• 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.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.39 no.1
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• pp.77-83
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• 2003

Autonomous mobile robots based on the Web have been already used in public places such as museums. There are many kinds of problems to be solved because of the limitation of Web and the dynamically changing environment. We present a methodology for intelligent mobile robot that demonstrates a certain degree of autonomy in navigation applications. In this paper, we focus on a mobile robot navigator equipped with neuro-fuzzy controller which perceives the environment, make decisions, and take actions. The neuro-fuzzy controller equipped with collision avoidance behavior and target trace behavior enables the mobile robot to navigate in dynamic environment from the start location to goal location. Most telerobotics system workable on the Web have used standard Internet techniques such as HTTP, CGI and Scripting languages. However, for mobile robot navigations, these tools have significant limitations. In our study, C# and ASP.NET are used for both the client and the server side programs because of their interactivity and quick responsibility. Two kinds of simulations are performed to verify our proposed method. Our approach is verified through computer simulations of collision avoidance and target trace.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.71-79
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• 2007

We propose and develop Home Security robot system based on Sensor Network (HSSN) configured by sensor nodes including radio frequency (RF), ultrasonic, temperature, light and sound sensors. Our system can acknowledge security alarm events that are acquired by sensor nodes and relayed in the hop-by-hop transmission way. There are sensor network, Home Security Mobile Robot (HSMR) and Home Server(HS) in this system. In the experimental results of this system, we presented that our system has more enhanced performance of response to emergency context and more speedy and accurate path planning to target position for arriving an alarm zone with obstacle avoidance and acquiring the context-aware information.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.117.2-117
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• 2002

In this paper, a software framework is proposed for the personal robot located on home network. The proposed software framework is divided into four layers-a transparency layer, a behavior layer, a distributed task layer, and a mission scenario layer. The transparency layer consists of a virtual machine for platform transparency, and a communication broker for communication transparency among behavior modules. The communication architecture includes both server/client communication and publisher/subscriber communication. A mission scenario is assumed to be a composition of sequentially planned distributed tasks. In addition to the software framework, a new concept, personal robot design cent...

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.349-351
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• 2007

A concept of the semi-autonomous tele-weeding-system which performs weeding tasks through co-operation of human and machine intelligence is proposed. The tele-weeding system consists of weeding robot, communication networks and operating server. The images of plants taken by the weeding robot are transferred through the communication networks to the human operator. Positions of the weeds are indicated at the operating host by the operator and transferred back to the weeding robot. Such position informations are converted to the world space and the weeding is done based on the robot intelligence. Feasibility of such concept has been tested through development of a laboratory model of the system.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.795-800
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• 2008

The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental

• Agricultural and Biosystems Engineering
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• v.6 no.2
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• pp.54-58
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• 2005

In this study, tele-robotics was researched to actualize robots in agriculture. The robot system consisted of a data collecting robot, several robots that performed their own agricultural operations, a server, client computers and networks between robots and computers. In this paper, as a first step, harvesting experiments were carried out. From the results, it was observed that the tele-robotics had feasibility to propel the robotization in agriculture. The tele-robotics has advantages not only that human workers are released from the severe working environment but also that the greenhouse can be monitored and controlled anytime and anywhere.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2410-2414
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• 2002

In this paper, a software framework is proposed for the personal robot located on home network. The proposed software framework is divided into four layers-a transparency layer, a behavior layer, a distributed task layer, and a mission scenario layer. The transparency layer consists of a virtual machine for platform transparency, and a communication broker for communication transparency among behavior modules. The communication architecture includes both server/client communication and publisher/subscriber communication. A mission scenario is assumed to be a composition of sequentially planned distributed tasks. In addition to the software framework, a new concept, personal robot design center platform as proposed in this paper with its implementation mechanisms. The personal robot design center is defined as a developing and a managing environment for high-level behavior modules, distributed tasks, and mission scenarios.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.1
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• pp.80-85
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• 2007

As home network system begins serving in earnest, the recent fruits of research in home service robot show that the new epoch that human and intelligent robots are living, communicating and interacting together at home, may come true in the near future. In the other hand, it is generally known that the multiagent system, performing distributed process together with other different devices in a home network system, is better than single robot or single home server for adapting themselves to home environment and completing their mission because the characteristic of home environment is 'open'. Therefore, in this paper we suggest the framework model to define agents, which is needed lot the home with a home network system, and the communication protocol architecture between agents. For this, we focus our attention on an agent comprising the set of many agent instances rather than the single intelligent or ability of a robot or home server, and also suggest the way of adaptation for agent systems to their environments and interaction with human in the manner of cooperation and negotiation among agents or agent instances in each agent.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.449-452
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• 2007

An intelligent robot with RSSI based indoor location estimation function was designed and implemented. A wireless sensor node was attached to the robot to received the location data from the indoor location estimation function. Spartan III was used as the main control device in the mobile robot. The current location data collected from the indoor location estimation system was transferred to the mobile robot and server through Zigbee/IEEE 802.15.4 wireless communication of the sensor node. Once the location data is received, the sensor node senses the direction of the robot head and directs the robot to move to its destination. Indoor location estimation intelligent robot is able to move efficiently and actively to the user appointed location by implementing the proposed obstacles avoidance algorithm. This system is able to monitor real-time environmental data and location of the robot using PC program. Indoor location estimation intelligent robot also can be controlled by executing the instructions sent from the PC program.