간행물
로봇학회논문지 KCI 등재 The Journal of Korea Robotics Society
- 발행기관 한국로봇학회
- 자료유형 학술지
- 간기 계간
- ISSN 1975-6291 (Print)2287-3961 (Online)
- 수록기간 2006 ~ 2020
- 주제분류 공학 > 제어계측공학 공학 분류의 다른 간행물
- 십진분류KDC 559DDC 629
권호리스트/논문검색
제4권 제2호 (2009년 5월) 11건
1.
2009.05
서비스 종료(열람 제한)
As expanding of service robots into the human life, the needs of robots are increased. The experts group forecasted that the robot market would grow rapidly in a short time, robot companies should compete with others for prior occupation in a market. In this research, we proposed a framework of robot identity design based on building methods of product identity and developed a case study. Identity is one of the strategies to distinguish from competitors through managing image united. It is possible to apply this identity approach on robot area, which was used for making image of companies, brands, and products. In general, identity has visual, invisual features, which can be classified into three elements; Robot Philosophy, Functional Affordance, Family Look. Robot philosophy means the vision or philosophy of a company through robot development, functional affordance is a character or role to serve and family look includes visual design elements like as shape, color, material, graphic, behavior etc. We suggest that this guide will be applied to build identity of following series of a model, models of same service group and all models of a company or commercial space.
2.
2009.05
서비스 종료(열람 제한)
In this paper, we present a linear controller for attitude of aircraft. We use a rotational matrix in one approach and a quaternion in the other approach. We also find some interesting mathematical properties concerning a symmetric rotational matrix and we use these properties to analyze the stability of the proposed control law. We find that the quaternion approach is better than rotational matrix approach because there exists no singular region problem in quaternion approach. On the other hand, singular region problem may happens in rotational matrix approach. The controller structure of the quaternion is also very simple compared with the one proposed by using a rotational matrix approach. We make use Matlab Simulink to simulate and illustrate the theoretical claims. The graphic animation program is developed based on Open-GL for the computer simulation of the proposed control algorithm.
3.
2009.05
서비스 종료(열람 제한)
Recently, simultaneous localization and mapping (SLAM) approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, due to the usage of the accurate sensors, distinct particles which compensate one another are attenuated as the RBPF-SLAM continues. To avoid this particle depletion, we propose the strategic games to assign the particle’s payoff which replaces the importance weight in the current RBPF-SLAM framework. From simulation works, we show that RBPF-SLAM with the strategic games is inconsistent in the pessimistic way, which is different from the existing optimistic RBPF-SLAM. In addition, first, the estimation errors with applying the strategic games are much less than those of the standard RBPF-SLAM, and second, the particle depletion is alleviated.
4.
2009.05
서비스 종료(열람 제한)
In this paper, we provide experimental results and verification for obstacle avoidance algorithm 'ELA(Emergency Level Around)', which is applicable to rescue robots. ELA is a low level intelligence-based obstacle avoidance algorithm, so can be used in fast mobile robots requiring high speed in operation with little computational load. Constructed system for experiments consist of laptop, sensors, peripheral devices and mobile robot platform VSTR(Variable Single-tracked Robot) to realize predetermined scenarios. Finally, experiment was conducted in indoor surroundings including miscellaneous things as well as dark environment to show fitness and robustness of ELA for rescue, and it is shown that VSTR navigates endowed area well with real-time obstacle avoidance based on ELA. Therefore, it is concluded that ELA can be a candidate algorithm to increase mobility of rescue robots in real situation.
5.
2009.05
서비스 종료(열람 제한)
In this paper, a localization error recovery method based on bias estimation is provided for outdoor localization of mobile robot using different-type sensors. In the previous data integration method with DGPS, it is difficult to localize mobile robot due to multi-path phenomena of DGPS. In this paper, fault data due to multi-path phenomena can be recovered by bias estimation. The proposed data integration method uses a Kalman filter based estimator taking into account a bias estimator and a free-bias estimator. A performance evaluation is shown through an outdoor experiment using mobile robot.
