• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.11 no.6
• /
• pp.207-214
• /
• 2011

In this paper, using Zigbee-based wireless sensor networks and Lego MindStorms NXT robot, a remote monitoring and navigation system for mobile robot has been developed. Mobile robot can estimate its position using encoder values of its motor, but due to the existing friction and shortage of motor power etc., error occurs. To fix this problem and obtain more accurate position of mobile robot, a ultrasound module on wireless sensor networks has been used in this paper. To overcome disadvantages of ultrasound which include straightforwardness and narrow detection coverage, we rotate moving node attached to mobile robot by $360^{\circ}$ to measure each distance from four fixed nodes. Then location of mobile robot is estimated by triangulation using measured distance values. In addition, images are sent via a network using a USB Web camera to smart phone. On smart phones we can see location of robot, and images around places where robot navigates. And remote monitoring and navigation is possible by just clicking points at the map on smart phones.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.14 no.6
• /
• pp.221-227
• /
• 2014

This paper presented a design which was a minimized remote control robot. This remote control robot was created for preventing life damage from conflagrations, nuclear events and HF gas accidents. This robot's system based smart phone that had camera and GPS systems. When fire came out, The robot figured out that how big fire was, where the fire was started and various aspects of situations. And The robot broadcasted the informations to smart phone using mobile application and wi-fi camera. By doing these, the fire mans could more accurate and be easier to plan a strategy for saving life. The body of robot are 2 parts. One is a car and the other one is a remote controller. By the power, 1step to 10steps, of grabbing remote controller could change the car's speed to move. Also, The prototype robot was already confirmed its utility itself.

• Journal of Convergence for Information Technology
• /
• v.11 no.4
• /
• pp.83-101
• /
• 2021

This study is to investigate, using AHP, what technologies should be applied first to Korean SMEs in order to respond to the 4th industrial revolution and change to a smart enterprise. To this end, technologies related to the 4th industrial revolution and smart factory are synthesized, and the classification criteria of Dae-Hoon Kim et al. (2019) are applied, but additional opinions of experts are collected and related technologies are converted to artificial intelligence (AI), Big Data, and Cloud Computing. As a base technology, mobile, Internet of Things (IoT), block chain as hyper-connected technology, unmanned transportation (autonomous driving), robot, 3D printing, drone as a convergence technology, smart manufacturing and logistics, smart healthcare, smart transportation and smart finance were classified as smart industrial technologies. As a result of confirming the priorities for technical use by AHP analysis and calculating the total weight, manufacturing companies have a high ranking in mobile, artificial intelligence (AI), big data, and robots, while service companies are in big data and robots, artificial intelligence (AI), and smart healthcare are ranked high, and in all companies, it is in the order of big data, artificial intelligence (AI), robot, and mobile. Through this study, it was clearly identified which technologies should be applied first in order to respond to the 4th industrial revolution and change to a smart company.

• Journal of the Korean Society of Industry Convergence
• /
• v.22 no.2
• /
• pp.209-218
• /
• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.49 no.2
• /
• pp.75-82
• /
• 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 Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.1034-1039
• /
• 2005

SALM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important tasks in mobile robot research. Until now expensive sensors such as a laser sensor have been used for mobile robot localization. Currently, the proliferation of RFID technology is advancing rapidly, while RFID reader devices, antennas and tags are becoming increasingly smaller and cheaper. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying location of the mobile robot in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, the localization error results from the sensing area of the RFID reader, because the reader just knows whether the tag is in the sensing range of the sensor and, until now, there is no study to estimate the heading of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. The Markov localization method is used to reduce the location(X,Y) error and the Kalman Filter method is used to estimate the heading($\theta$) of mobile robot. The algorithms which are based on Markov localization require high computing power, so we suggest fast Markov localization algorithm. Finally we applied these algorithms our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors such as odometers and RFID tags for mobile robot localization in the smart floor

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2014.07a
• /
• pp.53-54
• /
• 2014

본 논문에서는 시각 장애인들을 위해 유용한 정보를 제공해 주기 위한 촉각표시장치의 효율적인 정보 표시 방법에 대해 제안한다. 이 방법은 전방에 장애물이 있을 경우 이를 인지 및 촉각 정보로 변환하여 제공함으로 인해 사고를 미연에 예방하고자 한다. 이 방법은 저가의 스테레오 카메라를 이용하여 경제적인 비용으로 구성이 가능하다.

• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.325-329
• /
• 2001

This paper addresses a control architecture for the hospital service robot, SmartHelper. With a sensing-reasoning-acting paradigm, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the control architecture is verified.

• Journal of the Korean Society of Industry Convergence
• /
• v.22 no.5
• /
• pp.561-573
• /
• 2019

This study proposes a new approach to implement smart factory based on robot monitoring system for a small and medium sized enterprise. The simulator includes the forward kinematics and inverse kinematics analyzes of articulated robots. We also modeled the dynamics of the robot and made it possible to simulate it in the program. We studied the interface between the user and the monitoring programming system using the GUI environment of Windows OS, and it is configured to select the appropriate trajectory planning and control method. The reliability of simulator is illustrated by simulation test.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.13 no.9
• /
• pp.4193-4199
• /
• 2012

In this study, the intelligent robot equipped with an Android-based smartphone to enable the implementation of the performance of smartphone applications and robot platform has been designed and implemented. Smart phone that have touch screen, sound input/output, network and various sensor functions to robot platform that have simplicity function of power and motor etc. graft together and embodied so that can achieve function of remote control, home automation, game machine, R-running race etc. Phone used in the study of the Bluetooth communication sending and receiving data between the robot and from a remote computer over the Internet via WI-FI is designed to perform communication.