• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.542-545
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• 2005

본 연구에서는 Home Network System에서 가전기기들을 제어하고 집안의 상황을 원격지에 있는 사용자에게 전달해 줄 수 있는 Home Network Mobile Robot을 제작하여 보다 더 지능적이고 사용자에게 편리한 Home Network System을 구축한다. 이를 위해 본 논문에서는 실제 Home Network 시스템 하에서의 자율이동 로봇을 고안하였으며 이의 구동을 위해 OS로는 Linux Kernel 2.4를 Porting 하였고, Vision 및 Ethernet 통신이 용이하도록 회로를 설계, 제작하였다.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.2
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• pp.101-107
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• 2014

Mobile robots use an environment map of its workspace to complete the surveillance task. However grid-based maps that are commonly used map format for mobile robot navigation use a large size of memory for accurate representation of environment. In this reason, grid-based maps are not suitable for path planning of mobile robots using embedded board. In this paper, we present the path planning algorithm that produce a secure path rapidly. The proposed approach utilizes a hybrid map that uses less memory than grid map and has same efficiency of a topological map. Experimental results show that the fast path planning uses only 1.5% of the time that a grid map based path planning requires. And the results show a secure path for mobile robot.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.166-168
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• 2007

This paper is dealing with how to control of a client robot's movement for instructions from a server PC and a wireless andremote control Robot that sends the server information of images for monitoring. To implement this. 802.11x WLAN with TCP/IP socket programming is used to get the driving instructions from the server PC and control movements of the robot such as a forward, backward and directions. As well as this, ARM9 cored PAX255 embedded processor and Linux OS is used for the function transmitting BMP format of 320 ${\times}$ 240 pixel for stopped image data.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.82-90
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• 2008

In this paper, we introduce a biped walking robot which can do static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and is constructed by 22 RC servo motors. Before making an active algorithm, we generate the motions of robot with a motion simulator developed using C language. The two dimensional simulator is based on the inverse kinematics and D-H transform. The simulator implements various motions as we input the ankle's trajectory. Also the simulator is developed by applying the principle of inverted pendulum to acquisite the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle or pelvic when the robot lifts up its one side leg during the walking. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which is connected with laptop computer by serial cable.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.66-73
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• 2008

The pipes have been laid underground while the industry is developing. We have to take maintenance procedure when the pipes are cracked or ruptured. It is very difficult jop to check pipe's crack because the pipes are narrow and laid underground. Using in-pipe robot, we can check the conditions of inner section of pipes, therefore, we designed a crawler type robot to search cracked pipe. In this paper, we have made a special focus on the control of the robot using differential drive algorithm to move in curved section of pipes. The detailed design of the robot with experimental result show the effectiveness of the robot in pipe maintenance.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.3
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• pp.136-142
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• 2008

Mobile robots can offer services like intelligent monitoring in an indoor environment using network connection with remote users. In this paper, we designed and developed a networked security robot system with various sensors, such as flame detector, gas detector, sound monitoring module, and temperature sensor, etc. The robot can be accessed through a web service and the user can check the status of the environment. Using ADAMS software, we defined the motor specification for a worst-case condition of climbing over a obstacle. We applied the robot system in monitoring office condition.

• IEMEK Journal of Embedded Systems and Applications
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• v.14 no.3
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• pp.151-156
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• 2019

According to recent advances in technology, major robot technologies that have been developed and commercialized for industrial use are being applied to various fields in our everyday life such as guide robots and cleaning robots. Among them, the navigation based on the self localization has become an essential element technology of the robot. In the case of indoor environment, many high-priced sensors are used, which makes it difficult to activate the robot industry. In this paper, we propose a robotic platform and a moving algorithm that can travel by using Dijkstra algorithm. The proposed system can find a short route to the destination with its own position. Also, its performance is discussed through the experimentation of an actual robot.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.6
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• pp.281-287
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• 2020

In this paper, we propose a method for estimating a walking direction by which a mobile robots follows a person using TRT (Tensor RT) pose, which is motion recognition based on deep learning. Mobile robots can measure individual movements by recognizing key points on the person's pelvis and determine the direction in which the person tries to move. Using these information and the distance between robot and human, the mobile robot can follow the person stably keeping a safe distance from people. The TRT Pose only extracts key point information to prevent privacy issues while a camera in the mobile robot records video. To validate the proposed technology, experiment is carried out successfully where human walks away or toward the mobile robot in zigzag form and the robot continuously follows human with prescribed distance.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.194-200
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• 2006

The SoC and digital technology development recently enabled the emergence of information devices and control devices because the SoC presents many advantages such like lower power consumption, greater reliability, and lower cost. However, it is nearly impossible to use the SoC without operating systems because the SoC is included with many peripherals and complex architecture. It is required to use embedded operating systems and real-time operating systems may be used as an embedded operating system. So far, real-time operating systems are widely used to implement a Real-Time system since it meets developer's requirements. However, real-time operating systems have disadvantages including a lack of standards, expensive development, and license. Embedded Linux is able to overcome their disadvantages. In this paper, the implementation of control system platform for a mobile robot using real-time Embedded Linux is described. As a control hardware system platform, XScale board is used. As the real-time Embedded Linux, RTAI is adopted which is open source and royalty free, and supports various architectures and real-time devices, such like real-time CAN and real-time COM. This paper shows the implementation of RTAI on XScale board that means the porting procedure. We also applied the control system platform to the mobile robot and compared the Real-Time serial driver with non real-time serial driver. Experimental results show that that using RTAI is useful to build real-time control system with powerful functionalities of Linux.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1051-1061
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• 2005

This paper proposes a ubiquitous robot, Ubibot, as an integration of three forms of robots: Software robot (Sobot), Embedded robot (Embot) and Mobile robot (Mobot). A Sobot is a virtual robot, which has the ability to move to any place or connect to any device through a network in order to overcome spatial limitations. It has the capacity to interpret the context and thus interact with the user. An Embot is embedded within the environment or within physical robots. It can recognize the locations of and authenticate the user or robot, and synthesize sensing information. Also it has the ability to deliver essential information to the user or other components of Ubibot by using various types of output devices. A Mobot provides integrated mobile service. In addition, Middleware intervenes different protocols between Sobot, Embot, and Mobot in order to incorporate them reliably. The services provided by Ubibot will be seamless, calm and context-aware based on the combination of these components. This paper presents the basic concepts and structure of Ubibot. A Sobot, called Rity, is introduced in order to investigate the usability of the proposed concepts. Rity is a 3D synthetic character which exists in the virtual world, has a unique IP address and interacts with human beings through Vision Embot, Sound Embot, Position Embot and Voice Embot. Rity is capable of moving into a Mobot and controlling its mobility. In doing so, Rity can express its behavior in the virtual world, for example, wondering or moving about in the real world. The experimental results demonstrate the feasibility of implementing a Ubibot in a networked environment.