• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.4
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• pp.519-525
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• 2007

With the high interest on robot technology and application, the research on artificial auditory systems for robot is very active. In this paper we discuss sound source localization and tracing based on audio-visual information. For video signals we use face detection based on skin color model. Also, binaural-based DOA is used as audio information. We integrate both informations using Kalman filter. The experimental results show that audio-visual person tracking Is useful, specially in the case that some informations are not observed.

• Electronics and Telecommunications Trends
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• v.37 no.1
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• pp.1-9
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• 2022

With the development of artificial intelligence, many studies have focused on evaluating abnormal situations by using various sensors, as industries try to automate some of the surveillance and security tasks traditionally performed by humans. In particular, mobile robots using multimodal sensors are being used for pilot operations aimed at helping security robots cope with various outdoor situations. Multiagent systems, which combine fixed and mobile systems, can provide more efficient coverage (than that provided by other systems), but network bottlenecks resulting from increased data processing and communication are encountered. In this report, we will examine recent trends in object recognition and abnormal-situation determination in various changing outdoor security robot environments, and describe an outdoor security robot platform that operates as a multiagent equipped with a multimodal sensor.

• Journal of the Korean Society for Nondestructive Testing
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• v.35 no.1
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• pp.68-72
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• 2015

Ultrasonic inspection robot systems have been widely researched and developed for the real-time monitoring of structures such as power plants. However, an inspection robot that is operated in a simple pattern has limitations in its application to various structures in a plant facility because of the diverse and complicated shapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objects with high-precision results. This paper presents the idea that the shape and movement information of an ultrasonic inspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensor was applied to monitor the shape of a human hand. This application was designed to intuitively control an ultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors. Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of a human hand estimated using polymer flex sensors.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.05a
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• pp.77-80
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• 2011

Medical robot has four fields. Surgery assistant robot, robotic surgery, Surgery Simulator, rehabilitation robot. Thus, medical robots is often high precision and reliability requirements for operations are being developed. Medical service robot's another sector is care for service robots. Care services robot is the hospital's reception work and biometric data acquisition of patients, the hospital in location and content information provide to patients. But now medical service robot practical acceptance process failed to progress. In this paper were the medical service robot systems design and implementation. Implemented the robot system is using the standard protocols for the exchange of medical information and can be linked with hospital information system. The hospital's patient reception and processing, to provide care waiting number information.

• 한국태양에너지학회:학술대회논문집
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• 2012.03a
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• pp.211-216
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• 2012

Proton Exchange Membrane Fuel Cells (PEMFC) are the most appropriate for energy source of small robot applications. PEMFC has superior in power density and thermodynamic efficiency as compared with the Direct Methaol Fuel Cell (DMFC). Furthermore, PEMFC has lighter weight and smaller size than DMFC which are very important factors as small robot power system. The most significant factor of mobile robots is weight which relates closely with energy consumption and robot operation. This research tried to find optimum specifications in terms of type, number of cell, active area, cooling method, weight, and size. In order to find optimum 500W PEMFC, six options are designed in this paper and studied to reduce total stack weight by applying new materials and design innovations. However, still remaining problems are thermal management, robot space for energy sources, and so on. For a thermal management, design options need to analysis of Computational Fluid Dynamics (CFD) for determining which option has the improved performance and durability.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.5
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• pp.609-616
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• 2007

Palletizing is necessary to promote the efficiency of storage and shipping tasks. These are, however some of the most monotonous, heavy and laborious tasks in the factory. Therefore many types of robot palletizing systems have been developed, but many robot motion commands still depend on the teaching pendent. That is, an operator inputs the motion command lines one by one. It is very troublesome, and most of all, the user must know how to type the code. That is why we propose a new GUI (Graphic User Interface) Palletizing System. To cope with this issue, we proposed a 'PLP' (Pallet Loading Problem) algorithm, Fast Algorithm and realize 3D auto-patterning visualization interface. Finally, we propose the robot palletizing simulator. Internally, the schematic of this simulator is as follows. First, an user inputs the physical information of object. Second, simulator calculates the optimal pattern for the object and visualizes the result. Finally, the calculated position data of object is passed to the robot simulator. To develop the robot simulator, we use an articulated robot, and analyze the kinematics and dynamics. Especially, All problem including thousands of boxes were completely calculated in less than 1 second and resulted in optimal solutions by the Fast Algorithm.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.3
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• pp.223-231
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• 2006

