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
제5권 제3호 (2010년 8월) 11건
1.
2010.08
서비스 종료(열람 제한)
In this paper, a wall climbing robot, called LAVAR, is developed, which is using an impeller for adhering. The adhesion mechanism of the robot consists of an impeller and two-layered suction seals which provide sufficient adhesion force for the robot body on the non smooth vertical wall and horizontal ceiling. The robot uses two driving-wheels and one ball-caster to maneuver the wall surface. A suspension mechanism is also used to overcome the obstacles on the wall surface. For its design, the whole adhering mechanism is analyzed and the control system is built up based on this analysis. The performances of the robot are experimentally verified on the vertical and horizontal flat surfaces.
2.
2010.08
서비스 종료(열람 제한)
In this paper, we present a global localization and position error compensation method in a known indoor environment using magnet hall sensors. In previous our researches, it was possible to compensate the pose errors of xe, ye, θe correctly on the surface of indoor environment with magnets sets by regularly arrange the magnets sets of identical pattern. To improve the proposed method, new strategy that can realize the global localization by changing arrangement of magnet pole is presented in this paper. Total six patterns of the magnets set form the unique landmarks. Therefore, the virtual map can be built by using the six landmarks randomly. The robots search a pattern of magnets set by rotating, and obtain the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. We provide experimental results to show the effectiveness of the proposed method for a differential drive wheeled mobile robot.
3.
2010.08
서비스 종료(열람 제한)
The ostraciiform swimming mode allows the simplest mechanical design and control for underwater vehicle swimming. Propulsion is achieved via the flapping of caudal fin without the body undulatory motion. In this research, the propulsion of underwater vehicles by ostraciiform swimming mode is explored experimentally using an ostraciiform fish robot and some rigid caudal fins. The effects of caudal fin flapping frequency and amplitude on the cruising performance are studied in particular. A theoretical model of propulsion using rigid caudal fin is proposed and identified with the experimental data. An experimental method to obtain the drag coefficient and the added mass of the fish robot is also proposed.
4.
2010.08
서비스 종료(열람 제한)
This paper presents a graphic user interface system consisting of graphic simulator and remote control system for a building cleaning robot. It provides a tool of convenient 3D graphical map construction for real world. The 3D map is reconstructed from existing 2D building CAD data with DXF format by using OpenGL graphic API. Through this system, graphic display of robot's status information, remote control and cleaning scheduling can be done for a building cleaning robot. This proposed system is expected to give efficient way of graphic simulation and remote monitoring and control system for a building cleaning robot.
5.
2010.08
서비스 종료(열람 제한)
Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a new robotic lamp that creates three degrees of freedom (DOF) motion by using a spherical-type parallel mechanism with a unique forward kinematic position. In the robotic lamp, three motors are placed at the base frame to control two tilting angles and one zoom in-and-out motion for a localized light. The kinematic model of this device is derived and the proto type has been developed. The performance of this device was verified through experiment.
6.
2010.08
서비스 종료(열람 제한)
As robots are no longer just working labors in the industrial fields, but stepping into the human's daily lives, interaction and communication between human and robot is becoming essential. For this social interaction with humans, emotion generation of a robot has become necessary, which is a result of very complicated process. Concept of mood has been considered in psychology society as a factor that effects on emotion generation, which is similar to emotion but not the same. In this paper, mood factors for robot considering not only the conditions of the robot itself but also the circumstances of the robot are listed, chosen and finally considered as elements defining a 2-dimensional mood space. Moreover, architecture that combines the proposed mood model and a emotion generation module is given at the end.
7.
2010.08
서비스 종료(열람 제한)
For indoor mobile robots, the performance of autonomous navigation is affected by a variety of factors. In this paper, we focus on the characteristics of indoor absolute positioning systems. Two commercially available sensor systems are experimentally tested under various conditions. Mobile robot navigation experiments were carried out, and the results show that resultant performance of navigation is highly dependent upon the characteristics of positioning systems. The limitations and characteristics of positioning systems are analyzed from both quantitative and qualitative point of view. On the basis of the analysis, the relationship between the positioning system characteristics and the controller design are presented.
8.
2010.08
서비스 종료(열람 제한)
A URC, which is a Ubiquitous Robot Companion, provides services to users in ubiquitous computing environments and has advantage of simplifying robot's hardware and software by distributing the complicated functionality of robots to other system. In this paper, we propose SOWL, which is a software architecture for URC robots and a mixed word of SOMAR and CAWL. SOWL keeps the advantages of URC and it also has the loosely-coupled characteristics. Moreover it makes it easy to develop of URC robot software. The proposed architecture is composed of 4 layers: device software, robot software, robot application, and end user layer. Developers of the each layer is able to build software suitable for their requirements by combining software modules in the lower layer. SOWL consists of SOMAR and CAWL engine. SOMAR, which is a middleware for the execution of device software and robot software, is based on service-oriented architecture(SOA) for robot software. CAWL engine is a system to process CAWL which is a context-aware workflow language. SOWL is able to provide a layered architecture for the execution of a robot software. It also makes it possible for developers of the each layer to build module-based robot software.
9.
2010.08
서비스 종료(열람 제한)
In this paper, we introduce an internal pipeline exploration of an in-pipe robot, based on the landmark recognition system. The fittings of pipelines such as elbows and branches are used as the landmarks. The robot recognizes the landmarks with a vision system by using the shadows of the elements, which are generated by the specially designed illuminator on the robot. By using a simple image-processing, the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, all information for exploration is continuously recorded and used to reconstruct the map of the pipelines. The effectiveness of the proposed method is verified by real experiments using the in-pipe robot MRINSPECT V for moving inside of the miniature urban 8-inch gas pipeline structure.
10.
2010.08
서비스 종료(열람 제한)
This paper presents a probabilistic head tracking method, mainly applicable to face recognition and human robot interaction, which can robustly track human head against various variations such as pose/scale change, illumination change, and background clutters. Compared to conventional particle filter based approaches, the proposed method can effectively track a human head by regularizing the sample space and sequentially weighting multiple visual cues, in the prediction and observation stages, respectively. Experimental results show the robustness of the proposed method, and it is worthy to be mentioned that some proposed probabilistic framework could be easily applied to other object tracking problems.
11.
2010.08
서비스 종료(열람 제한)
Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.
