• 지구물리와물리탐사
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• 제12권4호
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• pp.355-360
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• 2009

USN (Ubiquitous Sensor Network, 유비쿼터스 무선네트워크) 융합기술을 기반으로 하는 자원탐사 축소모형 시스템을 구축하였다. 실제 환경의 재현을 위해, 비금속 모형판 아래 금속판을 설치하고, 모형판 위에서 이동로봇에 설치된 고정밀 3축 자기센서를 이용하여 실제 자장값을 계측한다. 측정된 자장값은 무선네트워크를 이용하여 이동로봇이 중앙 컴퓨터로 전송한다. 이러한 하드웨어 기반의 테스트 시스템은 현장 상황을 물리적으로 유사하게 재현함으로써, 시뮬레이션의 신뢰도가 높고, USN기반 자원탐사시스템 설계지침을 다각도로 검토할 수 있다. 본 연구에서는 금속물체 탐지시스템을 재현하기 위해, 평판 위에서 이동로봇을 사용하여, 평판 아래에 설치된 금속판의 위치를 탐지하는 실험을 성공적으로 실시하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2007년도 하계종합학술대회 논문집
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• pp.393-394
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• 2007

Speaker Recognition for the Intelligent Service Robot is implemented in this paper. For this purpose, we perform speaker recognition based on Gaussian Mixture Model(GMM) and use robot platform called WEVER, which is a Ubiquitous Robotic Companion(URC) intelligent service robot developed at Intelligent Robot Research Division in ETRI. The experimental results reveals that the approach presented in this paper yields a good identification (89.00%) performance within 2 meter distance.

• 한국통신학회:학술대회논문집
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• 한국통신학회 2006년도 하계종합학술발표회 논문 초록집
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• pp.329-329
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• 2006

• Advances in robotics research
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• 제2권1호
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• pp.45-57
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• 2018

Even though the popularity of projection mapping continues to increase and it is being implemented in more and more settings, most current projection mapping systems are limited to special purposes, such as outdoor events, live theater and musical performances. This lack of versatility arises from the large number of projectors needed and their proper calibration. Furthermore, we cannot change the positions and poses of projectors, or their projection targets, after the projectors have been calibrated. To overcome these problems, we propose a projection mapping method using a projector robot that can perform projection mapping in more general or ubiquitous situations, such as shopping malls. We can estimate a projector's position and pose with the robot's self-localization sensors, but the accuracy of this approach remains inadequate for projection mapping. Consequently, the proposed method solves this problem by combining self-localization by robot sensors with position and pose estimation of projection targets based on a 3D model. We first obtain the projection target's 3D model and then use it to accurately estimate the target's position and pose and thus achieve accurate projection mapping with a projector robot. In addition, our proposed method performs accurate projection mapping even after a projection target has been moved, which often occur in shopping malls. In this paper, we employ Ubiquitous Display (UD), which we are researching as a projector robot, to experimentally evaluate the effectiveness of the proposed method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권4호
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• pp.293-298
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• 2006

In this paper, a sensor fusion based robot navigation method for the autonomous control of a miniature human interaction robot is presented. The method of navigation blends the optimality of the Fuzzy Neural Network(FNN) based control algorithm with the capabilities in expressing knowledge and learning of the networked Intelligent Robotic Space(IRS). States of robot and IR space, for examples, the distance between the mobile robot and obstacles and the velocity of mobile robot, are used as the inputs of fuzzy logic controller. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a sensor fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process. Preliminary experiment and results are shown to demonstrate the merit of the introduced navigation control algorithm.

