• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.11
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• pp.97-105
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• 1996

This paper is a study on the implementation of speech recognition mobile robot to which the interactive speech recognition techniques is applied. The speech command uttered the sentential connected word and is asserted through the wireless mic system. This speech signal transferred LPC-cepstrum and shorttime energy which are computed from the received signal on the DSP board to notebook PC. In notebook PC, DP matching technique is used for recognizer and the recognition results are transferred to the motor control unit which output pulse signals corresponding to the recognized command and drive the stepping motor. Grammar network applied to reduce the recognition speed of the recogniger, so that real time recognition is realized. The misrecognized command is revised by interface revision through the conversation with mobile robot. Therefore, user can move the mobile robot to the direction which user wants.

• Proceedings of the Korea Contents Association Conference
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• 2006.11a
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• pp.264-268
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• 2006

This paper presents a fire and smoke animation system using stable fluid animation techniques. Stable and fast fluid simulation methods are developed in PC and console games, but fluid simulation and interactive fluid models still have many problems. We studied and implemented physics-based models for fluids like fire and smoke effects using mobile 3D system. The mobile platform of our system is WIPI, which are the standard mobile platform in Korea also we adopted NF3D API for our 3D programming API.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2004.06a
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• pp.430-432
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• 2004

Tele-operation and remote monitoring techniques are essential and important technologies for the inspection and maintenance of the radioactive waste. A mobile robot has been developed for the application of remote monitoring and inspection of nuclear facilities, where human access is limited because of the high-level radioactive environments, The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch, The extendable mast, mounted on the mobile robot, car be extended up to 8 m vertically. The robust controller for radiation is designed in focus on electric components to prevent abnormal operation in a highly radioactivated area during reactor operation, This robot system will enhance the reliability of nuclear power facilities, and cope with the unexpected radiation accident.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.240-243
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• 2003

In this study, as the preliminary step far developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results from the simulations run.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.4
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• pp.319-326
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• 2014

Accurate estimation of the robot's position has an important role in autonomous navigation. Odometry is one of the most widely used techniques for mobile robot positioning. However, odometry has a well-known drawback that the position errors are accumulated when the travel distance increases. The UMBmark method is the conventional odometry calibration scheme for two wheel differential mobile robots. In the UMBmark method, the approximations for small angles are used in order to simplify the calculations. In this paper, we propose the new calibration scheme by using experimental orientation errors. Kinematic parameters can be calculated accurately without approximations by using experimental orientation errors. The numerical simulation and experimental results show that the odometry accuracy can be improved by the proposed method.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.4
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• pp.160-166
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• 2002

Since conventional mobile robot control with one module has limitation to solve complex problems, there have been a variety of works on combining multiple modules for solving them. Recently, many researchers attempt to develop mobile robot controllers using artificial life techniques. In this paper, we develop a mobile robot controller using cellular automata based neural networks, where complex tasks are divided to simple sub-tasks and optimal neural structure of each sub-task is explored by genetic algorithm. Neural network modules are combined dynamically using the action selection mechanism, where basic behavior modules compete each other by inhibition and cooperation. Khepera mobile robot simulator is used to verify the proposed model. Experimental results show that complex behaviors emerge from the combination of low-level behavior modules.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.134-138
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• 2005

There are several application have been developed on internet-based speech recognition. Internet-based speech recognition is a distributed application and there were various techniques and methods have been using for that purposed. Currently, client-server paradigm was one of the popular technique that been using for client-server communication in web application. However, there is a new paradigm with the same purpose: mobile agent technology. Mobile agent technology has several advantages working on distributed internet-based system. This paper presents, applying mobile agent technology in internet-based speech recognition which based on client-server processing architecture.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2093-2095
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• 2002

Nowadays, there are actually lots of changes in wireless communications of Korea. But it is not an exact PTP(Peer to Peer) Communication. In other words, a mobile station which can find fixed station can be connected with wireless internet server or other services, oppositely fixed station cannot approach to mobile station. Even though it exists, it is difficult to communicate with full duplex. We can service using CDMA 1X techniques such as cellular based SMS (Short Message Service) service or very simple MPRG Services. In this paper, we propose a system, using DirectX based mobile/fixed station stand alone program, depending on bandwidth of wireless service provider, tranceiving high resolution moving picture or reliable data regularly by a fixed connection each other.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2004.03a
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• pp.189-194
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• 2004

최근 정보통신기술의 급속한 발전은 Mobile 기반의 GIS 구현 및 활용을 가능하게 하였다. 현재 지자체 상하수도관리업무는 현장작업(외업)과 실내작업(내업)이 혼합되어 있으며, 시설물 관리 및 공사감독 업무의 경우 현장작업과 실내업무가 같은 연장선상에 있어 기존 업무흐름체계로는 업무를 이중으로 처리하여야 하는 문제점이 있다. 이러한 문제점은 데이터의 오류 및 중복업무에 따른 업무가중을 초래하여 업무효율성 제고에 영향을 미친다. 본 연구에서는 이러한 문제점의 해결방안을 찾고자 경기도 고양시를 연구 대상지역으로 하여, Mobile GIS를 기반으로 한 상하수도 관리업무의 효율적인 지원방안을 연구하였고, 그에 따른 효율성을 정량적으로 분석하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.1
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• pp.41-48
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• 2014

This paper analyzes the Monte Carlo localization (MCL) method, which estimates the pose of an indoor mobile robot. A mobile robot must know where it is to navigate in an indoor environment. The MCL technique is one of the most influential and popular techniques for estimation of robot position and orientation using a particle filter. For the analysis, we perform experiments in an indoor environment with a differential drive robot and ultrasonic range sensor system. The analysis uses MATLAB for implementation of the MCL and investigates the effects of the control parameters on the MCL performance. The control parameters are the uncertainty of the motion model of the mobile robot and the noise level of the measurement model of the range sensor.