In high-speed fuzzy control systems applied to intelligent systems such as robot control, one of the most important problems is the improvement of the execution speed of the fuzzy inference. In particular, it is more important to have high-speed operations in the consequent part and the defuzzification stage. To improve the speedup of fuzzy controllers for intelligent systems, this paper presents an integer line mapping algorithm to convert [0, 1] real values of the fuzzy membership functions in the consequent part to a $400{\times}30$ grid of integer values. In addition, this paper presents a method of eliminating the unnecessary operations of the zero items in the defuzzification stage. With this representation, a center of gravity method can be implemented with only integer additions and one integer division. The proposed system is analyzed in the air conditioner control system for execution speed and COG, and applied to the truck backer-upper control system. The proposed system shows a significant increase in speed as compared with conventional methods with minimal error; simulations indicate a speedup of an order of magnitude. This system can be applied to real-time high-speed intelligent systems such as robot arm control.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.2
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• pp.88-95
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• 1996

It is inevitable for local systems to have deviations which represent interactions and modeling errors originated from the decomposition process of a large scale system. This paper presents a decentralized control scheme for interconnected systems using local linear models and a neuro-coordinator. In the proposed method, the local system is composed of a linear model and unknown deviations caused by linearizing the subsystems around operating points or by estimating parameters of the subsystems. Because the local system has unmeasurable deviations we define a local reference model which consists of a local linear model and a neural network to estimate the deviations indirectly. The reference model is reformed into a linear model which has no deviations through a transformation of input variables and we obtain an optimum feedback control law which minimizes a local performance index. Finally, we derive a decentralized feedback control law which consists of local linear states and neural network outputs. In the decentralized control, the neuro-coordinator generates a corrective control signal to cancel the effect of deviations through backpropagation learning with the errors obtained from the differences of the local system outputs and reference model outputs. Also, the stability of local system is proved by the degree of learning of the neural network under an assumption on a neural network learning index. It is shown by computer simulations that the proposed control scheme can be applied successfully to the control of a biased two-link planar robot manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.1
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• pp.56-63
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• 2012

Due to the development of construction technology, there is a considerable increase in the number of skyscrapers in the world. Accordingly, there are rapid growing requests about maintenance systems such as cleaning, painting, and monitoring the processes of facade in highrise buildings. However, it is extremely dangerous working the walls of high-rise buildings, and crashes from buildings have accounted for large proportion of constructional accidents. An alternative solution must be developed with the commercialization of automatic robot systems. For the last decade, interest in developing robots for cleaning and maintenance in facade of highrise buildings has continuously increased. The use of automatic robot systems can be expected to reduce accidents and decrease labor costs. In this paper, we propose a new kind of cleaning mechanism. We have designed and manufactured various cleaning tools for different types of facades with economic commercialization. The cleaning cycle, size, and intensity will be determined by economic constraints as well. The final goals are to design and manufacture tools and robots that can clean facades efficiently and rapidly even in dangerous places. The cleaning tool systems consist of nozzles, brush rollers, and squeezing devices. Furthermore, these tools and robots perform each process utilizing the systems of built-in guide types and gondola types for building maintenance. The performance of the proposed cleaning tools is evaluated experimentally; however additional study should be necessary for safer and more stable commercialization.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.160-167
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• 2016

This paper reports a localization method of a mobile robot using ceiling image. The ceiling has landmarks which are not distinguishablefrom one another. The location of every landmark in a map is given a priori while correspondence is not given between a detected landmark and a landmark in the map. Only the initial pose of the robot relative to the landmarks is given. The method uses particle filter approach for localization. Along with estimating robot pose, the method also associates a landmark in the map to a landmark detected from the ceiling image. The method is tested in an indoor environment which has circular landmarks on the ceiling. The test verifies the feasibility of the method in an environment where range data to walls or to beacons are not available or severely corrupted with noise. This method is useful for localization in a warehouse where measurement by Laser range finder and range data to beacons of RF or ultrasonic signal have large uncertainty.