• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.957-962
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• 2005

Today, the elderly is increasing gradually in the Republic of Korea society and this problem will be more serious in the near future. Therefore, engineering support for aged people is required. We are establishing a new field of healthcare engineering for elderly people and aiming to support for aged people and disabled people using adaptive control and instrument technology. In this paper, the goal is to implement the shared control of a robot mobility aid for the elderly. As using this type of assistive technology to be useful by its intended user community, it supports elderly people and handicapped people to live independently in their private homes. The interface transforms the force applied by the user into the robot's motion. Devices like buttons, joysticks, and levers already exist for relaying user input; however, they require hand displacement that would loosen or otherwise release the user's hold. Such interfaces make operation very difficult and potentially unsafe. Therefore, we propose a shared control system. It's safe more than joysticks and buttons. The shared control is a means of registering the user's intention through physical interaction. It's an important component in the development of robotic elderly assistant. The concept of shared control describes a system which is two or more independent control systems. We are using that the three component blocks consist of pressure sensor (flexible force sensor), circuit of measurement and transfer function. Experimental trials of this paper have been tested at the indoor environment. The robot is able to know the user intended direction through haptic device were logged along with the robot's force sensor.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.8
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• pp.930-935
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• 2019

Our proposed system, MobiAutoBot, is a conceptual model of robotics process automation software at a cognitive automation level that can support mobile devices. MobiAutoBot consists of two parts: MobiAutoBot controller and MobiAutoBot runner. The MobiAutoBot controller directs, monitors, and interacts the Job on the mobile device, and the MobiAutoBot runner installed on the mobile device performs the commanded operation. If we provide automation for mobile devices to small businesses through our proposed MobiAutoBot, we can build low-cost robotic process automation functions that can be linked to existing information systems with mobile devices such as simple smartphones, even without an expensive information-based infrastructure. Our proposal is expected to serve as an opportunity to spread automation of robotics processes even to small and medium-sized companies and individual users who are difficult to equip with all information system infrastructure.

• Fashion & Textile Research Journal
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• v.25 no.2
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• pp.248-254
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• 2023

This study aims to measure the skin rigidity of different facial areas among Koreans and propose guidelines for each area's skin rigidity that can be applied with a facial robot for testing respiratory protective devices. The facial skin rigidity of 40 participants, which included 20 men and 20 women, aged 20 to 50, was analyzed. The rigidity measurement was conducted in 13 facial areas, including six areas in contact with the mask and seven non-contact areas, by referring to the facial measurement guidelines of Size Korea. The facial rigidity was measured using the Durometer RX-1600-OO while in a supine position. The measurement procedure involved contacting the durometer vertically with the reference point, repeating the measurement of the same area five times, and using the average of three values whose variability was between 0.4 and 4.2 Shore OO. The rigidity data analysis used precision analysis, descriptive statistics analysis, and mixed-effect ANOVA. The analysis confirmed the rigidity of the 13 measurement areas, with the highest rigidity of the face being at the nose and forehead points, with values of 51.2 and 50.8, respectively, and the lowest rigidity being at the chin and center of the cheek points, with values of 19.2 and 20.7, respectively. Significant differences between gender groups were observed in four areas: the tip of the nose, the point below the chin, the area below the lower jaw, and the inner concha.

• Korean Journal of Computational Design and Engineering
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• v.19 no.4
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• pp.356-367
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• 2014

A robotic sapatial augmented reality (RSAR) system, which combines robotic components with projector-based AR technique, is unique in its ability to expand the user interaction area by dynamically changing the position and orientation of a projector-camera unit (PCU). For a moving PCU mounted on a conventional robotic device, we can compute its extrinsic parameters using a robot kinematics method assuming a link and joint geometry is available. In a RSAR system based on user-created robot (UCR), however, it is difficult to calibrate or measure the geometric configuration, which limits to apply a conventional kinematics method. In this paper, we propose a data-driven kinematics control method for a UCR-based RSAR system. The proposed method utilized a pre-sampled data set of camera calibration acquired at sufficient instances of kinematics configurations in fixed joint domains. Then, the sampled set is compactly represented as a set of B-spline surfaces. The proposed method have merits in two folds. First, it does not require any kinematics model such as a link length or joint orientation. Secondly, the computation is simple since it just evaluates a several polynomials rather than relying on Jacobian computation. We describe the proposed method and demonstrates the results for an experimental RSAR system with a PCU on a simple pan-tilt arm.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.38-46
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• 2011

