• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.12
• /
• pp.996-1001
• /
• 2005

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from. Three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can get the ultrasonic signals from only one or two beacons, because of the obstacles located along the moving path. Therefore, in this paper, as one of our dedicated contribution, the position estimation scheme with less than three sensors has been developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.6 no.3
• /
• pp.452-458
• /
• 2002

Although the reuse of the cached data for scrolling the map reduces the amount of passed data between client and server, it needs the conversions of data coordinates, selertive deletion of objects and cache compaction at client. The conversion is time intensive operation due to limited resources of mobile phones such as low computing power, small memory. Therefore, for the efficient map control in the vector map service based mobile phone, it is necessary to study the method for reducing wireless network bandwidth and for overwhelming the limited resources of mobile phone as well. This paper proposes the methods for racking pre-received spatial objects in client-server systems for mobile CIS. We also analyze the strengths and drawbacks between the reuse of cached data and transmission of raw data respectively.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.6
• /
• pp.634-639
• /
• 2014

This paper specifies a collision alarm using an infrared distance sensor that can identify the dangerousness of collision of active mobile robotic systems to various objects, such as unknown objects or another robots. And we analyse the major operating signals and features of the collision alarm for effective industrial applications. For the purpose, we consider a typical parking situation of a mobile robotic system with the collision alarm designed. As a result, it is shown that the proposed collision alarm is applicable for effective collision avoidance and safe driving of various mobile robots or vehicles.

• Journal of the Semiconductor & Display Technology
• /
• v.14 no.3
• /
• pp.67-72
• /
• 2015

This paper proposes an object tracking system based on keypoints using homography in mobile environments. The proposed system is based on markerless tracking, and there are four modules which are recognition, tracking, detecting and learning module. Recognition module detects and identifies an object to be matched on current frame correspond to the database using LSH through SURF, and then this module generates a standard object information. Tracking module tracks an object using homography information that generate by being matched on the learned object keypoints to the current object keypoints. Then update the window included the object for defining object's pose. Detecting module finds out the object based on having the best possible knowledge available among the learned objects information, when the system fails to track. The experimental results show that the proposed system is able to recognize and track objects with updating object's pose for the use of mobile platform.

• Journal of the Semiconductor & Display Technology
• /
• v.14 no.3
• /
• pp.73-77
• /
• 2015

This paper proposes an object tracking system according to reliability assessment of learning in mobile environments. The proposed system is based on markerless tracking, and there are four modules which are recognition, tracking, detecting and learning module. Recognition module detects and identifies an object to be matched on current frame correspond to the database using LSH through SURF, and then this module generates a standard object information that has the best reliability of learning. The standard object information is used for evaluating and learning the object that is successful tracking in tracking module. Detecting module finds out the object based on having the best possible knowledge available among the learned objects information, when the system fails to track. The experimental results show that the proposed system is able to recognize and track the reliable objects with reliability assessment of learning for the use of mobile platform.

• Journal of Drive and Control
• /
• v.21 no.1
• /
• pp.46-52
• /
• 2024

The advancement of autonomous driving technology has heightened the importance of Autonomous Mobile Robotics (AMR) within smart factories. Notably, in tasks involving the transportation of heavy objects, the consideration of weight in route optimization and path planning has become crucial. There is ongoing research on local path planning, such as Dijkstra, A^*, and RRT^*, focusing on minimizing travel time and distance within smart factory warehouses. Additionally, there are ongoing simultaneous studies on route optimization, including TSP algorithms for various path explorations and on minimizing energy consumption in mobile robotics operations. However, previous studies have often overlooked the weight of the objects being transported, emphasizing only minimal travel time or distance. Therefore, this research proposes route planning that accounts for the maximum payload capacity of mobile robotics and offers load-optimized path planning for multi-destination transportation. Considering the load, a genetic algorithm with the objectives of minimizing both travel time and distance, as well as energy consumption is employed. This approach is expected to enhance the efficiency of mobility within smart factories.

• Proceedings of the KSME Conference
• /
• 2003.04a
• /
• pp.1205-1211
• /
• 2003

Having information is most important at the present age. Internet is main source of obtaining information and mobile telecommunication let people communicate each other without any time and space limitation. Recently, advanced technology in telecommunication makes two-way service possible. So, the mobile internet service combined internet with mobile telecommunication is widely and rapidly promoted. Therefore user can transmit and receive a lot of information without time and space restriction using various application technologies. This paper deals with machinery that makes human do office work conveniently in vehicle using mobile internet service. Namely, it tries to design mobile internet machinery combining of wireless payment, GPS module, mobile internet, and mobile office etc. And that can transmit and receive e-mail or documents etc. This machinery has various objects, and design process has complexity. To reduce trial error and processing complexity, Axiomatic Design Method is used to design the machinery.

• Journal of Broadcast Engineering
• /
• v.15 no.3
• /
• pp.346-354
• /
• 2010

T-DMB is using MPEG-4 BIFS standard format for broadcasting interactive data service. BIFS enables us to represent contents as a scene which consists of various objects such as AV, image, graphic, and text. It also enables us to control objects by using user interaction. BIFS was designed to be adapted to multimedia systems with various input devices. Today, however, we are in lack of considering about mobile device with restricted input unit. The problem is that a consistent user control of interactive data contents is not possible due to the limitations of input units in T-DMB terminals. To solve the problem, we defined KeyNavigator node that provides a means to select or navigate objects (like menu) in BIFS contents by arrow keys and enter key of mobile terminal. By using KeyNavigater node, not only BIFS contents providers can make BIFS contents as they want, but also users can get a way to control BIFS contents consistently and easily.

• Proceedings of the KSRS Conference
• /
• 2005.10a
• /
• pp.309-312
• /
• 2005

The need for LBS (Loc,ation Based Services) is increasing due to the wnespread of mobile computing devices and positioning technologies~ In LBS, there are many applications that need to manage moving objects (e.g. taxies, persons). The moving object join operation is to make pairs with spatio-temporal attribute for two sets in the moving object database system. It is import and complicated operation. And processing time increases by geometric progression with numbers of moving objects. Therefore efficient methods of spatio-temporal join is essential to moving object database system. In this paper, we apply spatial join methods to moving objects join. We propose two kind of join methods with TB- Tree that preserves trajectories of moving objects. One is depth first traversal spatio-temporaljoin and another is breadth-first traversal spatio-temporal join. We show results of performance test with sample data sets which are created by moving object ,generator tool.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1597-1600
• /
• 1997

Most autonomous mobile robots view things only in front of them. As a result they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omni-directional depth data by a laser conic plane and a conic mirror. Also we proposed a self-localization algorithm of mobile robot in unknown environment by fusion of Odometer and Active Omn-directional Range Sensor.