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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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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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Detection of Faces Located at a Long Range with Low-resolution Input Images for Mobile Robots
Kim, Do-Hyung ; Yun, Woo-Han ; Cho, Young-Jo ; Lee, Jae-Jeon ;
Journal of Korea Robotics Society, volume 4, issue 4, 2009, Pages 257~264
This paper proposes a novel face detection method that finds tiny faces located at a long range even with low-resolution input images captured by a mobile robot. The proposed approach can locate extremely small-sized face regions of
pixels. We solve a tiny face detection problem by organizing a system that consists of multiple detectors including a mean-shift color tracker, short- and long-rage face detectors, and an omega shape detector. The proposed method adopts the long-range face detector that is well trained enough to detect tiny faces at a long range, and limiting its operation to only within a search region that is automatically determined by the mean-shift color tracker and the omega shape detector. By focusing on limiting the face search region as much as possible, the proposed method can accurately detect tiny faces at a long distance even with a low-resolution image, and decrease false positives sharply. According to the experimental results on realistic databases, the performance of the proposed approach is at a sufficiently practical level for various robot applications such as face recognition of non-cooperative users, human-following, and gesture recognition for long-range interaction.
Design and Development of the Multi-joint Tracked Robot for Adaptive Uneven Terrain Driving
Koh, Doo-Yeol ; Kim, Soo-Hyun ;
Journal of Korea Robotics Society, volume 4, issue 4, 2009, Pages 265~272
IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.
Backward-Motion Control of Multiple Off-Hooked Trailers Using a Car-Like Mobile Robot
Chung, Woo-Jin ; Yoo, Kwang-Hyun ;
Journal of Korea Robotics Society, volume 4, issue 4, 2009, Pages 273~280
It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with
passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting
passive trailers to the front bumper of a car to improve the backward motion control performance. Theoretical verification and simulations show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the proposed approach.
Life-like Facial Expression of Mascot-Type Robot Based on Emotional Boundaries
Park, Jeong-Woo ; Kim, Woo-Hyun ; Lee, Won-Hyong ; Chung, Myung-Jin ;
Journal of Korea Robotics Society, volume 4, issue 4, 2009, Pages 281~288
Nowadays, many robots have evolved to imitate human social skills such that sociable interaction with humans is possible. Socially interactive robots require abilities different from that of conventional robots. For instance, human-robot interactions are accompanied by emotion similar to human-human interactions. Robot emotional expression is thus very important for humans. This is particularly true for facial expressions, which play an important role in communication amongst other non-verbal forms. In this paper, we introduce a method of creating lifelike facial expressions in robots using variation of affect values which consist of the robot's emotions based on emotional boundaries. The proposed method was examined by experiments of two facial robot simulators.
Development of Two Wheeled Car-like Mobile Robot Using Balancing Mechanism : BalBOT VII
Lee, Hyung-Jik ; Jung, Seul ;
Journal of Korea Robotics Society, volume 4, issue 4, 2009, Pages 289~297
This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.
Refinements of Multi-sensor based 3D Reconstruction using a Multi-sensor Fusion Disparity Map
Kim, Si-Jong ; An, Kwang-Ho ; Sung, Chang-Hun ; Chung, Myung-Jin ;
Journal of Korea Robotics Society, volume 4, issue 4, 2009, Pages 298~304
This paper describes an algorithm that improves 3D reconstruction result using a multi-sensor fusion disparity map. We can project LRF (Laser Range Finder) 3D points onto image pixel coordinatesusing extrinsic calibration matrixes of a camera-LRF (
) and a camera calibration matrix (K). The LRF disparity map can be generated by interpolating projected LRF points. In the stereo reconstruction, we can compensate invalid points caused by repeated pattern and textureless region using the LRF disparity map. The result disparity map of compensation process is the multi-sensor fusion disparity map. We can refine the multi-sensor 3D reconstruction based on stereo vision and LRF using the multi-sensor fusion disparity map. The refinement algorithm of multi-sensor based 3D reconstruction is specified in four subsections dealing with virtual LRF stereo image generation, LRF disparity map generation, multi-sensor fusion disparity map generation, and 3D reconstruction process. It has been tested by synchronized stereo image pair and LRF 3D scan data.
