• Proceedings of the Korean Society of Computer Information Conference
• /
• 2021.01a
• /
• pp.153-154
• /
• 2021

본 논문에서는 ROS(Robot Operating System)를 기반으로 한 로봇(Robot)에 LiDAR 센서를 설치하여 SLAM(Simultaneous Localization and Mapping) 기술인 동시적 위치 추적 지도 작성 기법을 이용하여 실내 맵 정보를 습득하고, 이를 기반으로 장애물과 건물 실내를 안전하고 정확하게 이동할 수 있도록 하였다. 또한 로봇에 자바에서 제공하는 개발 툴킷 Swing 및 AWT 라이브러리를 이용하여 GUI(Graphical User Interface)를 구현하였고 터치스크린을 장착하여 사용자가 원하는 제품을 선택하고 선택한 제품의 목적지를 습득한 맵을 토대로 좌표 값을 설정하여 ROS에서 지원하는 이동 프로세스를 실행시켜 목적지까지 경로를 설정하고 자율 주행하게 된다.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2008.05a
• /
• pp.512-515
• /
• 2008

최근 인터넷과 정보통신 기술의 개발로 사회의 가치관, 문화 및 생활 방식이 급속하게 변화되고 있다. 로봇 분야의 경우, 공장에서 사람의 접근이 통제된 지역에 설치되어 인간을 대신해서 반목작업이나 힘든 작업을 대신해 주던 것에서 오늘날은 일반인들이 일상생활 속에서 손쉽게 활용할 수 있도록 로봇을 하나의 가전기기 혹은 개인용 상품으로 개발하기 위한 노력이 전 세계적으로 활발히 진행되고 있다. 본 논문에서는 실시간 객체인 TMO를 통해서 내장형 시스템 기반의 로봇을 화상통신을 이용하여 실시간으로 원격 제어하는 방안을 제시코자 한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2007.10a
• /
• pp.938-941
• /
• 2007

The most of humonoid robot which is utility for the existing industry use a magnetic sensor and infrared sensor and route in their courses consist of guidance or the optical tape. It is impossible to establish courses in the room that is the working environment of the humonoid robot. So It has need of the development of the flexible humonoid robot. In this paper, we describe the map building method combined with ultrasonic sensors and infrared sensor additionally.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.7 no.7
• /
• pp.1434-1441
• /
• 2003

Recent technological advances in utilization and generalization of Internet have overcome some of the limitations of remote robot control range and real-time monitoring system. However, It needs Embedded system with control protocol or hardware which has avility to port the micro realtime operating system in robot control system communicate with remote controlled robot, because those system use the wireless LAM or Bluetooth as a network media. In this paper, we design and implement the wireless MODEM protocol and install it to the server system. Also, we implement a client system could control the remote robot through the server and we assure that this protocol and client/server system ate suitable for small size remote control system based on Internet.

• Transactions of the KSME C: Technology and Education
• /
• v.3 no.2
• /
• pp.155-164
• /
• 2015

Recently, the robot manipulators are needed more slim size and longer reach and more accurate movement for increasing productivity. So, in this paper, the simulation modeling method and the efficient modeling method for new slim & long reach robot has been investigated for forecasting the slim robot performance before making prototype. To do this investigation, the major parts of robot driving system such as motor, belt and reducer devices and parts assembly method have been investigated mainly. And then, using this developed modeling method the new designed robot will be forecasted about the dynamic performance of new designed robot.

• The Journal of the Korea Contents Association
• /
• v.8 no.5
• /
• pp.19-28
• /
• 2008

In this paper, we implemented an intelligent home service robot system which alerts users to danger by wireless internet platforms for interoperability(WIPI) of a cellular phone. This paper discusses the three parts of the system: robot, middleware and mobile system. First, the robot consists of a gas sensor, a fire detector, ultrasonic sensors, motors, a camera and a Bluetooth module. The robot perceives various danger circumstances. Second, the middleware connects the robot and the mobile system. It monitors the robot and sends emergency notification SMS message to the user's cellular phone if in danger. Third, the mobile system sends commands which control the robot using TCP/IP protocol. The proposed scheme is to control the sensors of the robot part through Atmega 128 processor, and the robot and middleware parts will be installed in the household, and will be controled by mobile part from the outside.

