• 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.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.11 no.5
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• pp.35-40
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• 2011

In this paper, an auto recharging system for a mobile robot based on the wireless power transmission and visual information is proposed. The existing recharging systems for mobile robot use mechanical contact while wireless power transmission transfers energy by electromagnetic induction method without contacts. For efficiency of charging, alignment of coils is important. In order to solve this problem, with the visual image, ellipticity of coil circle is recognized to control the pose of mobile robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.2
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• pp.124-132
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• 2001

Autonomous of welding process in shipyard is ultimately necessary., since welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding robot that can navigate autonomously within the enclosure needs to be developed. To achieve the welding ra나, the robotic welding systems needs a sensor system for the recognition of the working environments and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with work environmental map. At the same time a strategy for environment recognition for welding mobile robot is proposed in order to recognize the work environment efficiently. The design of the sensor system, the algorithm for sensing the structured environment, and the recognition strategy and tactics for sensing the work environment are described and dis-cussed in detail.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.529-531
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• 2004

For localization, it is very important for an autonomous mobile robot to be able to recognize indoor environment and match an object it detect to an object within a map developed either online or offline. Given the map defining the locations of geometric beacons like wall and comer existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method that can be conveniently used in recognizing the geometric beacons. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter. Experiment shows that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.100.1-100
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• 2002

In this paper, we present autonomous mobile robot system, which has an image recognition module and perform tasks by itself with manipulator. Autonomous mobile robot can push each individual button on an elevator panel from a person's command. After the robot receives its command, it analyzes the image information of the elevator button that is acquired by CCD camera in an indoor environment with an elevator. In order to recognize the numbers on the button, the robot separates the number area in button and recognizes the segment through a neural network algorithm. We use the bar code form on the manipulator to find the position of the end of manipulator. The validity of the proposed method i...

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.587-589
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• 1995

The safe navigation of a mobile robot requires the recognition of the environment in terms of vision processing. To be guided in the given path, the robot should acquire the information about where the wall and corridor are located. Also unexpected obstacles should be detected as rapid as possible for the safe obstacle avoidance. In the paper, we assume that the mobile robot should be navigated in the flat surface. In terms of this assumption we simplify the correspondence problem by the free navigation surface and matching features in that coordinate system. Basically, the vision processing system adopts line segment of edge as the feature. The extracted line segments of edge out of both image are matched in the free nevigation surface. According to the matching result, each line segment is labeled by the attributes regarding obstacle and free surface and the 3D shape of obstacle is interpreted. This proposed vision processing method is verified in terms of various simulations and experimentation using real images.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.7
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• pp.92-100
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• 2004

A service robot is expected to be useful in indoor environment such as a hotel, a hospital and so on. However, many service robots are driven by wheels so that they cannot climb stairs to move to other floors. If the robot cannot use elevators. In this paper, the mobile manipulator system was developed, which can operate numeral buttons on the operating panel in the elevator. To perform this task, the robot is composed of an image recognition module, an ultrasonic sensor module and a manipulator. The robot can recognize numeral buttons and an end-effector in manipulator by the vision system. The Learning vector quantization (LVQ) algorithm is used to recognize the number on the button. The barcode mark on the end-effector is used to recognize the end-effector. The manipulator can push numeral buttons using informations captured by the vision system. The proposed method is evaluated by experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.93-100
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• 2007

The mobile robots to rescue a life in a disaster area and to explore planets demand high mobility as well as recognition of the environment. To avoid unknown obstacles exactly in unknown environment, accurate sensing is required. This paper proposes a sensor fusion to recognize unknown obstacles accurately by using low-cost sensors. Ultrasonic sensors and infrared sensors are used in this paper to avoid obstacles. If only one of these sensors is used alone, it is not useful fer the mobile robots to complete their tasks in the real world since the surrounding environment in the real world is complex and composed of many kinds of materials. So infrared sensor may not recognize transparent or reflective obstacles and ultrasonic sensor may not recognize narrow obstacles, far example, columns of small diameter. Therefore, I selected six ultrasonic sensors and five infrared sensors to detect obstacles. Then, I fused ultrasonic sensors with infrared sensors in order that both advantages and disadvantages of each sensor are utilized together. In fusing sensors, fuzzy algorithm is used to cope with the uncertainties of each sensor. TAMRY which is terrain-adaptive mobile robot is used as the mobile robot for experiments.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.1
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• pp.184-191
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• 2008

In order for a mobile robot to move under unknown or uncertain environment, it must have an environmental information. In collecting environmental information, the mobile robot can use various sensors. In case of using ultrasonic sensors to collect an environmental information, it is able to comprise a low-cost environmental recognition system compared with using other sensors such as vision and laser range-finder. This paper proposes a map building algorithm which can collect environmental information using ultrasonic sensors. And also this paper suggests a traveling algorithm using environmental information which leads to the map building algorithm. In order to accomplish the proposed traveling algorithm, this paper additionally discusses a position revision algorithm.