6.
2009.05
서비스 종료(열람 제한)
This paper presents a goal-directed reactive obstacle avoidance method based on lane method. The reactive collision avoidance is necessarily required for a robot to navigate autonomously in dynamic environments. Many methods are suggested to implement this concept and one of them is the lane method. The lane method divides the environment into lanes and then chooses the best lane to follow. The proposed method does not use the discrete lane but chooses a line closest to the original target line without collision when an obstacle is detected, thus it has a merit in the aspect of running time and it is more proper for narrow corridor environment. If an obstacle disturbs the movement of a robot by blocking a target path, a robot generates a temporary target line, which is parallel to an original target line and tangential to an obstacle circle, to avoid a collision with an obstacle and changes to and follows that line until an obstacle is removed. After an obstacle is clear, a robot returns to an original target line and proceeds to the goal point. Obstacle is recognized by laser range finder sensor and represented by a circle. Our method has been implemented and tested in a corridor environment and experimental results show that our method can work reliably.
7.
2009.05
서비스 종료(열람 제한)
Recently, people tracking technology is being required to various area including security application. This paper suggests a method to track people with multiple laser scanners to detect the waist part of human. Multi-target model and Kalman filter based estimation are employed to track the human movement. The proposed method is applied to a novel system to monitor the entrance area and to filter out the trespasser to pass through the door without identification. Experiments for various cases are performed to verify the usefulness of the developed system.
8.
2009.05
서비스 종료(열람 제한)
This paper describes how a person extracts a unknown object with pointing gesture while interacting with a robot. Using a stereo vision sensor, our proposed method consists of two stages: the detection of the operators' face, the estimation of the pointing direction, and the extraction of the pointed object. The operator's face is recognized by using the Haar-like features. And then we estimate the 3D pointing direction from the shoulder-to-hand line. Finally, we segment an unknown object from 3D point clouds in estimated region of interest. On the basis of this proposed method, we implemented an object registration system with our mobile robot and obtained reliable experimental results.
9.
2009.05
서비스 종료(열람 제한)
Visions of ubiquitous robotics and ambient intelligence involve distributing information, knowledge, computation over a wide range of servers and data storage devices located all over the world, and integrating tiny microprocessors, actuators, and sensors into everyday objects as well in order to make them smart. In this paper, we introduce our ongoing research effort aimed at realizing ubiquitous robots in an information structured space. For this, a ubiquitous space and ambient intelligent systems for a librarian robot are introduced and the RFID technology based approach for these systems is described.
10.
2009.05
서비스 종료(열람 제한)
A main distributing frame(MDF) is an interface unit that is used to connect office equipment cables in a telephone company to subscriber cables. Until now, there is no automated switching system for MDFs in Korea. Manual handling of an MDF has some drawbacks; It is time-consuming, very cumbersome, and expensive. It also makes maintenance hard. An automated main distributing frame system is proposed and commercialized in Japan. In that system, a robot gripper inserts connecting pins into the cross point holes of a matrix board, which reveals several disadvantages in the aspects of space, maintenance, fault tolerance, and economical efficiency. This paper describes a newly developed robotic switch board system for MDFs. In the developed system, switches are placed at the cross point of a matrix board. There is one robot in between two switch units, so one robot deals with two switch units. In the system, positioning the robot, opening and closing switches can be done by using only a pair of motors and a pair of solenoids. The newly developed system is compact in size, reduces cost, and shows high reliability.
11.
2009.05
서비스 종료(열람 제한)
In this paper, a new driving mechanism of security robots which should overcome obstacles with stability even though moving in high speed is introduced. The driving mechanism has spring-based suspension and two wheels positively necessary to overcome obstacles. From the driving mechanism, it is mainly discussed how we can decrease overshoot and impulse occurred when the robot is in the process of overcoming obstacles. Finally, design parameters of the driving mechanism which guarantees stable motion while overcoming obstacles is deduced based on simulation results. Experiments are also followed to demonstrate how well the manufactured system works in its early stage of the practical use.
