• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.11
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• pp.5496-5521
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• 2018

Object detection and tracking is the basic capability of mobile robots to achieve natural human-robot interaction. In this paper, an object tracking system of mobile robot is designed and validated using improved multiple instance learning algorithm. The improved multiple instance learning algorithm which prevents model drift significantly. Secondly, in order to improve the capability of classifiers, an active sample selection strategy is proposed by optimizing a bag Fisher information function instead of the bag likelihood function, which dynamically chooses most discriminative samples for classifier training. Furthermore, we integrate the co-training criterion into algorithm to update the appearance model accurately and avoid error accumulation. Finally, we evaluate our system on challenging sequences and an indoor environment in a laboratory. And the experiment results demonstrate that the proposed methods can stably and robustly track moving object.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.294-299
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• 2006

This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.346-349
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• 1995

In this paperwe develop a real-time simulator for direct drive cooperative robot by using OpenGL in a Windows NT based system. This simulator is composed of 2 parts, a display part and an interface part. In the display part the robot is modelled and rendered in 3D space. To do this OpenGL, a kind of graphic library, is used for rendering and animating robots and kinematics gives the information of the current robot configuration. The control and the feedback data are sent and received via the interface part. In real time simulation interfacing part needs fast data transfer rate and good nosic immunity. In experiment we have simulated 2-link direct drive cooperative robots using the trajectory tracking algorithm proposed in reference.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.343-352
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• 2012

To follow a sound source by a mobile robot, the relative position and orientation of the sound source from the mobile robot have been estimated using a microphone array. In this research, the difference among the traveling times of the sound source to each of three microphones has been used to calculate the distance and orientation of the sound source from the mobile robot which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference comparing to the conventional methods. To generate the tracking direction to the sound source, fuzzy rules are applied and the results are used to control the mobile robot in a real-time. The efficiency of the proposed algorithm has been demonstrated through the real experiments comparing to the conventional approaches.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.84-86
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• 2001

A new navigation method is developed and implemented for mobile robot. The mobile robot navigation problem has traditionally been decomposed into the path planning and path following. Unlike tracking-based system, which minimize intercept time and moved mobile robot distance for optimal rendezvous point selection. To research of random moving object uses algorithm of Adaptive Control using Auto-regressive Model. A fine motion tracking object's trajectory is predicted of Auto-regressive Algorithm. Thus, the mobile robot can travel faster than the target wi thin the robot's workspace. The can select optimal rendezvous point of various intercept time.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.99.4-99
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• 2002

A two-dimensional moving target is necessarily captured by a 5 dot robot system using a robot vision technique. Here, a robot vision system with a visual skill so that it can take information for a moving target or object, specially two dimensionally moving, is introduced and its algorithm and control strategy are presented associated with it. The tracking algorithm is proposed and its performance is verified by experiment. The camera first captures the object, then it captures again after certain second. The position difference generates the horizontal and vertical velocities of the moving target, hence the final destination is estimated at gripping line. At the same time, the robot s...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.647-652
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• 2000

This paper presents a study on the position tracking control of robot system on the uncertain elastic base. The elastic base is modeled as a virtual robot which has passive joints and the control strategy is using approximate Jacobian operators. Jacobian operators represent the overall robot system including base movement. However, because we don't know the base movement we can't estimate the jacobian operators directly. The control algorithm is proposed which uses only Jacobian operators of a real robot as approximate Jacobian operators. The measured errors from external sensor are compensated by approximate Jacobian operators. The simulation results of a single-axis robot system show that the control strategy can be used for position tracking.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.1
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• pp.25-31
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• 2012

We propose a method for an indoor mobile robot to track user with infrared transmitter. Several infrared receivers attached around by the mobile robot enable the robot to determine the moving direction by comparing the received signal patterns. The cost of the proposed system is not only cheaper than ultrasonic system, image signal processing, RFID, and RSSI method, but also robust against environment change because any complex algorithm is not necessary. In the mobile robot, ultrasonic sensors are equipped to avoid obstacles located in the moving direction, and a simple algorithm is embedded to avoid the case of poor signal reception.

• Journal of Advanced Navigation Technology
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• v.14 no.2
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• pp.206-212
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• 2010

In this paper, we introduce the concept of robotic zigbee network as a necessary network to provide an application service of robot in the ubiquitous environment and propose an application scenario using the concept of robot Zigbee network. We have performed experiments on the network connection and data transmission which are basic of proposed an application scenario. Through the result of the experiments, we provide basis for development of robot localization and tracking algorithm which minimizes the localization error using robot Zigbee network in the future.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.132-138
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• 2009

In this paper, control of an omni-directional mobile robot is presented. Relying on encoder measurements to define the azimuth angle yields the dead-reckoned situation which the robot fails in localization. The azimuth angle error due to dead-reckoning is compensated and corrected by the magnetic compass sensor. Noise from the magnetic compass sensor has been filtered out. Kinematics and dynamics of the omni-directional mobile robot are derived based on the global coordinates and used for simulation studies. Experimental studies are also conducted to show the correction by the magnetic compass sensor.