• Journal of Internet of Things and Convergence
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• v.9 no.6
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• pp.37-44
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• 2023

As a primary technology of Industry 4.0, human-robot collaboration (HRC) requires additional measures to ensure worker safety. Previous studies on avoiding collisions between collaborative robots and workers mainly detect collisions based on sensors and cameras attached to the robot. This method requires complex algorithms to continuously track robots, people, and objects and has the disadvantage of not being able to respond quickly to changes in the work environment. The present study was conducted to implement a web-based platform that manages collaborative robots by recognizing the emotions of workers - specifically their perception of danger - in the collaborative process. To this end, we developed a web-based application that collects and stores emotion-related brain waves via a wearable device; a deep-learning model that extracts and classifies the characteristics of neutral, positive, and negative emotions; and an Internet-of-things (IoT) interface program that controls motor operation according to classified emotions. We conducted a comparative analysis of our system's performance using a public open dataset and a dataset collected through actual measurement, achieving validation accuracies of 96.8% and 70.7%, respectively.

• Journal of Convergence for Information Technology
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• v.8 no.5
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• pp.77-83
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• 2018

A modular robot that memorizes motion can be easily created and operated because it expresses by hand. However, since there is not enough storage space in the module to store the user-created operation, it is impossible to reuse the created operation, and when the modular robot again memorizes the operation, it changes to another operation. There is no main controller capable of operating a plurality of modular robots at the same time, and thus there is a disadvantage that the user must input directly to the modular robot. To overcome these disadvantages, a remote controller has been proposed that can be operated in the surrounding smart devices by designing web server and component based software using wired and wireless network. In the proposed method, various types of structures are created by connecting to a modular robot, and the reconstructed operation is performed again after storing, and the usefulness is confirmed by regenerating the stored operation effectively. In addition, the reliability of the downloaded trajectory data is verified by analyzing the difference between the trajectory data and the actual trajectory. In the future, the trajectory stored in the remote controller will be standardized using the artificial intelligence technique, so that the operation of the modular robot will be easily implemented.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.74-81
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• 2008

This paper describes a low-cost omnidirectional camera system designed for the intruder detection capability of a security robot. Moving targets on sequential images are detected first by an adaptive background subtraction technique, and the targets are identified as intruders if they fail to enter a password within a preset time. A warning message is then sent to the owner's mobile phone. The owner can check scene pictures posted by the system on the web. The system developed worked well in experiments including a situation when the indoor lighting was suddenly changed.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.1
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• pp.1-8
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• 2002

It has been integrated into several navigation systems. This paper shows that system recognizes difficult indoor roads without any specific marks such as painted guide line or tape. In this method the robot navigates with visual sensors, which uses visual information to navigate itself along the read. The Neural Network System was used to learn driving pattern and decide where to move. In this paper, I will present a vision-based process for AMR(Autonomous Mobile Robot) that is able to navigate on the indoor read with simple computation. We used a single USB-type web camera to construct smaller and cheaper navigation system instead of expensive CCD camera.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.4
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• pp.216-223
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• 2015

The autonomous underwater vehicle (AUV) is being widely researched in order to achieve superior performance when working in hazardous environments. This research focuses on using image processing techniques to estimate the AUV's egomotion and the changes in orientation, based on image frames from different time frames captured from a single high-definition web camera attached to the bottom of the AUV. A visual odometry application is integrated with other sensors. An internal measurement unit (IMU) sensor is used to determine a correct set of answers corresponding to a homography motion equation. A pressure sensor is used to resolve image scale ambiguity. Uncertainty estimation is computed to correct drift that occurs in the system by using a Jacobian method, singular value decomposition, and backward and forward error propagation.

• Proceedings of the IEEK Conference
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• 2002.07c
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• pp.1499-1502
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• 2002

A method for acquiring an environmental map by integrating distance data obtained by sonars of a moving robot with web interface is proposed. Sonar data contains outliers in some cases such as ultrasonic beam is projected onto a corner of an object. Therefore, the influence of the outliers should be reduced by detecting outliers. In our method, the outliers are detected by two ways: (i) a method considering geometrical .elation among the observed surface and the projected ultrasonic beau, and (ii) a method considering consistency with data obtained by other sonars. By measurement by the sonar, the distance from the sonar to the obstacle is obtained. Assuming the two dimensional space we can know that the inside of the sector, whose renter coincide with the sonar and whose radius is equal to the obtained distance, is the free area, and a part of the arc of this sector is the obstacle area. The generation of the environmental map is done by integrating the free area and the obstacle area obtained by each measurement by the sonars. Before the integration, the outliers detection is done by two ways mentioned above. Experimental results show that obtained maps obtained by our methods with outliers defection are much better than those by a method without outliers detection.

• Proceedings of the Korea Contents Association Conference
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• 2008.05a
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• pp.517-520
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• 2008

This paper implements the graphic service template authoring tool based on the service template object model of describing the meta information of the services in the semantic web service environment. Our proposed system provides the robot services by constructing web services automatically and making the appropriate service plans. Moreover, it can create, append, delete, and update the service templates of URC based on STDL, and provide the graphic function on service template resources. In order to provide the user friendly environment in the service template phase, we implement the various editing environment : flow view style, grid view style, and text view style. We also provide the easy editing function by realizing abstract service block based on the robot API. Finally we can offer the intelligent and autonomous service of service agent based on semantic information.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.592-595
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• 2003

In this paper, we have designed a Home Networking System using an embedded linux board. The system based on the World-Wide-Web is composed of three parts - a Server, a Client and a Simulator. The Home Networking Server is built in an embedded board using an embedded linux kernel. A web-server and Home Networking Server Seryice Demon programming with a Jaya-Language is included in the board. Clients can connect to the server board using a web-browser in the desktop computer, PDA or any other machines which include a web-browser. For this purpose, we made the client program using a Java-Applet. So, the clients who connect to the server for the control of the applications, download the class-file and execute the client-program in the web-browser. So, the clients don't need any other programs to control the applications from a remote place. The size of server board is very small (86.3$\times$74mm), which makes it very useful not only for the Home-Networking-System but also in many other fields, e.g., embedded robot control system, etc. Using an embedded board instead of a desktop computer is good for a simple network environment and it occupies only a small space to make the system.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.599-604
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• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.10
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• pp.2129-2136
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• 2012

With the increased demand of ubiquitous home services, intelligent robots have wide attentions. This kind of robots offer various services through middleware components which can connect with remote servers. In this paper we present an UPnP(Universal Plug and Play) based open-source software framework which makes control the robots remotely. This UPnP architecture for home networking can provide various communication methodologies like command control, eventing, presentation with web services and so on. This paper shows successful implementation results on two real platforms.