• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.345-350
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• 2008

This study aims to propose the concept design of oil spill protection robot which can rapidly intervene to control the oil spillage situation at the sea. Taking into account the fact that a huge amount of oil is transported trans-continentally by oil tanker, none of industrialized countries are completely safe from the marine oil spill which results in social, economical and ecological damages to their communities. The employment of double hull-oil tanker, pipe line transporting can be most safe way. Yet complete prevention of oil spill is probably not realistic. Accordingly the alternative solution to control marine oil spill and minimize the damages caused by the incident using intelligent robot technology based on swarm control method is proposed. The main features of oil spill protection(OSP) robot is explained via following three perspectives. Firstly, from functional point of view, OSP robot system safely and efficiently replaces oil boom installation manually conducted by human workers with intelligent robot technology based on swarm control theory. For second, its modular architecture brings efficient storage of main components including oil boom and facilitates maintenance. For the last, its geometric form and shape enables whole system to be installed to helicopter, boat or oil tanker itself with ease and to rapidly deploy the units to the oil spill area.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.169-176
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• 2010

Robotic software has been dramatically complicated as performing intelligent service tasks. These types of robots demand a very powerful software framework to make them easy. Robotic software framework means an integrated software environment that simplifies jobs of robotic software engineer by providing tools, reusable components, and runtime environments. Finally it reduces the project cost. There are lots of works related with them. Among them we focus on five frameworks that are MSRDS, ERSP, OROCOS, OpenRTM, and OPRoS. In terms of intelligent service robot, the study on robotic software frameworks is very important. And outlook on them is also very important in the sense of that the robotic software frameworks should be used to initiate service robot market.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1252-1258
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• 2014

ROS is based on a graph architecture where processing takes place in nodes. Nodes communicate together by passing messages through topics based on the publish/subscribe model. On the other hand, OPRoS components know each other and are tightly-coupled via port connections, and different coupling schemes make the interoperation between two platforms difficult. This paper describes an extension of OPRoS framework to support the interoperation with the ROS topic.

• Journal of KIISE:Software and Applications
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• v.36 no.1
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• pp.21-29
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• 2009

An intelligent service robot is a robot that monitors its surroundings, and then provides a service to meet a user's goal. It is normally impossible for a robot to anticipate all the needs of its user and various situations in the surroundings ahead, and to prepare for all the necessary functions to cope with them. Therefore, it is required to support the self-growing capability by which robots can extend their functionality based on users' needs and external conditions. In this paper, as an enabler of the self-growing capability, we propose a method that allows a robot to select a component-composition pattern represented in an architectural form (called a sub-architecture), and to extend its functionality by obtaining a set of software components that are prescribed in the pattern. Sub-architecture is selected and instantiated not only based on the functionality required but also based on quality requirements of a user and the surrounding environment. To provide this method, we constructed a quality-attributes-in-use ontology and developed a brokering mechanism that matches quality requirements of users and surroundings against quality attributes of sub-architectures. The ontology provides the common vocabularies to represent quality requirements and attributes, and enables the semantically-based reasoning in matching and instantiating appropriate sub-architectures in supporting services to users. This ontology-based approach contributes to provide a great flexibility in extending robot functionality based on available software components, and to narrow the gap between users' Quality requirements and the Quality of the actual services provided by a robot.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1593-1597
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• 2003

The home service robot supports human beings by performing various kinds of works at home. This paper presents a simple control method for opening a door from the viewpoint of the mobile manipulation. The simulation shows various results of path planning and motion planning for opening a door. The joint trajectories were generated by the simulation system. In general, a six-axis force/torque sensor at an end-effector is needed in order to maintain the static equilibrium of the manipulator. But we show another method. From three components of applied forces which was directly obtained by the three-axis force sensor and three components of applied forces which was indirectly estimated by the joint-torque sensors, all of joint torques that will exactly balance forces at the end-effector in the static situation can be found. It is more practical method than using a six-axis force sensor in a wrist. Experimental results have shown that the opening a door can be realized more effectively from the suggested control method of mobile manipulation.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.201-209
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• 2009

