• Geophysics and Geophysical Exploration
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• v.12 no.4
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• pp.355-360
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• 2009

This paper presents mobile robot based down-scale mineral resources exploration test system for the USN (Ubiquitous Sensor Network) based exploration. The system emulates the actual exploration environment. Underneath the metal free test plate, a metal object is attached. A magneto-meter mounted mobile robot runs around on the plate to find the metal. The measured magneto-meter values are transferred to the host PC via wireless network. The system enables to improve the reliability of simulation as well as to help efficient exploration system design. Metal-detecting experiments were carried out to illustrate the efficiency of the proposed system.

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.393-394
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• 2007

Speaker Recognition for the Intelligent Service Robot is implemented in this paper. For this purpose, we perform speaker recognition based on Gaussian Mixture Model(GMM) and use robot platform called WEVER, which is a Ubiquitous Robotic Companion(URC) intelligent service robot developed at Intelligent Robot Research Division in ETRI. The experimental results reveals that the approach presented in this paper yields a good identification (89.00%) performance within 2 meter distance.

• Proceedings of the Korean Institute of Communication Sciences Conference
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• 2006.07a
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• pp.329-329
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• 2006

• Advances in robotics research
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• v.2 no.1
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• pp.45-57
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• 2018

Even though the popularity of projection mapping continues to increase and it is being implemented in more and more settings, most current projection mapping systems are limited to special purposes, such as outdoor events, live theater and musical performances. This lack of versatility arises from the large number of projectors needed and their proper calibration. Furthermore, we cannot change the positions and poses of projectors, or their projection targets, after the projectors have been calibrated. To overcome these problems, we propose a projection mapping method using a projector robot that can perform projection mapping in more general or ubiquitous situations, such as shopping malls. We can estimate a projector's position and pose with the robot's self-localization sensors, but the accuracy of this approach remains inadequate for projection mapping. Consequently, the proposed method solves this problem by combining self-localization by robot sensors with position and pose estimation of projection targets based on a 3D model. We first obtain the projection target's 3D model and then use it to accurately estimate the target's position and pose and thus achieve accurate projection mapping with a projector robot. In addition, our proposed method performs accurate projection mapping even after a projection target has been moved, which often occur in shopping malls. In this paper, we employ Ubiquitous Display (UD), which we are researching as a projector robot, to experimentally evaluate the effectiveness of the proposed method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.4
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• pp.293-298
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• 2006

In this paper, a sensor fusion based robot navigation method for the autonomous control of a miniature human interaction robot is presented. The method of navigation blends the optimality of the Fuzzy Neural Network(FNN) based control algorithm with the capabilities in expressing knowledge and learning of the networked Intelligent Robotic Space(IRS). States of robot and IR space, for examples, the distance between the mobile robot and obstacles and the velocity of mobile robot, are used as the inputs of fuzzy logic controller. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a sensor fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process. Preliminary experiment and results are shown to demonstrate the merit of the introduced navigation control algorithm.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.9 no.6
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• pp.55-61
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• 2009

This paper proposes a position estimation of a mobile robot based on USN(Ubiquitous Sensor Network) and encoder, and development of tele-operation system using Internet. USN used in experiments is based on ZigBee protocol and has location estimation engine which uses RSSI signal to estimate distance between nodes. By distortion the estimated distance using RSSI is not correct, compensation method is needed. We obtained fuzzy model to calculate more accurate distance between nodes and use encoder which is built in robot to estimate accurate position of robot. Based on proposed position estimation method, tele-operation system was developed. We show by experiment that proposed method is more appropriate for estimation of position and remote navigation of mobile robot through Internet.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.47-53
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• 2006

Localization is a essential technology for mobile robot to work well. Until now expensive sensors such as laser sensors have been used for mobile robot localization. We suggest RFID tag based localization system. RFID tag devices, antennas and tags are cheap and will be cheaper in the future. The RFID tag system is one of the most important elements in the ubiquitous system and RFID tag will be attached to all sorts of goods. Then, we can use this tags for mobile robot localization without additional costs. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying mobile robot's location and pose in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. When a mobile robot localizes in this smart floor, the localization error mainly results from the sensing range of the RFID reader, because the reader just ran know whether a tag is in the sensing range of the sensor. So, in this paper, we suggest two algorithms to reduce this error. We apply the particle filter based Monte Carlo localization algorithm to reduce the localization error. And with simulations and experiments, we show the possibility of our particle filter based Monte Carlo localization in the RFID tag based localization system.

• Journal of information and communication convergence engineering
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• v.7 no.1
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• pp.13-18
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• 2009

The robotics industry, that is the major industry of the future and one of the new growth power, is actively studied around ETRI, that is the leading under state-run research institute of the advanced technique of U.S. and Japanese and knowledge economy part. And positive and negative and academic circles, the research institute, and the industrial circles communally pursue the intelligent service robot enterprise of a network-based called URC. This network-based intelligent robot does the RUPI2.0 platform and URC environment by the base. Therefore, a stability need to be enhanced in the through this near future when the research for the preexistence vulnerability analysis and security request is needed than the commercialized network-based intelligent robot in order to implement the network-based intelligent robot. Thus, in this paper, we propose the efficient authentication Framework which is suitable for the URC environment.

• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.68-72
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• 2008

Combining robot and network gives us many advantages like lightweight hardware specification of robot, a various robot service, simple upgrade of robot, easy management and so on. Among these advantages, Presence service and openAPI are most important. Presence is simple but powerful service. It makes user to know the status information of robot and enables user to control robot from a remote place. OpenAPI which is also a feature of WEB2.0 enables $3^{rd}$ parties to make a various mashup service easily and rapidly. Finally presence and openAPI can help URC service to be ubiquitous and successful.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2780-2782
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• 2005

In this paper, we present a mobile robot localization solution by using a Ubiquitous Vision System (UVS). The collective information gathered by multiple cameras that are strategically placed has many advantages. For example, aggregation of information from multiple viewpoints reduces the uncertainty about the robots' positions. We construct UVS as a multi-agent system by regarding each vision sensor as one vision agent (VA). Each VA performs target segmentation by color and motion information as well as visual tracking for multiple objects. Our modified identified contractnet (ICN) protocol is used for communication between VAs to coordinate multitask. This protocol raises scalability and modularity of thesystem because of independent number of VAs and needless calibration. Furthermore, the handover between VAs by using ICN is seamless. Experimental results show the robustness of the solution with respect to a widespread area. The performance in indoor environments shows the feasibility of the proposed solution in real-time.