• The Journal of the Korea Contents Association
• /
• v.11 no.7
• /
• pp.51-59
• /
• 2011

Intelligent service robots leading the future market are robots which assist humans physically, mentally, and emotionally. Since intelligent service robots operate in a tightly coupled manner with humans, their safe operation should be an inevitable consideration. For this safety, real-time capabilities are necessary to execute certain services periodically. Currently, most robot components are being developed based on Windows for the sake of development convenience. However, since Windows does not support real-time, there is no option but to use expensive third-party software such as RTX and INTime. Also since most robot components are usually execute in user-level, we need to research how to support real-time in user-level. In this paper, we design and implement how to support real-time for components running in user-level on Windows using RTiK which actually supports real-time in kernel level on Windows.

• Proceedings of the Korea Contents Association Conference
• /
• 2007.11a
• /
• pp.201-205
• /
• 2007

This thesis aims to realize an intelligent home service robot that alerts the user to dangerous situations such as fires and gas leaks by utilizing wireless internet platforms in a cellular phone. The intelligent home service robot is composed of the following parts: The robot part consists of a gas sensor, a fire detector, a smoke sensor, ultrasonic sensors, motors, a camera and a Blue-tooth module and perceives various danger circumstances; The middleware part connects the robot part with the mobile part through the middleware applications, monitors the robot and notifies an emergency situation using SMS modules; The mobile part communicates with the middleware using TCP/IP protocol and controls the robot through various commands; The proposed scheme is to control the sensors of the robot part through and Atmega128 processor, and the mobile part was developed based on the WIPI platform. The robot and middleware parts will be installed in the household, and will be controled by mobile part from the outside.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.3
• /
• pp.353-360
• /
• 2012

This paper describes a SLAM method which estimates landmark locations and robot pose simultaneously. The particle filter can deal with nonlinearity of robot motion as well as the non Gaussian property of robot motion uncertainty and sensor error. The state to be estimated includes the locations of landmarks in addition to the robot pose. In the experiment, four beacons which transmit ultrasonic signal are used as landmarks. The robot receives the ultrasonic signals from the beacons and detects the distance to them. The method uses rang scanning sensor to build geometric feature of the environment. Since robot location and heading are estimated by the particle filter, the scanned range data can be converted to the geometric map. The performance of the method is compared with that of the deadreckoning and trilateration.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2013.05a
• /
• pp.867-868
• /
• 2013

본 논문은 물류창고와 같은 실내 공간에서 RFID와 초음파 센서등을 이용하여 이동로봇이 자율적으로 자신의 위치를 파악하고 관리자가 지정한 목표 물체를 인식하여 간단한 업무를 보조할 수 있는 기법을 제안한다. 실내공간엔 RFID를 지면과 목표물체에 설치하고 로봇은 RFID의 리더기와 물체 접근시 활용이 가능한 추가적 센서를 갖춤으로써 이동시 자기 위치를 실시간으로 파악하고 물체로부터도 고유정보를 얻는다. 초음파 센서 신호의 귀환시간을 활용하여 근접한 물체와의 상대 거리를 추출하고 바닥의 RFID로부터 이미 획득한 자기 위치를 조합하여 목표 물체의 절대 위치를 구한다. 이는 이동 로봇을 중심으로 한 경로지도를 실시간으로 작성하며 동시에 실내의 이동 가능 구조 및 목표 물체의 파악이 가능하여 이동로봇의 자율적 탐색을 위한 최적 경로 계획 수립에 활용 가능하다.