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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 4, Issue 4 - Nov 2009
Volume 4, Issue 3 - Aug 2009
Volume 4, Issue 2 - May 2009
Volume 4, Issue 1 - Feb 2009
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Grid Map Building and Sample-based Data Association for Mobile Robot Equipped with Low-Cost IR Sensors
Kwon, Tae-Bum ; Song, Jae-Bok ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 169~176
Low-cost sensors have been widely used for mobile robot navigation in recent years. However, navigation performance based on low-cost sensors is not good enough to be practically used. Among many navigation techniques, building of an accurate map is a fundamental task for service robots, and mapping with low-cost IR sensors was investigated in this research. The robot's orientation uncertainty was considered for mapping by modifying the Bayesian update formula. Then, the data association scheme was investigated to improve the quality of a built map when the robot's pose uncertainty was large. Six low-cost IR sensors mounted on the robot could not give rich data enough to align the range data by the scan matching method, so a new sample-based method was proposed for data association. The real experiments indicated that the mapping method proposed in this research was able to generate a useful map for navigation.
Active assisted-living system using a robot in WSAN
Kim, Hong-Seok ; Yi, Soo-Yeong ; Choi, Byoung-Wook ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 177~184
This paper presents an active assisted-living system in wireless sensor and actor network (WSAN) in which the mobile robot roles an actor. In order to provide assisted-living service to the elderly people, position recognition of the sensor node attached on the user and localization of the mobile robot should be performed at the same time. For the purpose, we use received signal strength indication (RSSI) to find the position of the person and ubiquitous sensor nodes including ultrasonic sensor which performs both transmission of sensor information and localization like global positioning system. Active services are moving to the elderly people by detecting activity sensor and visual tracking and voice chatting with remote monitoring system.
A New Shape-Based Object Category Recognition Technique using Affine Category Shape Model
Kim, Dong-Hwan ; Choi, Yu-Kyung ; Park, Sung-Kee ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 185~191
This paper presents a new shape-based algorithm using affine category shape model for object category recognition and model learning. Affine category shape model is a graph of interconnected nodes whose geometric interactions are modeled using pairwise potentials. In its learning phase, it can efficiently handle large pose variations of objects in training images by estimating 2-D homography transformation between the model and the training images. Since the pairwise potentials are defined on only relative geometric relationship betweenfeatures, the proposed matching algorithm is translation and in-plane rotation invariant and robust to affine transformation. We apply spectral matching algorithm to find feature correspondences, which are then used as initial correspondences for RANSAC algorithm. The 2-D homography transformation and the inlier correspondences which are consistent with this estimate can be efficiently estimated through RANSAC, and new correspondences also can be detected by using the estimated 2-D homography transformation. Experimental results on object category database show that the proposed algorithm is robust to pose variation of objects and provides good recognition performance.
Performance Evaluation Method for Detection Algorithms of Face Region and Facial Components
Park, Kwang-Hyun ; Kim, Dae-Jin ; Hong, Ji- Man ; Jeong, Young-Sook ; Choi, Byoung-Wook ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 192~200
In this paper, we report the progress in the development of performance evaluation method for detection algorithms of face region and facial components. This paper aims to provide a standardized evaluation method for general approach in face recognition application as a potential component in futuristic intelligent robot systems. From an image capture process to the retrieval of face-related information, all the necessary steps are shown with examples.
Performance Evaluation Method of User Identification and User Tracking for Intelligent Robots Using Face Images
Kim, Dae-Jin ; Park, Kwang-Hyun ; Hong, Ji-Man ; Jeong, Young-Sook ; Choi, Byoung-Wook ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 201~209
In this paper, we deal with the performance evaluation method of user identification and user tracking for intelligent robots using face images. This paper shows general approaches for standard evaluation methods to improve intelligent robot systems as well as their algorithms. The evaluation methods proposed in this paper can be combined with the evaluation methods for detection algorithms of face region and facial components to measure the overall performance of face recognition in intelligent robots.