The OPRoS (Open Platform for Robotic Service) framework provides uniform operating environment for service robots. As an OPRoS-based service robot has to support real-time as well as non-real-time applications, application of Windows NT kernel based operating system can be restrictive. On the other hand, various benefits such as rich library and device support and abundant developer pool can be enjoyed when service robots are built on Windows NT. The paper presents a user-mode component scheduler of OPRoS, which can provide near real-time scheduling service on Windows NT based on the restricted real-time features of Windows NT kernel. The component scheduler thread with the highest real-time priority in Windows NT system acquires CPU control. And then the component scheduler suspends and resumes each periodic component executors based on its priority and precedence dependency so that the component executors are scheduled in the preemptive manner. We show experiment analysis on the performance limitations of the proposed scheduling technique. The analysis and experimental results show that the proposed scheduler guarantees highly reliable timing down to the resolution of 10ms.

• Proceedings of the Korea Contents Association Conference
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• 2006.11a
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• pp.70-74
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• 2006

In this paper, We propose the real-time monitor and control mechanism based-on web service for intelligent robot called URC(Ubiquitous Robotic Companion). URC is intelligent robot designed to interact with external digital device that can communicate through wire or wireless. In this paper, we designed the result of this study into the target robot called NETTORO and proved its practical worth. we optimized web-service technology in Embedded system environment so that can monitor and control indoors in remote place through acquired information from various sensors / actuators and then we designed. Also, we described command port to WSDL, so that can apply variously such as web server or application program in AXIS engine through gSOAP transmission protocol.

• Proceedings of the Korea Contents Association Conference
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• 2006.05a
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• pp.136-139
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• 2006

In this paper, We are proposed the real-time monitor and control mechanism for intelligent robot called URC(Ubiquitous Robotic Companion). URC are intelligent robots designed as to interact with external digital device that can communicate through wire or wireless by integration the network and information technology into traditional robot. In this paper, we implemented the result of this study into the target robot called ISSAC4 and proved its practical worth. We designed it as be able to control on remote by such web browser as anywhere and anytime that show a status information for several controllers, devices, actuators and sensors of robot and guarantee a continuity of real-time image transferring by Client-Pull method and moving control of robot.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.210-219
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• 2011

This paper studies how to combine devices such as monocular/stereo cameras, motors for panning/tilting, fisheye lens and convex mirrors, in order to solve vision-based robotic problems. To overcome the well-known trade-offs between optical properties, we present two mixed versions of the new systems. The first system is the robot photographer with a conventional pan/tilt perspective camera and fisheye lens. The second system is the omnidirectional detector for a complete 360-degree field-of-view surveillance system. We build an original device that combines a stereo-catadioptric camera and a pan/tilt stereo-perspective camera, and also apply it in the real environment. Compared to the previous systems, we show benefits of two proposed systems in aspects of maintaining both high-speed and high resolution with collaborative moving cameras and having enormous search space with hybrid configuration. The experimental results are provided to show the effectiveness of the mixing collaborative and hybrid systems.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.49 no.2
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• pp.75-82
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• 2012

In order to enable network robots to effectively collaborate with smart environments, it is crucial that various types of heterogeneous device platforms can communicate each other in flexible and efficient manners. Most of existing software platforms for network robots adopted general-purpose middlewares such as CORBA, which are not suitable to the communication between robots and smart environments due to their heavy size and complexity. Moreover, they do not provide network robot-specific features. Therefore, we propose a new TCP-based Remote Method Invocation framework. We devide the middleware into two layers i. e. transport layers and rmi layers and provide key features to each layer so that network robots can effectively communicate with various devices in smart environments.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1341-1344
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• 2015

In this paper, the designed fish robot is researched and developed for aquarium underwater robot. This paper is a study on how the outside technology merely to find the location of fish robots without specific sensor or internal devices. This model is designed to detect the position of the Robotic Fish in the Mat lab and Simulink. This intends to recognize the shape of the tank via a video device such as a camera or camcorder using an image processing technique to identify the location of the robotic fishes. Here, we are applied the two methods, one is Hom - Schunk Method and second one is newly proposed method that is the comparing image data algorithm. The Horn - Schunck Method is used to obtain the velocity for each pixel in the image and the comparing image data algorithm is proposed to obtain the position with comparing two video frames and assumes a constant velocity in each video frame.