A Practical FastSLAM Implementation Method using an Infrared Camera for Indoor Environments
Zhang, Hairong ; Lee, Heon-Cheol ; Lee, Beom-Hee ;
Journal of Korea Robotics Society, volume 4, issue 4, 2009, Pages 305~311
FastSLAM is a factored solution to SLAM problem using a Rao-Blackwellized particle filter. In this paper, we propose a practical FastSLAM implementation method using an infrared camera for indoor environments. The infrared camera is equipped on a Pioneer3 robot and looks upward direction to the ceiling which has infrared tags with the same height. The infrared tags are detected with theinfrared camera as measurements, and the Nearest Neighbor method is used to solve the unknown data association problem. The global map is successfully built and the robot pose is predicted in real time by the FastSLAM2.0 algorithm. The experiment result shows the accuracy and robustness of the proposed method in practical indoor environment.
An Indoor Localization of Mobile Robot through Sensor Data Fusion
Kim, Yoon-Gu ; Lee, Ki-Dong ;
Journal of Korea Robotics Society, volume 4, issue 4, 2009, Pages 312~319
This paper proposes a low-complexity indoor localization method of mobile robot under the dynamic environment by fusing the landmark image information from an ordinary camera and the distance information from sensor nodes in an indoor environment, which is based on sensor network. Basically, the sensor network provides an effective method for the mobile robot to adapt to environmental changes and guides it across a geographical network area. To enhance the performance of localization, we used an ordinary CCD camera and the artificial landmarks, which are devised for self-localization. Experimental results show that the real-time localization of mobile robot can be achieved with robustness and accurateness using the proposed localization method.
Detection of Metal Impurities at Aluminum processing factory
Hwang, Jong-Myung ; Ahn, Bu-Hwan ; Lee, Jang-Myung ;
Journal of Korea Robotics Society, volume 4, issue 4, 2009, Pages 320~326
This paper proposed a new magnetic field detection algorithm to detect metal pieces in food producing processes. This algorithm can detect mixed metal pieces by sensing magnetic field. Some metal pieces are passed through an over-current circuit to magnetize them. The magnetic field sensor can detect the change in the magnetic field on theconveyor belt caused by the flow of the metal pieces in the food product. However, such a method detects the output of signals that change their amplitude and phase according to the movement of the conveyor belt with the food product, in which the equilibrium of the positive signal that is created in the receiver coil loses its balance due to the magnetized material. This includes not only the signal elements resulting from the effect of the alternating magnetic fields of the mixed metals, but also the signal elements resulting from the effect of the alternating magnetic fields of the examined object itself.
Development of Riding Robot System and Body State Index for Healthcare Service
Lim, Mee-Seub ; Lim, Joon-Hong ;
Journal of Korea Robotics Society, volume 4, issue 4, 2009, Pages 327~333
This paper describe the riding robot system named by "RideBot" which is a riding robot like as a horse. In order to simulate the riding motions, we develope the saddle mechanism which can generate 3 DOF motions including pitch, roll, and bounce movement, and also we controlled the riding motions and the intention of horseman. To generate the riding motions with the bodily sensation, we developed Novel Washout Filter and the algorithms for motion control. And also, we developed some health care service for the health care of horseman. A body state index was proposed that evaluates the personal health state from both the measured physiological variables and the surveyed questions. The physiological variables such as weight, blood pressure, heart rate variability (HRV), accelerated state photoplethysmograph(APG), body fat, and happiness index were measured by the specially designed bio-handle system and survey questions. The efficiency of the proposed ride robot is evaluated in the experiments.