Hyung Lee

A wheeled-mobile robot with human interaction based on force control

In this paper, a mobile robot carrier is designed and controlled to carry an elderly person or a weak person. The carrier robot is a wheeled mobile robot driven with applied forces induced by an operator. The applied force can be sensed by a force sensor and the measured force is filtered by the impedance function to generate the desired velocity to drive motors. Then the inner loop PID controller is required to follow the desired velocity which is the reference input to the system. The impedance function is designed to make driving condition comfortable for the driver by smoothing out instant start and stop. The feasibility of applying the force control method to the mobile robot has been tested by conducting experimental studies of riding the carrier to evaluate comforts.

Design of Parallel Processing System for Facial Image Retrieval

Method of enhancing the processing speed of automatic recognition and retrieval of human faces was investigated. Here, we proposed a parallel program based on mesh method and a parallel processing system that is similar to an SIMD architecture. The simulation result yielded 61.9 times faster speed than the serial processing.

Development of geoData Aquisition System for Panoramic Image Contents Service based on Location

geoContents have been closely related with personal life since the Google Earth and Street View by Google and the Road View by Daum were introduced. So, Location-based content, which is referred to geoContents, involving geometric spacial information and location-based image information is a sharp rise in demand. A mobile mapping system used in the area of map upgrade and road facility management has been having difficulties in satisfying the demand in the cost and time for obtaining these kinds of contents. This paper addresses geoData acquisition and processing system for producing panoramic images. The system consists of 3 devices: the first device is 3 GPS receivers for acquiring location information which is including position, attitude, orientation, and time. The second is 6 cameras for image information. And the last is to synchronize the both data. The geoData acquired by the proposed system and the method for authoring geoContents which are referred to a panoramic image with position, altitude, and orientation will be used as an effective way for establishing the various location-based content and providing them service area.

Implementation of Tele-operation Control with Force Feedback of Omini-Directional Mobile Robot (ODMR)

This paper presents the teleoperation control with force feedback of the omni-directional mobile robot(ODMR). The omni-directional robot is built as a slave robot and 2 DOF joystick is used as a master robot. The operator controls the movements of the ODMR through wireless communication. In addition, the contact force of the ODMR is measured and fed back to the joystick so that the operator can feel the force. The feasibility of implementing teleoperation control through the transparency between the master and the slave has been tested by experimental works.