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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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The Journal of Korea Robotics Society
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Journal DOI :
The Korea Robotics Society
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Volume & Issues
Volume 3, Issue 4 - Nov 2008
Volume 3, Issue 3 - Aug 2008
Volume 3, Issue 2 - May 2008
Volume 3, Issue 1 - Feb 2008
Selecting the target year
Performance Evaluation of Human Robot Interaction Components in Real Environments
Kim, Do-Hyung ; Kim, Hye-Jin ; Bae, Kyung-Sook ; Yun, Woo-Han ; Ban, Kyu-Dae ; Park, Beom-Chul ; Yoon, Ho-Sub ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 165~175
For an advanced intelligent service, the need of HRI technology has recently been increasing and the technology has been also improved. However, HRI components have been evaluated under stable and controlled laboratory environments and there are no evaluation results of performance in real environments. Therefore, robot service providers and users have not been getting sufficient information on the level of current HRI technology. In this paper, we provide the evaluation results of the performance of the HRI components on the robot platforms providing actual services in pilot service sites. For the evaluation, we select face detection component, speaker gender classification component and sound localization component as representative HRI components closing to the commercialization. The goal of this paper is to provide valuable information and reference performance on appling the HRI components to real robot environments.
New Filtering Method for Reducing Registration Error of Distributed Sensors
Kim, Yong-Shik ; Lee, Jae-Hoon ; Do, Hyun-Min ; Kim, Bong-Keun ; Tanikawa, Tamio ; Ohba, Kohtaro ; Lee, Ghang ; Yun, Seok-Heon ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 176~185
In this paper, new filtering method for sensor registration is provided to estimate and correct error of registration parameters in multiple sensor environments. Sensor registration is based on filtering method to estimate registration parameters in multiple sensor environments. Accuracy of sensor registration can increase performance of data fusion method selected. Due to various error sources, the sensor registration has registration errors recognized as multiple objects even though multiple sensors are tracking one object. In order to estimate the error parameter, new nonlinear information filtering method is developed using minimum mean square error estimation. Instead of linearization of nonlinear function like an extended Kalman filter, information estimation through unscented prediction is used. The proposed method enables to reduce estimation error without a computation of the Jacobian matrix in case that measurement dimension is large. A computer simulation is carried out to evaluate the proposed filtering method with an extended Kalman filter.
ELA: Real-time Obstacle Avoidance for Autonomous Navigation of Variable Configuration Rescue Robots
Jeong, Hae-Kwan ; Hyun, Kyung-Hak ; Kim, Soo-Hyun ; Kwak, Yoon-Keun ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 186~193
We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.
Direct Depth and Color-based Environment Modeling and Mobile Robot Navigation
Park, Soon-Yong ; Park, Mignon ; Park, Sung-Kee ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 194~202
This paper describes a new method for indoor environment mapping and localization with stereo camera. For environmental modeling, we directly use the depth and color information in image pixels as visual features. Furthermore, only the depth and color information at horizontal centerline in image is used, where optical axis passes through. The usefulness of this method is that we can easily build a measure between modeling and sensing data only on the horizontal centerline. That is because vertical working volume between model and sensing data can be changed according to robot motion. Therefore, we can build a map about indoor environment as compact and efficient representation. Also, based on such nodes and sensing data, we suggest a method for estimating mobile robot positioning with random sampling stochastic algorithm. With basic real experiments, we show that the proposed method can be an effective visual navigation algorithm.
3DOF Endoscope with Spring Backbone and Wires
Choi, Dong-Geol ; Yi, Byung-Ju ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 203~211
This work proposes structure of spring backbone micro endoscope. For effective surgery in narrow and limited space, many manipulators are developing that different to existed structure. This device can move like elephant nose or snake unlike the existing robots. For this motion, a mechanism that uses spring backbone and wires has been developed. The new type endoscope that has Z axis motion for spring structure, therefore it has 3 degree of freedom, two rotations and one linear motion. And new kinematics for backbone structure is proposed using simple geographic analysis. The Jacobian and stiffness modeling are also derived. Exact actuator sizing is determined using stiffness model. Finally, the proposed kinematics are verified by simulation and experiments.
Mobile Robot Obstacle Avoidance using Visual Detection of a Moving Object
Kim, In-Kwen ; Song, Jae-Bok ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 212~218
Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.
Face Recognition using AdaBoost Algorithm and Development of Surveillance Robot for a Ship
Go, Seok-Jo ; Park, Jang-Sik ; Jang, Yong-Seo ; Choi, Moon-Ho ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 219~225
This study developed a surveillance robot for a ship. The developed robot consists of ultrasonic sensors, an actuator, a lighting fixture and a camera. The ultrasonic sensors are used to avoid collision with obstacles in the environment. The actuator is a servo motor system. The developed robot has four drive wheels for driving. The lighting fixture is used to guide the robot in a dark environment. To transmit an image, a camera with a pan moving and a tilt moving is equipped on the upper part of the robot. AdaBoost algorithm trained with 15 features, is used for face recognition. In order to evaluate the face recognition of the developed robot, experiments were performed.
Framework of a Cooperative Control Software for Heterogeneous Multiple Network Based Humanoid
Lim, Heon-Young ; Kang, Yeon-Sik ; Lee, Joong-Jae ; Kim, Jong-Won ; You, Bum-Jae ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 226~236
In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram.
Spatial Speaker Localization for a Humanoid Robot Using TDOA-based Feature Matrix
Kim, Jin-Sung ; Kim, Ui-Hyun ; Kim, Do-Ik ; You, Bum-Jae ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 237~244
Nowadays, research on human-robot interaction has been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report a speaker localization system with six microphones for a humanoid robot called MAHRU from KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. The proposed method, using the TDOA-based feature matrix and its algorithm based on MSAE, effortlessly localizes a sound source without any requirement for calculating approximate nonlinear equations. To verify the solid performance of our speaker localization system for a humanoid robot, we present various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.
Scene Recognition based Autonomous Robot Navigation robust to Dynamic Environments
Kim, Jung-Ho ; Kweon, In-So ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 245~254
Recently, many vision-based navigation methods have been introduced as an intelligent robot application. However, many of these methods mainly focus on finding an image in the database corresponding to a query image. Thus, if the environment changes, for example, objects moving in the environment, a robot is unlikely to find consistent corresponding points with one of the database images. To solve these problems, we propose a novel navigation strategy which uses fast motion estimation and a practical scene recognition scheme preparing the kidnapping problem, which is defined as the problem of re-localizing a mobile robot after it is undergone an unknown motion or visual occlusion. This algorithm is based on motion estimation by a camera to plan the next movement of a robot and an efficient outlier rejection algorithm for scene recognition. Experimental results demonstrate the capability of the vision-based autonomous navigation against dynamic environments.
PnP Supporting Middleware Framework for Network Based Humanoid
Lee, Ho-Dong ; Kim, Dong-Won ; Kim, Joo-Hyung ; Park, Gwi-Tae ;
The Journal of Korea Robotics Society, volume 3, issue 3, 2008, Pages 255~261
This paper describes a network framework that support network based humanoid. The framework utilizes middleware such as CORBA (ACE/TAO) that provides PnP capability for network based humanoid. The network framework transfers data gathered from a network based humanoid to a processing group that is distributed on a network. The data types are video stream, audio stream and control data. Also, the network framework transfers service data produced by the processing group to the network based humanoid. By using this network framework, the network based humanoid can provide high quality of intelligent services to user.