Multi-Dimensional Complex Emotional Model for Various Complex Emotional Expression using Human Friendly Robot System
Ahn, Ho-Seok ; Choi, Jin-Young ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 210~217
This paper introduces a design of multi-dimensional complex emotional model for various complex emotional expression. It is a novel approach to design an emotional model by comparison with conventional emotional model which used a three-dimensional emotional space with some problems; the discontinuity of emotions, the simple emotional expression, and the necessity of re-designing the emotional model for each robot. To solve these problems, we have designed an emotional model. It uses a multi-dimensional emotional space for the continuity of emotion. A linear model design is used for reusability of the emotional model. It has the personality for various emotional results although it gets same inputs. To demonstrate the effectiveness of our model, we have tested with a human friendly robot.
Formation-Keeping of Multiple Robots using Chained-Poles
Kwak, Jae-Hyuk ; Kang, Hyun-Deok ; Kim, Chang-Hwan ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 218~224
We propose a formation-keeping and changing methods for outdoor multiple mobile robots in chained form. Our proposed method is designed to maintain the follower to its desired distance and orientation with respect to the pole using the concept of virtual force such as potential field. The client robots use a behavior-based control to perform kinematic control to keep formation under the centralized system in our software framework. The relationship of each poles that is expressed by set of distance and angle is the description of the formation type and the type converting is performed using this set. In addition, we also examine the stability and capability in the simulation and experiments with real robots.
Design of Non-stick Micromanipulation for Handling of Micro particle
Ihn, Y.S. ; Kim, Y.C. ; Choi, H.R. ; Lee, S.M. ; Koo, J.C. ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 225~232
In the high precision robot systems, the most popular tasks may be handling of micro-scale objects on a surface such as a micromanipulation robot system. In handling of micro-scale objects, the stiction effect becomes a fundamental issue since the micro-contact mechanics dominates the micromanipulation robot system. In the paper, a theoretical non-stick condition derived from the micro-contact mechanics is carried out for the propose of micro-scale object manipulation. To verify the non-stick condition, a micro-manipulation robot system equipped with a high precision stage system and a microscope system is developed. Experimental results show that the proposed non-stick condition guarantees successful micro-scale object manipulation.
An Analysis on the Influential Factors to Set the Path Planning Algorithm for Unmanned Ground Vehicle in Combat Environment
Baek, Jong-Sung ; Lee, Choon-Joo ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 233~242
This paper briefly reviews the path planning methods that are applicable to the autonomous mobile robots for the military. Two distinct path search algorithms,
that are most popular and flexible in public applications, among those reviewed are coded and analyzed in terms of combat environment assessment factors called METT+TC for the area of operations. The results imply that it is important to consider the characteristics of defense acquisition process and the specific requirements of defense operation so that the successful technology development of the Robot products is directly linked to the defense procurement of Robot products.
Haptic-Aided Design Using a Haptic Chair Capable of Adjustable Backrest
Huh, Seok-Haeng ; Lee, Sang-Duck ; Song, Jae-Bok ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 243~249
In modern society, people spend most of their time on various types of chairs. However, it is not easy for a designer to design a comfortable chair because satisfaction with the chair depends not only on the quantitative elements such as size, but also on the qualitative element such as the user's feeling. To deal with these problems, there have been many studies on designing ergonomic chairs. This paper proposes the haptic-aided design (HAD) system to design an ergonomic chair. Based on the HAD system, the designer can experience whether the chair is comfortable or not through the haptic device, and also can modify the design parameters instantaneously. The haptic chair capable of controlling the design parameters in real time was proposed as a haptic simulator. The controllable parameters, such as seat height, reclining angle, stiffness of the backrest, and so on were selected based on the previous research related to ergonomic chairs. The proposed methodology will help reduce the development cost and time by replacing the process of making the real mock-ups and prototypes with the haptic chair.
Linux/RTAI-based Input Shaping Implementation for Suppressing Residual Vibrations
Woo, Kyo-Sik ; Kim, Jin-Woo ; Kang, Chul-Goo ; Lee, Dong-Je ; Park, Kyung-Hee ; Kim, Hyung-Chul ;
The Journal of Korea Robotics Society, volume 4, issue 3, 2009, Pages 250~256
Suppressing residual vibrations of flexible materials cheaply is an important issue to increase productivity of automated factory using wafer or glass handling robots. In this paper, we present Linux/RTAI-based implementation of input shaping control for reducing residual vibrations of a mechanical system. Experimental results show that residual vibrations of the mechanical system are reduced up to 82% at a point-to-point linear motion.