• Title/Summary/Keyword: 모바일 로봇 제어

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Development of AR-based Coding Puzzle Mobile Application Using Command Placement Recognition (명령어 배치 인식을 활용한 AR 코딩퍼즐 모바일앱 개발)

  • Seo, Beomjoo;Cho, Sung Hyun
    • Journal of Korea Game Society
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    • v.20 no.3
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    • pp.35-44
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    • 2020
  • In this study, we propose a reliable command placement recognition algorithm using tangible commands blocks developed for our coding puzzle platform, and present its performance measurement results on an Augmented Reality testbed environment. As a result, it can recognize up to 30 tangible blocks simultaneously and their placements within 5 seconds reliably. It is successfully ported to an existing coding puzzle mobile app and can operate an IoT attached robot via bluetooth connected mobile app.

A Study on the Visual Servoing of Autonomous Mobile Inverted Pendulum (자율주행 모바일 역진자의 비주얼서보잉에 대한 연구)

  • Lee, Junmin;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.3
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    • pp.240-247
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    • 2013
  • This paper proposes an optimal three-dimensional coordinate implementation of the vision sensor using two CCD cameras. The PBVS (Position based visual servoing) is implemented using the positional information obtained from images. Stereo vision by PBVS method that has enhanced every frame using calibration parameters is effective in the distance calculation. The IBVS (Image based visual servoing) is also implemented using the difference between reference and obtained images. Stereo vision by IBVS method calculates the distance using rotation angle of motors that correspond eyes and neck without enhanced images. The PBVS method is compared with the IBVS method in terms of advantages, disadvantages, computing time, and performances. Finally, the IBVS method is applied for the dual arm manipulator on the mobile inverted pendulum. The autonomous mobile inverted pendulum is successfully demonstrated using the center of the manipulator's mass.

Estimation of the User's Location/Posture for Mobile Augmented Reality (모바일 증강현실 구현을 위한 사용자의 위치/자세 추정)

  • Kim, Jooyoung;Lee, Sooyong
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.11
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    • pp.1011-1017
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    • 2012
  • Augmented Reality is being widely used not only for Smartphone users but also in industries such as maintenance, construction area. With smartphone, due to the low localization accuracy and the requirement of special infrastructure, current LBS (Localization Based Service) is limited to show P.O.I. (Point of Interest) nearby. Improvement of IMU (Inertial Measurement Unit) based deadreckoning is presented in this paper. Additional sensors such as the magnetic compass and magnetic flux sensors are used as well as the accelerometer and the gyro for getting more movement information. Based on the pedestrian movement, appropriate sensor information is selected and the complementary filter is used in order to enhance the accuracy of the localization. Additional sensors are used to measure the movements of the upper body and the head and to provide the user's line of sight.

An Efficient Horizontal Maintenance Technique for the Mobile Inverted Pendulum (모바일 역진자의 효율적 수평유지 기법)

  • Yun, Jae-Mu;Lee, Jae-Kyoung;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.7
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    • pp.656-663
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    • 2007
  • A new dynamic balancing algorithm has been proposed to minimize the number of sensors necessary for the horizontal balancing of the mobile inverted pendulum while maintaining the same level of the commercial performance. The inverted pendulum technique is getting attention and there have been many researches on the Segway since the US inventor Dean Kamen commercialized. One of the major problems of the Segway is that many sensors are required for the control of the Segway, which results in the high price. In this research, a single gyro and a tilt sensor are fused to obtain the absolute tilt information, which is applied for the control of the mobile inverted pendulum. A dynamic balancing technique has been developed and applied for a robust control system against disturbances. The intelligent handling and stable curving of the Segway as a next generation mobile tool are verified with a human loading.

Study on Viewpoint Estimation for Moving Parallax Barrier 3D Display (이동형 패럴랙스 배리어 방식의 모바일 3D 디스플레이를 위한 시역계측기술에 관한 연구)

  • Kim, Gi-Seok;Cho, Jae-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.1
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    • pp.7-12
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    • 2012
  • In this paper, we present an effective viewpoint estimation algorithm for the Moving parallax barrier method of 3D display mobile device. Moving parallax barrier is designed to overcome the biggest problem, the limited view angle. To accomplish it, the position of the viewer's eyes or face should be estimated with strong stability and no latency. We focus on these requirements in the poor performance of mobile processors. We used a pre-processing algorithm in order to overcome the various illumination changes. And, we combined the conventional Viola-Jones face detection method and Optical-flow algorithm for robust and stable viewpoint estimation. Various computer simulations prove the effectiveness of the proposed method.

