• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1612-1616
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• 2005

In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulator, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and HMR. Finally, the good performance of the designed HMR is confirmed through the results of the mess clean-up and arrangement.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.8 no.6
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• pp.121-130
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• 2009

In this paper, Gaussian probability distribution model based multi-sensor data fusion algorithm is proposed for a vehicular location awareness system. Conventional vehicular location awareness systems are operated by GPS (Global Positioning System). However, the conventional system is not working in the indoor of building or urban area where the receiver is difficult to receive the signal from satellites. A method which is combined GPS and UWB (Ultra Wide-Band) has developed to improve this problem. However, vehicular is difficult to receive seamless location information since the measurement systems by both GPS and UWB convert the vehicle's movement information separately at each sensor. In this paper, normalized probability distribution model based Hybrid UWB/GPS is proposed by utilizing GPS location data and UWB sensor data. Therefore the proposed system provides information with seamless and location flexible properties. The proposed system tested by Ubisense and Asen GPS in the $12m{\times}8m$ outdoor environments. As a result, the proposed system has improved performance for accurateness and connection ability between devices to support various CNS (Car Navigation System).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.4
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• pp.345-354
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• 2014

In this paper, we propose a real-time algorithm for estimating the relative position and velocity of a person with respect to a robot using a Kinect sensor and an extended Kalman filter (EKF). Additionally, we propose an algorithm for controlling the robot in the proximity of a person in a variety of modes. The algorithm detects the head and shoulder regions of the person using a histogram of oriented gradients (HOG) and a support vector machine (SVM). The EKF algorithm estimates the relative positions and velocities of the person with respect to the robot using data acquired by a Kinect sensor. We tested the various modes of proximity movement for a human in indoor situations. The accuracy of the algorithm was verified using a motion capture system.

• Journal of the Korea Society of Computer and Information
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• v.15 no.3
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• pp.27-35
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• 2010

Accurately extracting skin color regions is very important in various areas such as face recognition and tracking, facial expression recognition, adult image identification, health-care, and so forth. In this paper, we evaluate the performances of several skin color detection algorithms in indoor environments by changing the distance between the camera and the object as well as the background colors of the object. The distance is from 60cm to 120cm and the background colors are white, black, orange, pink, and yellow, respectively. The algorithms that we use for the performance evaluation are Peer algorithm, NNYUV, NNHSV, LutYUV, and Kimset algorithm. The experimental results show that NNHSV, NNYUV and LutYUV algorithm are stable, but the other algorithms are somewhat sensitive to the changes of backgrounds. As a result, we expect that the comparative experimental results of this paper will be used very effectively when developing a new skin color extraction algorithm which are very robust to dynamic real environments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.6
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• pp.531-539
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• 2013

Fingerprinting technique uses the radio signal strength measured reference locations is typically used, although there are many Wi-Fi based location tracking techniques. However, it needs numerous reference locations for precision and accuracy. This paper the analyzes problems of previous techniques and proposes a fingerprinting system using reliability based on a signal strength map. The system collects the signal strength data from a number of reference locations designated by the developer. And then it generates path-loss models to one of the access points for each reference location. These models calculate the predicted signal strength and reliability for a lattice. To evaluate proposed method and system performance, We perform experiments in a $20m{\times}22m$ real indoor environment installed access points. According to the result, the proposed system reduced distance error than RADAR. Comparing the existing system, it reduced about 1.74m.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.1C
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• pp.24-32
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• 2010

In this paper we proposed an object tracking system that detects the abandoned and removed objects, which is to be used in the intelligent surveillance applications. After the GMM based background subtraction and by using histogram method, the static region is identified to detect abandoned and removed objects. Since the system is implemented on DSP chip, it operates in realtime and is programmable. The input videos used in the experiment contain various indoor and outdoor scenes, and they are categorized into three different complexities; low, midium and high. By 10 times of experiment, we obtained high detection ratio at low and medium complexity sequences. On the high complexity video, successful detection ratio was relatively low because the scene contains crowdedness and repeated occlusion. In the future work, these complicated situation should be solved.

• 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.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.3
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• pp.327-332
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• 2017

As Internet of Things (IoT) technology advances, there is a growing demand for location-based services (LBSs) to identify users' mobility and identity. The initial LBS system was mainly used to measure position information by measuring the phase of a signal transmitted from a global positioning system (GPS) satellite or by measuring distance to a satellite by tracking the code of a carrier signal. However, the use of GPS satellites is ineffective, because it is difficult to receive satellite signals indoors. Therefore, research on wireless communications systems like ultra-wide band (UWB), radio frequency identification (RFID), and ZigBee are being actively pursued for location recognition technology that can be utilized in an indoor environment. In this paper, we propose an LBS system that includes the 2.45GHz band for chirp spread spectrum (CSS), and the 3.1-10.6GHz band and the 250-750MHz bands for UWB using the IEEE 802.15.4a standard for low power-based location recognition. As a result, we confirmed that the 2.45GHz Industrial, Scientific and Medical (ISM) band RF transceiver and the ranging function can be realized in the hardware and has 0dBm output power.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.8C
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• pp.721-730
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• 2012

In this paper the problem of a moving control of an automatic guided vehicle(AGV) which transports a dead body to a designated cinerator safely in a crematorium, an special indoor environment, will be discussed. Since a method of burying guided lines in the floor is not proper to such an environment, a method of moving control of an AGV based on infrared ray sensors is now proposed. With this approach, the AGV emits infrared ray to the landmarks adheres to the ceiling to find a moving direction and then moves that direction by recognizing them. One of the typical problems for this method is that dead zone and/or overlapping zone may exist when the landmarks are deployed. To resolve this problem, an algorithm of recognizing double landmarks at each time is applied to minimize occurrences of sensing error. In addition, at the turning area to entering the designated cinerator, to fit an AGV with the entrance of the designated cinerator, an algorithm of controlling the velocity of both the inner and outer wheel of it. The functional correctness of our proposed algorithm has been verified by using a prototype vehicle. Our real AGV system has been applied to a crematorium and it moves automatically within an allowable range of location error.

• Journal of the Korean Society of Marine Environment & Safety
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• v.18 no.5
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• pp.488-495
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• 2012

The real-time indoor location technology using radio waves has been studied in a variety of environments. One of them, a ship which consists of steel structure has high reception rate but causes significant ranging error due to the reflection of radio waves. In order to reduce location measurement errors that occurs in such a environment, this paper, based on CSS of IEEE 802.15.4a, presents compensation algorithm for localization using modified bilateration and pyroelectric sensor in a ship. The proposed system reduces the number of fixed nodes by estimating the appropriate reception distance between mobile node and fixed node through the analysis of CSS characteristic in a narrow passage such as ship corridors. Also, in the corner section which the ranging errors are significantly fluctuated due to the reflection and diffraction of radio waves, we recognize the location by tracking the a moving section using modified bilateration technique and pyroelectric sensor. The experimental results show that the location accuracy and efficiency of the proposed algorithm are improved 86.2 % compared to general method.