• Journal of Digital Convergence
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• v.19 no.2
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• pp.523-529
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• 2021

Medical service robots are variously defined and classified by researchers and related government departments, but surgical robots and rehabilitation robots are commonly included in medical service robots, and except for these, the robots are classified as other medical service robots. In this study, domestic and foreign development trends and use cases were considered, focusing on logistics, guidance, and drug processing robots among other medical service robots. Logistics and guidance robots were developed quite a lot in Korea and completed a pilot project, or are being commercialized in hospitals, and exported. However, although the drug prcocessing robots was developed in Korea, the robot being use in the hospital was an imported. In order to expand and activate the robot market, systematic follow-up studies such as demand prediction studies are needed.

• Journal of Information Technology Services
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• v.5 no.2
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• pp.189-198
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• 2006

This study assumed that the best road guidance system for the vision impaired is a robot and analyzed and verified the requirements of road guidance system. In order to do so, the characteristics and inconveniences of the vision impaired as passengers and pedestrians were examined and their reactions to warnings and dangerous situations were analyzed. Users' needs and robots' functional requirements were applied to analyze the requirements of road guidance system. To verify whether the proposed requirements would be applied to robots effectively, a service scenario was used.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.896-902
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• 2007

This paper proposes a vision-based kinematic control method for mobile robots with camera-on-board. In the previous literature on the control of mobile robots using camera vision information, the forward velocity is set to be a constant, and only the rotational velocity of the robot is controlled. More efficient motion, however, is needed by controlling the forward velocity, depending on the position in the corridor. Thus, both forward and rotational velocities are controlled in the proposed method such that the mobile robots can move faster when the comer of the corridor is far away, and it slows down as it approaches the dead end of the corridor. In this way, the smooth turning motion along the corridor is possible. To this end, visual information using the camera is used to obtain the perspective lines and the distance from the current robot position to the dead end. Then, the vanishing point and the pseudo desired position are obtained, and the forward and rotational velocities are controlled by the LOS(Line Of Sight) guidance law. Both numerical and experimental results are included to demonstrate the validity of the proposed method.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.201-206
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• 2000

In this paper, a posture control for nonholonomic mobile robots is proposed with an empirical basis. In order to obtain fast and consecutive motions in realistic applications, the motion requirements of a mobile robot are defined. Under the assumption of a velocity controller designed with the selection guidance of control parameters, the algorithm of posture control is presented and experimentally demonstrated for practicality and effectiveness.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.932-935
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• 1996

This paper proposes position estimation and path-tracking of a wheeled-mobile robot(WMR). Odometry and two distance measuring sensors are used to measure distance between guide wall and body and to locate its own position. And extended Kalman filter is introduced to fusion sensors and reduce noise. State feedback controller using the estimated position and path-tracking miles guidance control system. The computer simulation shows that proposed algorithm is well coincide with theoretical approach.

• Journal of Korean Library and Information Science Society
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• v.52 no.1
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• pp.27-54
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• 2021

This study examines the overall contents of robots, drones, and autonomous driving that can be applied to libraries among autonomous objects, and proposes a plan that can be introduced and applied to libraries in the future based on this. As a result of the study, in the case of the building, robots and drones can be used to apply from collection inspection, collection transport, collection arrangement, collection classification, book location guidance, book recommendation, loan/return, library general guidance, and reference information service. Outside of the building, robots, drones, and autonomous vehicles can be used for book delivery service, book return service, and unmanned mobile libraries. This study is a basic research for the introduction and application of autonomous objects in the library, and follow-up studies such as perception survey and application model development for systematic introduction should be conducted in the future.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.86-93
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• 2017

The Expanded Guide Circle (EGC) method has been originally proposed as the guidance navigation method for improving the efficiency of the remote operation using the sensory information. The previous algorithm is, however, concerned only for the omni-directional mobile robot, so it needs to suggest a suitable one for a mobile robot with non-holonomic constraints. The ego-kinematic transform is a method to map points of $R^2$ into the ego-kinematic space which implicitly represents non-holonomic constraints for admissible paths. Thus, robots with non-holonomic constraints in the ego-kinematic space can be considered as "free-flying object". In this paper, we propose an effective obstacle avoidance method for mobile robots with non-holonomic constraints by applying EGC method in the ego-kinematic space using the ego-kinematic transformation. This proposed method shows that it works better for non-holonomic mobile robots such as differential-drive robot than the original one. The simulation results show its effectiveness of performance.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.4
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• pp.315-320
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• 2009

The popularity of autonomous mobile robots have been rapidly increasing due to their new emerging application areas, from room cleaning, tourist guidance to space explorations. However, the development of a satisfactory control algorithm that will enable the autonomous mobile robots to navigate safely especially in dynamic environments is still an open research problem. In this paper, a newly proposed potential field based control method is implemented, analyzed, and improvements are suggested based on experimental results obtained from simulations. The experimental results are presented to show the effectiveness of the behavior-based control using the proposed potential field generation technique.

• The Journal of the Convergence on Culture Technology
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• v.9 no.1
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• pp.787-797
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• 2023

The use of service robots, particularly guide robots, is becoming increasingly prevalent in public institutions. However, there has been limited research into the interactions between users and guide robots. To explore the customer experience with the guidance robot, we selected 'QI', which has been meeting customers for the longest time, and collected all reviews since the service was launched in public institutions. By using text mining techniques, we identified the main keywords and user experience factors and examined factors that hinder user experience. As a result, the guide robot's functionality, appearance, interaction methods, and role as a cultural commentator and helper were key factors that influenced the user experience. After identifying hindrance factors, we suggested solutions such as improved interaction design, multimodal interface service design, and content development. This study contributes to the understanding of user experience with guide robots and provides practical suggestions for improvement.

• Journal of Drive and Control
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• v.17 no.4
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• pp.8-14
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• 2020

Intelligent devices using ICT technology have been introduced in the field of construction machinery to improve productivity and stability. Among the intelligent devices, Machine Guidance is a device that provides real-time posture, location, and work range to drivers by installing various sensors, controllers, and satellite navigation systems on construction machines. Conversely, the efficiency of equipment that requires location information, such as machine guidance, will be greatly reduced in buildings, and tunnels in the GPS blind spots. Thus, the other high-precision positioning technologies are required in the GPS blind spot zone. In this study, we will develop a relative position measurement system that provides precise location information such as construction machinery and robots in a local area where the GPS reception is difficult. A relative position measurement system tracks a marker in the form of a sphere installed on a vehicle by using the image base tracking technology, and measures the distance and direction information to the marker to calculate a position.