arm and the motion of the operator's hand. The proposed system can be easily used when human's detailed movement is required in the environment where human can't work. An experiments have been conducted to verify the performance of the proposed method using the teleoperation of the UR3 robot.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2017.11a
• /
• pp.1209-1211
• /
• 2017

창문을 열고 닫음에 있어서 사람의 신체에 따라, 창문의 위치에 따라 어려움이 발생한다. 또한 최근 대기 오염도가 심해지고 지구 온난화로 인한 한반도 기후 변화로 국지성 집중호우의 빈도가 증가하고 있다. 이로 인해 사용자가 부재중일 때 창이 열려있다면 집 안으로 먼지가 들어올 것이고, 국지성 호우에 의해 비가 들어오는 경우가 생길 수 있다. 본 논문에서는 이 문제점들에 주목하여, 어플과 연계를 통한 원격 창문 개폐 장치를 고안하였다. 본 장치를 이용한다면 신체적인 한계가 있는 어린이, 노약자, 장애인과 같은 이들이 쉽게 창문을 개폐할 수 있을 것이다. 그리고 환기가 필요한 공장, 격납고 등의 높은 위치에 있는 창문을 쉽게 개폐할 수 있어 분진 폭발로 인한 안전사고 역시 예방하는 효과가 있을 것이다. 또한 사용자가 외출할 때 창문을 닫고 나오지 못한 경우 어플을 이용하여 원격으로 닫을 수 있으며, 이를 통해 밖에 황사, 미세먼지가 들어오는 것과 비가 들어오는 것을 차단할 수 있다. 마지막으로 열린 창을 닫는다는 것에서 방범의 효과 역시 가져올 수 있다.

• Proceedings of the IEEK Conference
• /
• 2006.06a
• /
• pp.923-924
• /
• 2006

In this paper, we propose the sensor fusing method for the obstacle avoidance of guiding robot for the visually impaired In our system, we acquire obstacles distances information using ultrasonic sensors, and its width is acquired by image sensor. We also compute avoidance angle using are distance and width information gained by sensor. After the robot avoid the obstacle by computed angle, the robot returns to its original path using odometry. The robot consists of the SA1110-based controller, sensory part using sonar array and image sensor, and motion part using differential drive for climbing stairs. This system use the embedded linux for OS, and also is developed by the QT/Embedded for GUI.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.15 no.5
• /
• pp.557-564
• /
• 2012

This paper presents UGV localization using multi-sensor fusion based on federated filter in outdoor environments. The conventional GPS/INS integrated system does not guarantee the robustness of localization because GPS is vulnerable to external disturbances. In many environments, however, vision system is very efficient because there are many features compared to the open space and these features can provide much information for UGV localization. Thus, this paper uses the scene matching and pose estimation based vision navigation, magnetic compass and odometer to cope with the GPS-denied environments. NR-mode federated filter is used for system safety. The experiment results with a predefined path demonstrate enhancement of the robustness and accuracy of localization in outdoor environments.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.62 no.6
• /
• pp.852-862
• /
• 2013

This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.