• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(3)
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• pp.5-8
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• 2002

In this paper, we propose the self-autonomous algorithm for mobile robot system. The proposed mobile robot system controlled by Personal Digital Assistant(PDA) can follow the target at regular intervals. The mobile robot can evaluate the distance between robot and target with ultrasonic sensors, transmits the distance to the PDA. The velocity and direction decided in PDA are transmitted to the mobile robot with wireless LAN communication. Considering the state, velocity-changing and distance-maintenance, of the mobile robot, driving velocity and direction are applied. For safety, the velocity of the mobile robot is changed step by step. As a result, we confirm the ability of following the target with proposed mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.908-911
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• 2004

There are various researches on mobile robot systems. Connection method between server and client of mobile robot system is one of them. In the case of mobile robot system, when connection method between server and client is wireless than wire, applications may be expanded. Also in remote monitoring environment using mobile robot system, we are interested in an effective transmission of the image information between server and client. In this paper, Bluetooth is used for connection method between server and client. One of the major applications of Bluetooth is the cable replacement for mobile and peripheral devices. Using Bluetooth, we propose the control method of mobile robot system. Bluetooth offers fast and reliable transmissions of both voice and data over the globally available 2.4GHz ISM (Industrial, Scientific and Medical) band. It has the advantage of small size, low power and low cost. It has the disadvantage of limited range and limited bandwidth. Also in order to transfer effectively image information between remote site(server) and mobile robot system(client) using Bluetooth, we applied to MPEG-2 and MPEG-4 image compression techniques and the results are compared with each other.

• 한국기계가공학회지
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• 제10권6호
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• pp.33-38
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• 2011

We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

• 전기학회논문지
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• 제59권9호
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• pp.1692-1698
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• 2010

In this paper we use wireless sensor network and ultrasonic sensors to estimate local position of mobile robots, and to navigate it. Ultra sonic sensor is simple and accurate so it is good to use in local estimation and navigation of mobile robots. But to obtain accurate distance of two sensors they need to face each others as possible as they can. To solve this problem we rotate ultra sonic sensor which is attached to robot in 360 degrees and obtain accurate distance. We can estimate precise position of mobile robot by triangulation using obtained distance information. A mobile robot navigates using embedded encoder and compensates its coordinates by ultrasonic sensors. Results of Experiments show proposed method obtains accurate distance between sensors and coordinates of position of robot. And mobile robots can navigate designated path well.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.261-265
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• 2005

In this paper, we constructed the infrastructure with wireless LAN and Access Point in the indoor environment and implemented the teleoperation. Wireless LAN based teleoperation system is irregular communication delay according to environment condition and occurrence possibility of blackout is very high. In this paper, In case these problem happened, we measured communication delay time by real time, and did mobile robot to control harmoniously through vision and force reflection information. Also, we present obstacle-avoidance mode that mobile robot can travel without collision using direction information in case communication delay time is large. We proved usefulness of presented algorithm through teleoperation experiment to apply presented algorithm.

• 한국산업융합학회 논문집
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• 제18권1호
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• pp.10-17
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• 2015

We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.116.4-116
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• 2002

$\textbullet$In case of using overhead camera system, mobile robot moves under static working area. $\textbullet$Mobile robot must use onboard camera system to work under wide working area. $\textbullet$Mobile robot must have wireless LAN to remove restriction of movement. $\textbullet$Onboard camera system must have wireless LAN environment. $\textbullet$We develop embedded vision platform using onboard camera.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1506-1510
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• 2004

A mobile robot system is developed to inspect the condition of industrial facilities under hot environment. The mobile robot is equipped with internal and external heat insulating material, an internal cooling mechanism, two CCD cameras, wireless communication devices for both the control and image signals, and an embedded controller. The portable controller is equipped with two joysticks for both the mobile robot and the inspection CCD camera, an LCD monitor, and several buttons. The developed mobile robot travels on the internal floor in hot furnaces by operators' joystick operation, captures the images of facilities in the furnaces using a zoom CCD camera, and sends the images to the portable controller through wireless communication. The mobile robot can be operated without any problem under hot environment less than 400$^{\circ}C$ in 30 minutes. This kind of automatic inspection mobile robot can be helpful to prevent significant troubles of industrial facilities without danger of human beings under harmful environment.

• 한국인터넷방송통신학회논문지
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• 제11권5호
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• pp.35-40
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• 2011

본 논문에서는, 무선 전력전송 방식을 이용한 이동로봇의 자동 충전 시스템을 개발한다. 기존 이동로봇의 자동 충전이 기구적 접촉에 의해 이루어졌던 것에 비해, 무선 전력전송을 이용한 충전 방법은 전자기 유도 방식에 의한 비접촉 충전시스템이다. 이 방식은 송수신 코일이 바른 위치에 정렬되어야만 효율적인 충전이 가능하다. 이 문제를 해결하기 위하여, 영상정보를 통해 충전시스템의 원형 송신 코일의 변형률을 인식하여, 효율적인 자동충전이 가능하도록 이동로봇의 자세를 제어한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.252-254
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• 2004

This paper proposes a common platform for an internet-based mobile robot and its operator terminal. The common platform can reduce the cost and time to develop an internet-based robot and its operator terminal. The robot performs the role of a server and its terminal a client. One operator can use this terminal to make a command and this command can be sent to the robot through a wireless network. According to given commands, the robot moves a point and sends an image by using a camera or desired information by using other sensors. The information sent from the robot can help an operator to control the robot. The mobile robot consists of two modules, main module and motion module. Main module can exchange information with the operator terminal, process information, and send a command to motion module. Each application program for one internet-based mobile robot and its operator terminal will be developed to show that the same platform can be used for them. Also, it will be shown that the robot can be controlled easily by using its operator terminal.