• 한국인터넷방송통신학회논문지
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• 제9권6호
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• pp.55-61
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• 2009

본 논문은 유비쿼터스 센서 네트워크와 이동로봇에 내장된 회전 센서를 이용하여 실내에서의 이동로봇에 위치를 인식하고 이를 바탕으로 인터넷을 통한 원격제어 시스템 개발을 제안한다. 사용한 USN(Ubiquitous Sensor Network)은 ZigBee 기반으로 위치 인식 엔진을 탑재하고 RSSI(Received Signal Strength Indicator) 신호를 사용하여 노드간의 거리를 측정한다. 본 논문에서는 노드 간의 정확한 거리 정보를 얻고 이를 바탕으로 위치를 추정하기 위해 실험 입 출력 데이터를 가지고 퍼지 모델을 구하였고 거리의 오차를 수정하였다. 또한, RSSI 값의 부정확으로 인한 위치 인식의 오류를 보정하기 위해 이동로봇에 내장된 회전 센서를 이용하여 이동로봇의 좌표를 구하고 이를 위치 좌표의 보정에 사용하여 위치 인식의 정확성을 개선하였다. 제안된 방법에 의한 위치 인식을 기반으로 인터넷을 통한 원격제어 시스템을 개발하였다. 제안된 방법이 USN에 의해 추정된 위치 정보만을 사용하는 경우보다 정확하게 이동로봇의 위치를 추정하고 인터넷을 통한 원격 주행이 가능함을 보였다.

• 제어로봇시스템학회논문지
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• 제12궈1호
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• pp.47-53
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• 2006

Localization is a essential technology for mobile robot to work well. Until now expensive sensors such as laser sensors have been used for mobile robot localization. We suggest RFID tag based localization system. RFID tag devices, antennas and tags are cheap and will be cheaper in the future. The RFID tag system is one of the most important elements in the ubiquitous system and RFID tag will be attached to all sorts of goods. Then, we can use this tags for mobile robot localization without additional costs. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying mobile robot's location and pose in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. When a mobile robot localizes in this smart floor, the localization error mainly results from the sensing range of the RFID reader, because the reader just ran know whether a tag is in the sensing range of the sensor. So, in this paper, we suggest two algorithms to reduce this error. We apply the particle filter based Monte Carlo localization algorithm to reduce the localization error. And with simulations and experiments, we show the possibility of our particle filter based Monte Carlo localization in the RFID tag based localization system.

• Journal of information and communication convergence engineering
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• 제7권1호
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• pp.13-18
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• 2009

The robotics industry, that is the major industry of the future and one of the new growth power, is actively studied around ETRI, that is the leading under state-run research institute of the advanced technique of U.S. and Japanese and knowledge economy part. And positive and negative and academic circles, the research institute, and the industrial circles communally pursue the intelligent service robot enterprise of a network-based called URC. This network-based intelligent robot does the RUPI2.0 platform and URC environment by the base. Therefore, a stability need to be enhanced in the through this near future when the research for the preexistence vulnerability analysis and security request is needed than the commercialized network-based intelligent robot in order to implement the network-based intelligent robot. Thus, in this paper, we propose the efficient authentication Framework which is suitable for the URC environment.

• 로봇학회논문지
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• 제3권1호
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• pp.68-72
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• 2008

Combining robot and network gives us many advantages like lightweight hardware specification of robot, a various robot service, simple upgrade of robot, easy management and so on. Among these advantages, Presence service and openAPI are most important. Presence is simple but powerful service. It makes user to know the status information of robot and enables user to control robot from a remote place. OpenAPI which is also a feature of WEB2.0 enables $3^{rd}$ parties to make a various mashup service easily and rapidly. Finally presence and openAPI can help URC service to be ubiquitous and successful.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2780-2782
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• 2005

In this paper, we present a mobile robot localization solution by using a Ubiquitous Vision System (UVS). The collective information gathered by multiple cameras that are strategically placed has many advantages. For example, aggregation of information from multiple viewpoints reduces the uncertainty about the robots' positions. We construct UVS as a multi-agent system by regarding each vision sensor as one vision agent (VA). Each VA performs target segmentation by color and motion information as well as visual tracking for multiple objects. Our modified identified contractnet (ICN) protocol is used for communication between VAs to coordinate multitask. This protocol raises scalability and modularity of thesystem because of independent number of VAs and needless calibration. Furthermore, the handover between VAs by using ICN is seamless. Experimental results show the robustness of the solution with respect to a widespread area. The performance in indoor environments shows the feasibility of the proposed solution in real-time.