In this paper, we deal with the performance evaluation method of user identification and user tracking for intelligent robots using face images. This paper shows general approaches for standard evaluation methods to improve intelligent robot systems as well as their algorithms. The evaluation methods proposed in this paper can be combined with the evaluation methods for detection algorithms of face region and facial components to measure the overall performance of face recognition in intelligent robots.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.738-744
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• 2013

According to the cognitive science research, the interaction intent of humans can be estimated through an analysis of the representing behaviors. This paper proposes a novel methodology for reliable intention analysis of humans by applying this approach. To identify the intention, 8 behavioral features are extracted from the 4 characteristics in human-human interaction and we outline a set of core components for nonverbal behavior of humans. These nonverbal behaviors are associated with various recognition modules including multimodal sensors which have each modality with localizing sound source of the speaker in the audition part, recognizing frontal face and facial expression in the vision part, and estimating human trajectories, body pose and leaning, and hand gesture in the spatial part. As a post-processing step, temporal confidential reasoning is utilized to improve the recognition performance and integrated human model is utilized to quantitatively classify the intention from multi-dimensional cues by applying the weight factor. Thus, interactive robots can make informed engagement decision to effectively interact with multiple persons. Experimental results show that the proposed scheme works successfully between human users and a robot in human-robot interaction.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1996.10a
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• pp.27-34
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• 1996

GENIE is a learning-based engine for building intelligent systems. Learning in GENIE proceeds by incrementally modeling its human or technical environment using a neural network and a genetic algorithm. The neural network is used to represent the knowledge for solving a given task and has the ability to grow its structure. The genetic algorithm provides the neural network with training examples by actively exploring the example space of the problem. Integrated into the training examples by actively exploring the example space of the problem. Integrated into the GENIE system architecture, the genetic algorithm and the neural network build a virtually self-teaching autonomous learning system. This paper describes the structure of GENIE and its learning components. The performance is demonstrated on a robot learning problem. We also discuss the lessons learned from experiments with GENIE and point out further possibilities of effectively hybridizing genetic algorithms with neural networks and other softcomputing techniques.

• The Journal of the Korea Contents Association
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• v.9 no.4
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• pp.81-94
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• 2009

In ubiquitous environments, the real-time features are necessary to insure the QoS of the intelligent service robots. In this paper, we design and implement a real-time framework for intelligent service robots to support real-time features. The real-time framework to support real-time scheduling services is implemented on the general operating systems. We solve the problem that the scheduler of a general operating system can not support real-time features. This paper also proposes realtime scheduling services to guarantee the QoS of real-time robot applications. We implemented the proposed real-time framework on the Windows operating system and conducted some performance experiments. The experimental results show that the proposed real-time framework can improve thread response times and it has slight performance overhead of $62{\mu}s$.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.345-355
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• 2014

Since the beginning of the 21st century, emergence of innovative technologies in robotic and telepresence surgery has revolutionized minimally access surgery and continually has advanced them till recent years. One of such surgeries is endoscopic surgery, in which endoscope and endoscopic instruments are inserted into the body through small incision or natural openings, surgical operations being carried out by a laparoscopic procedure. Due to a vast amount of developments in this technology, this review article describes only a technological state-of-the arts and trend of endoscopic robots, being further limited to the aspects of key components, their functional requirements and operational procedure in surgery. In particular, it first describes technological limitations in developments of key components and then focuses on the description of the performance required for their functions, which include position control, tracking, navigation, and manipulation of the flexible endoscope body and its end effector as well, and so on. In spite of these rapid developments in functional components, endoscopic surgical robots should be much smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies for their intelligent vision and dexterous hands not only from the points of the view of surgical, ergonomic but also from safety. We believe that in these respects a medical robotic technology related to endoscopic surgery continues to be revolutionized in the near future, sufficient enough to replace almost all kinds of current endoscopic surgery. This issue remains to be addressed elsewhere in some other review articles.