• The KIPS Transactions:PartA
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• v.16A no.4
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• pp.255-262
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• 2009

We present an autonomous entertainment dolphin robot system based on ubiquitous sensor networks(USN). Generally, It is impossible to apply to USN and GPS in underwater bio-mimetic robots. But An Entertainment dolphin robot which presented in this paper operates on the water not underwater. Navigation of the underwater robot in a given area is based on GPS data and the acquired position information from deployed USN motes with emphasis on user interaction. Body structures, sensors and actuators, governing microcontroller boards, and swimming and interaction features are described for a typical entertainment dolphin robot. Actions of mouth-opening, tail splash or water blow through a spout hole are typical responses of interaction when touch sensors on the body detect users' demand. Dolphin robots should turn towards people who demand to interact with them, while swimming autonomously. The functions that are relevant to human-robot interaction as well as robot movement such as path control, obstacle detection and avoidance are managed by microcontrollers on the robot for autonomy. Distance errors are calibrated periodically by the known position data of the deployed USN motes.

• The KIPS Transactions:PartA
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• v.19A no.1
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• pp.1-8
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• 2012

Network-based intelligent robot is connected with network system, provides interactions with humans, and carries out its own roles on ubiquitous computing environments. URC (Ubiquitous Robot Companion) robot has been proposed to develop network-based robot by applying distributed computing techniques. On URC robot, it is possible to save the computing power of robot client by environments, has been proposed to develop robot software using service-oriented architecture on server-client computing environments. The SOMAR client robot consists of two layers - device service layer and robot service layer. The device service controls physical devices, and the robot service abstracts robot's services, which are newly defined and generated by combining many device services. RSEL (Robot Service Executing Language) is defined in this paper to represent relations and connections between device services and robot services. A RESL document, including robot services by combining several device services, is translated to a programming language for robot client system using RSEL translator, then the translated source program is compiled and uploaded to robot client system with RPC (Remote Procedure Call) command. A SOMAR client system is easy to be applied to embedded systems of host/target architecture. Moreover it is possible to produce a light-weight URC client robot by reducing workload of RSEL processing engine.

• Journal of the Korea Society of Computer and Information
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• v.17 no.7
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• pp.13-22
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• 2012

In this paper, we design and implement the architecture of the ubiquitous software robot platform (Sobot platform) based on Web 2.0. In order to provide a user with the personalized emotional service by transferring to any device without any time or geographical limitations, the software robot must be developed as a form of a platform based on the standardized data and structures. To verify the effectiveness and the feasibility of the proposed Sobot platform consisting of the terminal platform, the server platform, and the contents composer, we compose user-created emotional Sobot contents messages on heterogeneous platforms such as PC, a mobile phone, a PDA, and a web portal site and experiment a variety of Sobot transfer implementation between them.

• Communications of the Korean Institute of Information Scientists and Engineers
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• v.24 no.3 s.202
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• pp.5-11
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• 2006

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1011-1019
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• 2005

In this paper, Ubiquitous Home Mess-Cleanup Robot(UHMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of tile self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulate,, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and UHMR. Finally, the good performance of the designed UHMR is confirmed through the results of the mess clean-up and arrangement.

• Journal of information and communication convergence engineering
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• v.10 no.2
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• pp.149-155
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• 2012

This paper presents mobile robot control architecture of hierarchical behaviors, inspired by biological life. The system is reactive, highly parallel, and does not rely on representation of the environment. The behaviors of the system are designed hierarchically from the bottom-up with priority given to primitive behaviors to ensure the survivability of the robot and provide robustness to failures in higher-level behaviors. Fuzzy logic is used to perform command fusion on each behavior's output. Simulations of the proposed methodology are shown and discussed. The simulation results indicate that complex tasks can be performed by a combination of a few simple behaviors and a set of fuzzy inference rules.

• Proceedings of the Korea Contents Association Conference
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• 2006.05a
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• pp.136-139
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• 2006

In this paper, We are proposed 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. In this paper, we implemented the result of this study into the target robot called ISSAC4 and proved its practical worth. We designed it as be able to control on remote by such web browser as anywhere and anytime that show a status information for several controllers, devices, actuators and sensors of robot and guarantee a continuity of real-time image transferring by Client-Pull method and moving control of robot.

• The Journal of the Korea Contents Association
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• v.6 no.11
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• pp.285-294
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• 2006

In this paper, we propose a new remote control and monitoring technique using web-service technology for URC robot. URC robot needs the architecture which can be applied all over the variety hardware and software platform for supporting the several interface with external world in the ubiquitous environment. In this paper, web-service technology is preferentially deliberated how to adopt into the embedded environment and the remote control and monitoring technology based on web-service technology for URC robot is designed and implemented as to support the interaction with agent programs. It has been carried out through simulating and implementing this technology into the target robot called NETTORO and proved its practical worth.

• Journal of Internet Computing and Services
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• v.10 no.5
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• pp.117-125
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• 2009

Early in 21st century, researches about intelligent service robot that provide various services for a human out of the industrial robot only has simple pattern repetition. It concentrates in the research regarding the URC(Ubiquitous Robotic Companion) robot which connects the network in the intelligent service. This paper proposes the robot system based on network to guide a way. The robot has made by lego brick and used ultrasonic sensor, rotation sensor and RFID tag to recognize external environment. Also, it includes a PDA to process the data between robot and server. The network server transmits information to robot controller by bluetooth and it controls the course movement and evasion of the robot. In this research, the robot system based on network to guide a way is easy to expand service and is able to process a data in real time due to data processing in the server as a part of intelligent robot. And it can reduce the cost to build a robot thank to use cheaper sensor equipment.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.252-254
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• 2005

In this paper, we present a design for URC (Ubiquitous Robotics Companion) robot S/W platform. The URC robot S/W platform is based on the Qplus/Esto which is developing in ETRI and applied for URC robot reference S/W platform that we use it in case of many different robots with same interface. We expect the platform to save the developing time, to improve the compatibility and to reuse the developed contents.