• KIPS Transactions on Computer and Communication Systems
• /
• v.6 no.5
• /
• pp.211-218
• /
• 2017

Recent robot software platform research focuses on providing intelligent service via abstraction of robot devices. Context-aware techniques are necessary for intelligent robot services, which are based on the perception of environmental information obtained from heterogeneous sensors in IoT environment. Robot Operating System (ROS) provides protocols to operate robot devices. ROS includes functions for abstracting heterogeneous sensors themselves in order to control the robot, however, it lacks the ability to provide context information that the robot can perceive based on environmental information through consistent collection methods. In this paper, we propose a relay system for ROS to provide context-aware robot service. The proposed system makes it possible for ROS to control and provide context-aware robot services with relay of an external context-aware system and ROS. In experiments, we demonstrate procedures that robot services abstracted from ROS and an external context-aware system works together based on the proposed system.

• Proceedings of the IEEK Conference
• /
• 2005.11a
• /
• pp.1101-1104
• /
• 2005

As intelligence of robot is developed, consumer of robot changes by ordinary people. Intelligent service robot is produced to a target of ordinary people. It is risen that need the most service robot business. Among the control mobile robot because using network by real time. Do to appear on mobile phone LCD screen being transmitted image from device that acquire transmit of mobile phone user interface development and real time mobile robot in this study. Use the BREW that is Qualcomm's Mobile platform for mobile phone user interface development. Mobile phone JPEG compression function chooses excellent camera phone and display transmit image which send connection setting screen and mobile robot on LCD screen by real time. At the same time, materialize to make screen that can process button input that can control transfer of robot. Also, Relay Server used to help processing of protocol to control direction of mobile robot.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.33 no.11B
• /
• pp.1030-1037
• /
• 2008

This paper presents an algorithm for the path-finding problem in unknown environments with cooperative and commutative multi-robots. To verify the algorithm, we investigate the problem of escaping through the exit of a randomly generated maze by muti-robots. For the purpose, we adopt the so called frontier cells and cell utility functions, which were used in the exploration problem for the multi-robots. For the wireless communications among the mobile robots, we modify and utilize the so called the random basket routing, a kind of hop-by-hop opportunistic routing. A mobile robot, once it finds the exit, will choose its next action, either escape immediately or stay-and-relay the exit information for the others, where the robot takes one action based on a given probability. We investigate the optimal probability that minimizes the average escaping time (out of the maze to the exit) of a mobile robot.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.12
• /
• pp.1132-1137
• /
• 2013

In swarm robot systems, it is vital to maintain network connectivity to ensure cooperative behavior between robots. This paper deals with the behavior control algorithm of the swarm robots for maintaining network connectivity. To do this, we divide swarm robots into search-robots, base-robots, and relay-robots. Using these robots, we propose behavior control algorithm to maintain network connectivity. The behavior control algorithms to maintain network connectivity are proposed for the local path planning using virtual force and global path planning using the Delaunay triangulation, respectively. Finally, we demonstrate the effectiveness and applicability of the proposed method through some simulations.

• Journal of the Institute of Convergence Signal Processing
• /
• v.7 no.2
• /
• pp.45-52
• /
• 2006

Mobile Ad-hoc Network(MANET) could be applied to various applications by virtue of its characteristics such as self-organizing and infrastructure-free network. This paper proposes a multimedia application service model for MANET, called multi-hop Relay(mRelay) system. It supports a multi-hop communication-based multimedia service interworked with Internet by using an unmanned moving robot with wireless multimedia communication function as a mRelay terminal. The modified AODV routing protocol was applied to the terminal and it was verified that composition and maintenance of mobile Ad-hoc network in mRelay system under the various indoor scenarios were successful and stable multi-hop multimedia services were possible. The mRelay system can be applicable to various application services of mobile Ad-hoc networks.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.5 no.1
• /
• pp.144-149
• /
• 2001

