• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.2
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• pp.161-166
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• 2006

Localization of mobile agent within a sensing network is a fundamental requirement for many applications, using networked navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, This paper describes a networked sensor-based navigation method in an indoor environment for an autonomous mobile robot which can navigate and avoid obstacle. In this method, the self-localization of the robot is done with a model-based vision system using networked sensors, and nonstop navigation is realized by a Kalman filter-based STSF(Space and Time Sensor Fusion) method. Stationary obstacles and moving obstacles are avoided with networked sensor data such as CCD camera and sonar ring. We will report on experiments in a hallway using the Pioneer-DX robot. In addition to that, the localization has inevitable uncertainties in the features and in the robot position estimation. Kalman filter scheme is used for the estimation of the mobile robot localization. And Extensive experiments with a robot and a sensor network confirm the validity of the approach.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.69-77
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• 2011

In a large scale robot system, one of important problems is software integration, which involves three elements: modularity, reusability and stability. By these issues, the degree of convenience of system integration, its required time and the performance of the system stability can be determined. In addition, the convenience of system management can be determined by the degree of completion of service components. This paper explains the template based service component (TBSC) for the integration of service components in networked robot. The important characteristics of TBSC are automatical execution and recovery process by a PnP supporting robot framework, which helps a system operator to manage a robot system comfortably. For easy implementation and system stability, we provide a service component creator and a verification tool to developers.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2577-2580
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• 2003

In this paper we present a teleoperation system of an internet-based mobile robot based on H.263 image compression algorithm. We control remotely the networked mobile robot with vision over the internet under unknown environments in the real time. The main feature of this system is that local operators need to download and install a client program and so they can command the robot in a remote location. Image information of remote location is compressed by H.263 video codec algorithm and then transmitted to a local operator. We constructed and tested a networked autonomous mobile robot in the real field. The experimental results show the usefulness of the robot under test.

• ETRI Journal
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• v.27 no.6
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• pp.666-676
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• 2005

In recent years, motivated by the emergence of ubiquitous computing technologies, a new class of networked robots, ubiquitous robots, has been introduced. The Ubiquitous Robotic Companion (URC) is our conceptual vision of ubiquitous service robots that provide users with the services they need, anytime and anywhere in ubiquitous computing environments. To realize the vision of URC, one of the essential requirements for robotic systems is to support ubiquity of services: that is, a robot service must be always available even though there are changes in the service environments. Specifically robotic systems need to be automatically interoperable with sensors and devices in current service environments, rather than statically preprogrammed for them. In this paper, the design and implementation of a semantic-based ubiquitous robotic space (SemanticURS) is presented. SemanticURS enables automated integration of networked robots into ubiquitous computing environments exploiting Semantic Web Services and AI-based planning technologies.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.61-68
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• 2010

This paper proposes networked swarm robotic systems with group based control scheme using spring damper impendence feature. The proposed algorithm is applied to keep system arrangement in unexpected situations based on the spring-damper impedance and fuzzy logic. Using the proposed scheme, each robot overcome collision problems efficiently. The structure of UBSR (UMPC Based Swarm Robot) system consists of user level, cognitive level, and executive level. This structure is designed to easily meet the different configuration requirements for other levels. Simulation results show an availability of the proposed method.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.3
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• pp.136-142
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• 2008

Mobile robots can offer services like intelligent monitoring in an indoor environment using network connection with remote users. In this paper, we designed and developed a networked security robot system with various sensors, such as flame detector, gas detector, sound monitoring module, and temperature sensor, etc. The robot can be accessed through a web service and the user can check the status of the environment. Using ADAMS software, we defined the motor specification for a worst-case condition of climbing over a obstacle. We applied the robot system in monitoring office condition.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.616-621
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• 2003

Until now, many networked robots have been connected to the Internet for the various applications. With these networked robots, very long distance teleoperation can be possible through the Internet. However, the promising area of the Internet-based teleoperation may be distance learning, because of several reasons such as the unpredictable characteristics of the Internet. In robotics class, students learn many theories about robots, but it is hard to perform the actual experiments for all students due to the rack of the real robots and safety problems. Some classes may introduce the virtual robot simulator for students to program the virtual robot and upload their program to operate the real robot through the off-line programming method. However, the students may also visit the laboratory when they want to use the real robot for testing their program. In this paper, we developed an Internet-based robot education system. The developed system was composed of two parts, the robotics class materials and the web-based Java3d robot simulator. That is, this system can provide two services for distance learning to the students through the Internet. The robotics class materials can be provided to the student as the multimedia contents on the web page. As well, the web-based robot simulator as the real experiment tool can help the students get good understanding about certain subject. So, the students can learn the required robotics theories and perform the real experiments from their web browser when they want to study themselves at any time.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.9A
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• pp.878-883
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• 2006

New emerging wireless broadband internet can make many broadband multimedia services. The networked intelligent mobile robot service is one of the new services. In the networked robot control, both the on-line real-time control and the reliability of control data transmission are very important. Considering the real-time control and data reliability, an efficient transmission method based on UDP protocol is proposed. The proposed method allocates the priority to the robot control data and the transmission of the robot data at the base station is carried out in duplicate manner. NS-2 simulation results show that the proposed scheme has a very low packet delay and low packet errors.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.714-719
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• 2005

In this paper, the informative space is proposed to implant ubiquitous functions into physical spaces. We merge physical and virtual spaces through the space structurization using an RFID system, and solve the space localization and mapping problem for a robot to navigate through the distribution and synthesis of information and knowledge. To distribute knowledge flexibly and reliably to changing environment and also to develop a system which allows a robot to invoke and merge the distributed knowledge more freely, we employ a novel approach of knowledge management based on Web services. The proposed method is verified by building a physical space with two kinds of RFID tags and a virtual space with knowledge database based on Web services.