• Journal of the KSME
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• v.46 no.5 s.306
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• pp.61-69
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• 2006

이 글에서는 최근 국민소득 2만불 시대의 견인차가 될 것으로 인식되어 10대 차세대 신성 장동력의 하나로 추진 중인 지능형 서비스 로봇의 산업 및 기술 동향을 분석하고 신성장동력으로서의 URC(Ubiquitous Robot Companion)의 개념과 관련 기술을 소개해 보고자한다.

• Proceedings of the Korean Information Science Society Conference
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• 2010.11a
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• pp.44-45
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• 2010

• ETRI Journal
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• v.29 no.2
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• pp.169-178
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• 2007

With the advent of ubiquitous computing environments, it has become increasingly important for applications to take full advantage of contextual information, such as the user's location, to offer greater services to the user without any explicit requests. In this paper, we propose context-aware active services based on context-aware middleware for URC systems (CAMUS). The CAMUS is a middleware that provides context-aware applications with a development and execution methodology. Accordingly, the applications based on CAMUS respond in a timely fashion to contextual information. This paper presents the system architecture of CAMUS and illustrates the content recommendation and control service agents with the properties, operations, and tasks for context-aware active services. To evaluate CAMUS, we apply the proposed active services to a TV application domain. We implement and experiment with a TV content recommendation service agent, a control service agent, and TV tasks based on CAMUS. The implemented content recommendation service agent divides the user's preferences into common and specific models to apply other recommendations and applications easily, including the TV content recommendations.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.8 no.4
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• pp.288-298
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• 2008

We introduce new type of networked robot, Ubiquitous Robotic Companion (URC), embedded with ATLAS Service-oriented architecture for enhancing the space sensing capability. URC is a network-based robotic system developed by ETRI. For years of experience in deploying service with ATLAS sensor platform for elder and people with special needs in smart houses, we need networked robots to assist elder people in their successful daily living. Recently, pervasive computing technologies reveals possibilities of networked robots in smart spaces, consist of sensors, actuators and smart devices can collaborate with the other networked robot as a mobile sensing platform, a complex and sophisticated actuator and a human interface. This paper provides our experience in designing and implementing system architecture to integrate URC robots in pervasive computing environments using the University of Florida's ATLAS service-oriented architecture. In this paper, we focus on the integrated framework architecture of URC embedded with ATLAS platform. We show how the integrated URC system is enabled to provide better services which enhance the space sensing of URC in the smart space by applying service-oriented architecture characterized as flexibility in adding or deleting service components of Ubiquitous Robotic Companion.

• The Journal of the Korea Contents Association
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• v.6 no.8
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• pp.8-19
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• 2006

In the ubiquitous environment, the real-time remote control and monitoring technology for intelligent robot creates service as a sharable and independent of time-location for various contents to get from a sensor or camera of the robot. In this paper, We propose the real-time monitor and control mechanism for intelligent robot called URC(Ubiquitous Robotic Companion). URC are intelligent robots designed as to interact with external digital device that can communicate through wire or wireless by integration the network and information technology into traditional robot. It has been carried out by implementing this technology into the target robot called ISSAC4 and proving its practical worth. We designed feasibly to control on remote site by web-browser. It guarantees a continuity of real-time image transferring by Client-Pull method.

• The KIPS Transactions:PartD
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• v.14D no.6
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• pp.657-664
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• 2007

URC robot offers necessary service anytime and anywhere by using a network to the robot, expanding the applicable service, keeping all the functions in itself, it undertakes functions for the causing problems through the network. URC software components are composed of HRI(Human Robot Interaction), robot action technology and others. We analyze the quality models based on ISO/IEC 9126, define URC components evaluation specification consists of 4 parts such as generic rule, instance rule, evaluation value and test method. And we define the quality process and test case design for URC, and show a testing and evaluation process for URC components.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.303-305
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• 2006

In this paper, we present an implementation of the URC (Ubiquitous Robotics Companion) robot S/W platform which is based on the Qplus/Esto. We applied this platform to the NETTORO which is made by hanwool robotics for URC exhibition services and test the URC services on it. We expect this platform to be used in variable URC robots as standard S/W platform for improving the compatibility and reusing the developed components.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.66-71
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• 2006

Recently, there are lots of concerning on ubiquitous environment of robots and URC (Ubiquitous Robotic Companion). In this paper, a practical ubiquitous interface system far controlling mobile robots in indoor environments was proposed. The interface system was designed as a manager-agent model including a PC manager, a mobile manager, and robot agents for being able to be accessed by any network. In the system, the PC manager has a 3D virtual environment and shows real images for a human-friendly interface, and share the computation load of the robot such as path planning and managing geographical information. It also contains Hybrid Format Manager(HFM) working for transforming the image, position, and control data and interchanging them between the robots and the managers. Mobile manager working in the minimized computing condition of handsets has a mobile interface environment displaying the real images and the position of the robot and being able to control the robots by pressing keys. Experimental results showed the proposed system was able to control robots rising wired and wireless LAN and mobile Internet.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1836-1840
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• 2005

This work proposes a controller tuning method of a Hyundai 8608 robot in order to improve its performance. For this, we analyzed the control structure of the robot, and the functions of all the adjustable parameters in the robot controller with a reference 'NACHI Technical Report'. Through the analysis, we found out that 3 important parameters(VRRL, VRF, VRGIN) act like a conventional PID gains and other parameters are closely related to these 3 parameters. Conclusively, parameter tuning of these 3 parameters is enough in most cases of applications with other parameters fixed. The conventional PID tuning is performed to each joint of the test robot with Robot Performance Evaluation System(shown in our companion paper) so that the acceptable gain ranges for each joint are determined and then the robot performance tests are repeatedly done with the combination of the acceptable gains. Finally, the best combination is selected for its best performance. For the effectiveness of the proposed method, it was implemented on a Hyundai 8608 robot and its results are compared with the results of NACHI's Semi-Auto Tuning Method and the results which are done by a tuning expert with his eyes.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.8
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• pp.883-892
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• 2018

Recently, as interest in social robots to support physical convenience and emotional sympathy has increased, and social internet has developed, a social robot has evolved as various services simply beyond robot function. Therefore, to develop a social robot service effectively, it is required to study the functional application and methods of interaction between user and social robot service. The purpose of this study is to classify social robot services and to suggest the types of elements that need to be considered in service development. To do this, we conducted in-depth case studies and analysis based on the theoretical definitions and characteristics of social robots. Then, based on the sympathy and functions, we classified social robot services into 1) emotional support type, 2) companion type, 3) guide type, and 4) life support type. In addition, in this study, we derive the considerable factors according to the classified types for the development of effective social robot services. This study will contribute to the understanding and development of various services using a social robot.