• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2033-2038
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• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.

• The Journal of the Korea Contents Association
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• v.20 no.3
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• pp.424-431
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• 2020

This paper focused on the development of sports robot that detects a human player and shots a serve ball automatically. When robot technologies apply to the sports machine, the domain problems occurs such as outdoor environments and playing condition to recognize the visual and the vocal modalities. Gaussian mixture model and Kalman filter are used to detect the player's position in the left, right, and depth direction and to avoid the noises caused by the player's posture variation around the net. The sports robot is designed by the pan-tilt structure to shot a serve ball by pneumatic control under the multi layered software architecture. Finally, the proposed tracking and the machine performance are discussed by experimental results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.10
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• pp.2129-2136
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• 2012

With the increased demand of ubiquitous home services, intelligent robots have wide attentions. This kind of robots offer various services through middleware components which can connect with remote servers. In this paper we present an UPnP(Universal Plug and Play) based open-source software framework which makes control the robots remotely. This UPnP architecture for home networking can provide various communication methodologies like command control, eventing, presentation with web services and so on. This paper shows successful implementation results on two real platforms.

• Proceedings of the Korean Information Science Society Conference
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• 2006.06c
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• pp.235-237
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• 2006

로봇 소프트웨어와 같이 사용자의 요구사항과 주변 환경의 잦은 변화에 직면하는 소프트웨어는 스스로 문제 상황을 판단하고, 동적으로 문제 상황을 극복할 수 있는 기능을 검색하고 이용할 수 있어야 한다. 이를 위해 본 논문에서는 아키텍처 기반의 로봇 소프트웨어 환경하에서 온톨로지를 이용하여 로봇의 문제 상황 극복을 위한 소프트웨어의 아키텍처를 재구성 전략과 컴포넌트를 모델링하고 이를 이용하여 문제 상황을 해결 할 수 있도록 적합한 컴포넌트를 선택하는 메커니즘을 기술한다.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2045-2050
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• 2003

This paper describes the development of service robotic systems with the Tripodal schematic control architecture. We show practical advantages of the proposed architecture by giving examples of our experience. First, we explain how to add new task using Tripodal architecture approach. The Tripodal architecture provides some crucial organizing principles and core components that are used to build the basis for the system. Thus, the newly developed behaviors, motion algorithm, knowledge, and planning schemes are arranged so as to guarantee the efficiency of the performance of components. Second, we describe the reusability and scaleability of our architecture by introducing the implementation process of the guide robot Jinny. Most of modules developed for former robots like PSR-1 and PSR-2 systems are used directly to the Jinny system without significant modification. Experimental results clearly showed that the developed strategy is useful, even if the hardware configurations as well as software algorithms are more complex and more accumulating.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.10
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• pp.789-797
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• 2003

An implementation scheme and some improvements are proposed to adopt public-licensed operating system, Linux and de-facto world-wide network standard, TCP/IP into the field of behavior-based autonomous mobile robots. To demonstrate the needs of scheme and the improvement, an analysis is performed on a server/client communication problem with real time Linux previously proposed, and another analysis is also performed on interactions among TCP/IP communications and the performance of Linux system using them. Implementation of behavior-based control architecture on real time Linux is proposed firstly. Revised task-scheduling schemes are proposed that can enhance the performance of server/client communication among local tasks on a Linux platform. A new method of TCP/IP packet flow handling is proposed that prioritizes TCP/IP software interrupts with aperiodic server mechanism as well. To evaluate the implementation scheme and the proposed improvements, performance enhancements are shown through some simulations.

• Journal of KIISE:Software and Applications
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• v.34 no.8
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• pp.731-742
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• 2007

Self-growing software is a software system that has the capability of evolving its functionalities and configurations by itself based on dynamically monitored situations. Self-growing software is especially necessary for intelligent service robots, which must have the capability to monitor their surrounding environments and provide appropriate behaviors for human users. However, it is hard to anticipate all situations that robots face with, and it is hard to make robots have all functionalities for various environments. In addition, robots have limited internal capacity. To support self-growing software for intelligent service robots, we are developing a cell-based distributed repository system that allows robots and developers transparently to share robot functionalities. To accomplish the creation of evolutionary repositories, we invented the concept of a cell, which is a logical group of distributed repositories based upon the functionalities of components. In addition, a cell can be used as a unit for the evolutionary growth of the components within the repositories. In this paper, we describe the requirements and architecture of the cell-based repository system for self-growing software. We also present a prototype implementation and experiment of the repository system. Through the cell-based repositories, we achieve improved performance of self-growing actions for robots and efficient sharing of components among robots and developers.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.3
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• pp.135-142
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• 2015

As the importance of software to society has grown, more and more schools worldwide teach coding basics in the classroom. Despite the rapid spread of coding instruction in grade schools, experience in the classroom is certainly limited because there is a gap between the curriculum and the existing computing environment such as the mobile and cloud computing. We propose an approach to fill this gap by using a mobile environment and the robot on the cloud-based platform for effective teaching. In this paper, we propose an architecture called Cloudboard that enables knowledge sharing and collaboration among knowledge providers in the cloud-based robot platforms. We also describe five representative architectural patterns that are referenced and analyzed to design the Cloudboard architecture. Our early experimental results show that the Cloudboard can be effective in the development of collective robotic systems.

• ETRI Journal
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• v.39 no.5
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• pp.643-651
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• 2017

Human age estimation is one of the key factors in the field of Human-Robot Interaction/Human-Computer Interaction (HRI/HCI). Owing to the development of deep-learning technologies, age recognition has recently been attempted. In general, however, deep learning techniques require a large-scale database, and for age learning with variations, a conventional database is insufficient. For this reason, we propose an age estimation method using artificially generated data. Image data are artificially generated through 3D information, thus solving the problem of shortage of training data, and helping with the training of the deep-learning technique. Augmentation using 3D has advantages over 2D because it creates new images with more information. We use a deep architecture as a pre-trained model, and improve the estimation capacity using artificially augmented training images. The deep architecture can outperform traditional estimation methods, and the improved method showed increased reliability. We have achieved state-of-the-art performance using the proposed method in the Morph-II dataset and have proven that the proposed method can be used effectively using the Adience dataset.

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.2
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• pp.269-281
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• 2014

This paper examines the suitability of using the Computational Fluid Dynamics (CFD) tools, ANSYS-CFX, as an initial analysis tool for predicting the drag and propulsion performance (thrust and torque) of a concept underwater vehicle design. In order to select an appropriate thruster that will achieve the required speed of the Underwater Disk Robot (UDR), the ANSYS-CFX tools were used to predict the drag force of the UDR. Vertical Planar Motion Mechanism (VPMM) test simulations (i.e. pure heaving and pure pitching motion) by CFD motion analysis were carried out with the CFD software. The CFD results reveal the distribution of hydrodynamic values (velocity, pressure, etc.) of the UDR for these motion studies. Finally, CFD bollard pull test simulations were performed and compared with the experimental bollard pull test results conducted in a model basin. The experimental results confirm the suitability of using the ANSYS-CFX tools for predicting the behavior of concept vehicles early on in their design process.