There are many types of seam tracking methods actually used in industrial spot. Lately, Non-contact sensor technics are mostly used because non-contact sensor has more advantage than contact sensor in many parts. This paper also concerned about fiber sensor a kind of non-contact sensor. X-Y robot and fiber sensor scan the seam tracking to be weld. After scanning, X-Y robot moves the first working point of being scanned and welding starts automatically. It makes an experiment on some types of Seam tracking like straight line tracking, leaned line tracking and curved line tracking to confirm how well the fibers sensor tracks the seam pass to be weld. And the seam pass that had been tracked was welded by inverter $CO_2$ voiding machine.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2000.10a
• /
• pp.558-561
• /
• 2000

There are many types of seam tracking methods actually used in industrial spot. Lately, Non-contact sensor technics are mostly used because non-contact sensor has more advantage than contact sensor in many parts. This paper also concerned about fiber sensor a kind of non-contact sensor. X-Y robot and fiber sensor scan the seam tracking to be weld. After scanning, X-Y robot moves the first working point of being scanned and welding starts automatically. It makes an experiment on some types of Seam tracking like straight line tracking, leaned line tracking and curved line tracking to confirm how well the fibers sensor tracks the seam pass to be weld. And the seam pass that had been tracked was welded by inverter CO2 welding machine.

• Journal of Mechanical Science and Technology
• /
• v.15 no.10
• /
• pp.1369-1379
• /
• 2001

This paper focuses on a development of a sensor system measuring locations of a vehicle to localize a mobile robot while it tracks on the track (location sensor) . Also it focuses on a system configuration identifying the vehicle's orientation and distance from the object while it is stationary at certain station (position sensor) . As for the location sensor it consists of a set of sensors with a combined guiding and counting sensor, and an address-coded sensor to localize the vehicle while moving on the rail. For the position sensor a PSD (Position Sensitive Device) sensor with photo-switches sensor to measure the offset and orientation of the vehicle at each station is introduced. Both sensor systems are integrated with a microprocessor as a data relay to the main computer controlling the vehicle. The location sensor system is developed and its performance for a mobile robot is verified by experiments. The position measuring system is proposed and is robust to the environmental variation. Moreover, the two kinds of sensor systems guarantee a low cost application and high reliability.

• The Journal of Korea Robotics Society
• /
• v.6 no.2
• /
• pp.97-107
• /
• 2011

This paper describes efficient flight control algorithms for building a reconfigurable ad-hoc wireless sensor networks between nodes on the ground and airborne nodes mounted on autonomous vehicles to increase the operational range of an aerial robot or the communication connectivity. Two autonomous flight control algorithms based on adaptive gradient climbing approach are developed to steer the aerial vehicles to reach optimal locations for the maximum communication throughputs in the airborne sensor networks. The first autonomous vehicle control algorithm is presented for seeking the source of a scalar signal by directly using the extremum-seeking based forward surge control approach with no position information of the aerial vehicle. The second flight control algorithm is developed with the angular rate command by integrating an adaptive gradient climbing technique which uses an on-line gradient estimator to identify the derivative of a performance cost function. They incorporate the network performance into the feedback path to mitigate interference and noise. A communication propagation model is used to predict the link quality of the communication connectivity between distributed nodes. Simulation study is conducted to evaluate the effectiveness of the proposed reconfigurable airborne wireless networking control algorithms.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2018.10a
• /
• pp.329-331
• /
• 2018

In this paper, we propose a monitoring system that starts with the supply of raw materials for threading, is processed into a lathe machine, and checks for defects of the product are automatically performed by the robot with Smart Factory technology through assembly and disassembly. Completion check according to the production instruction quantity and production instruction is made by checking the production status according to whether or not the raw material is worn by the displacement sensor, and checking the pitch and the contour of the processed female and male to determine OK and NG. The robotic system acts as a relay for loading and unloading of raw materials, pallet transfer, and overall process, and it acts as an intermediary for organically driving. The location information of the threaded products is collected by using the non-contact wireless tag and the energy saving system Production efficiency and utilization rate were checked. The environmental sensor collects the air-conditioning environment data (temperature, humidity), measures the temperature and humidity accurately, and checks the quality of product processing. It monitors and monitors the driving hazard level environment (overheating, humidity) of the product. Controls for CNC and robot module PLC as a heterogeneous system.