An Improved AE System for Mobile Digital Still Camera (모바일 디지털카메라 모듈에 대한 개선된 AE 알고리즘 구현)

  • Cho, Sun-Ho;Kim, Dong-Han;Park, Chong-Kug
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.5
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    • pp.426-431
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    • 2008
  • In this paper, an improved AE system for digital still camera is proposed. AE system is auto exposure system to maintain optimized brightness of output image. But there is limitation for mobile devices to get high quality image with the conventional AE algorithm, because of organizational restriction of system. The conventional research has been studied only electronic shutter and AGC on the AE algorithm. In this paper, we suggest new AE algorithm included target setting, frame delay, Gamma Correction as well as electronic shutter and AGC to get high quality image. The proposed algorithm show improved result at control speed and ability of luminance expression.

A Study on advanced performance of Robot control using EEG Headset (EEG 헤드셋을 이용한 로봇제어 성능 향상 연구)

  • Ji, Sang-won;Hu, Young-in;Kim, Se-yeon;Jang, Wonang;Lee, Dohoon
    • Proceedings of the Korea Information Processing Society Conference
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    • 2014.11a
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    • pp.1139-1141
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    • 2014
  • 뇌파 수집과 분석을 위한 상용 장비인 모바일 헤드셋 Emotiv를 이용한 BCI 연구가 있었다. 특히 Emotiv에서 제공되는 학습기능을 사용한 사례들에서 다양한 패턴을 학습한 경우는 인식률이 떨어지고 학습하는데 많은 시간이 소비된다. 본 논문에서는 Emotiv의 학습기능을 한 가지만 사용해서 인식률을 높이고 자이로센서를 이용하여 로봇을 4가지 방향으로 제어해서 원하는 경로로 이동가능 한 기능을 구현했다. 구현한 결과는 평균 85.67%를 보여 성공적이었다.

Tracking Control of 3-Wheels Omni-Directional Mobile Robot Using Fuzzy Azimuth Estimator (퍼지 방위각 추정기를 이용한 세 개의 전 방향 바퀴 구조의 이동로봇시스템의 개발)

  • Kim, Sang-Dae;Kim, Seung-Woo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.11 no.10
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    • pp.3873-3879
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    • 2010
  • Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

Path Following Performance of Pure Pursuit Algorithm-Based Mobile Robot (Pure pursuit 알고리즘 기반 모바일 로봇의 경로 추종 성능 분석)

  • Yang, Seung Geon;Lee, Juyoung;Kim, Hyeonsoo;Lim, Seung-Chan
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2022.10a
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    • pp.532-535
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    • 2022
  • Path following algorithms have been intensively studied for various mobile platforms such as planetary exploration, unmanned delivery, and autonomous driving. However, ensuring high accuracy in practical applications is challenging due to enormous uncertainty inherent in real environment. In this paper, we aim to reveal the guideline for the design and implementation by investigating the path following performance of mobile robot controlled by the pure pursuit algorithm. To this end, we evaluate the accuracy of the pure pursuit algorithm when tuning the look ahead distance and deploying erroneous actuator.

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Development of Body-Weight-Support System for Walking Rehabilitation (보행 재활을 위한 신체 자중 보상용 모바일 로봇에 관한 연구)

  • Suh, Seung-Whan;Yu, Seung-Nam;Lee, Sang-Ho;Han, Chang-Soo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.11 no.10
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    • pp.3658-3665
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    • 2010
  • As the population of elderly people and disabled people are increased, various demands for human welfare using robot system are raised. Especially autonomous rehabilitation system using robot could reduce the human effort while maintaining the its intrinsic efficacy. This study deals with mobile gait rehabilitation system which combined with BWS (Body Weight Support) for training of elderly and handicapped people who suffer the muscle force weakness of lower extremity. BWS which is designed by kinematic analysis of body lifting characteristics and walking guide system are integrated with main control system and wheeled platform. This mobile platform is operated by UCS (User Command System) and autonomous trajectory planning algorithm. Finally, through the EMG (Electromyography) signal measuring and its analysis for subject, performance and feasibility of developed system is verified.