In-Hun Jang

SLAM of mobile robot in the indoor environment with Digital Magnetic Compass and Ultrasonic Sensors

In the moving of the mobile robot, the mobile robot acquires a map of its environment while simultaneously localizing itself relative to the map. Simultaneous localization ad mapping (SLAM) problems arise when the robot does not have access to a map of the environment, nor does it know its own pose. In this paper, we study the SLAM of mobile robot in the indoor environment with Digital Magnetic Compass and Ultrasonic Sensors. Digital Magnetic Compass has a strong feature against interference in the indoor environment better than compass which is can easily be disturbed by electromagnetic sources or large ferromagnetic structures. Ultrasonic Sensors are cheap and can give relatively accurate range readings. Autonomous mobile robot is aware of robots moving direction and position by the restricted data. Also robot must localize as quickly as possible. As application for the SLAM on the autonomous mobile robot system, robot can find the localization and the mapping and can solve the Kid Napping situation for itself. Especially, in the Kid Napping situation, autonomous mobile robot use Ultrasonic sensors and Digital Magnetic Compass(DMC)s data for moving. When robot receives the similar data by sensors, robot uses Computation Intelligence(CI) for perceiving in the robots position.

Real-Time Heart Rate Monitoring System based on Ring-Type Pulse Oximeter Sensor

With the continuous aging of the populations in developed countries, the medical requirements of the aged are expected to increase. In this paper, a ring-type pulse oximeter finger sensor and a 24-hour ambulatory heart rate monitoring system for the aged are presented. We also demonstrate the feasibility of extracting accurate heart rate variability measurements from photoelectric plethysmography signals gathered using a ring-type pulse oximeter sensor attached to the finger. We designed the heart rate sensor using a CPU with built-in ZigBee stack for simplicity and low power consumption. We also analyzed the various distorted signals caused by motion artifacts using a FFT, and designed an algorithm using a least squares estimator to calibrate the signals for better accuracy.

Object Search Algorithm under Dynamic Programming in the Tree-Type Maze

This paper presents the target object search algorithm under Dynamic Programming (DP) in the Tree-type maze. We organized an experimental environment with the concatenation of Y-shape diverged way, small mobile robot, and a target object. By the principle of optimality, the backbone of DP, an agent recognizes that a given whole problem can be solved whether the values of the best solution of certain ancillary problem can be determined according to the principle of optimality. In experiment, we used two different control algorithms: a left-handed method and DP. Finally we verified the efficiency of DP in the practical application using our real robot.

Ring-type Heart Rate Sensor and Monitoring system for Sensor Network Application

As low power, low cost wireless communication technology like Bluetooth, Zigbee, RFID has been put to practical use together with the wellbeing trend, the concern about ubiquitous health care has been greatly increased and u-Health is becoming one of the most important application in the sensor network field. Especially, development of the medical services to be able to cope with a state of emergency for solitary senior citizens and the aged in silver town is very meaningful itself and their needs are also expected to continuously increase with a rapid increase in an aging population. In this paper we demonstrate the feasibility of extracting accurate heart rate variability (HRV) measurements from photoelectric plethysmography(PPG) signals gathered by a ring type pulse oximeter sensor attached to the finger. For this, we made 2 types of ring sensor, that is reflective and pervious type, and developed the remote monitoring system which is able to collect HR data from ring sensor, analyze and cope with a state of emergency.

Variance considered machines: Modification of optimal hyperplanes in support vector machines

We propose a new classification algorithm, variance considered machine (VCM), by modifying optimal hyperplanes of the support vector machine (SVM). The SVM is a good method to calculate a slope of optimal hyperplanes with maximal margin. However, this algorithm neglects to consider variances and prior probabilities of the data. It can increase probabilities of error. To solve this problem, the VCM shifts the optimal hyperplanes of the SVM according to variances and prior probabilities. Therefore, the VCM has not only maximal margin, which is an advantage of the SVM, but also lower error probability. Through 10 case examples with different variances and prior probabilities, we demonstrated the superiority of the VCM by comparing the results of the SVM and VCM.

Simultaneous Localization and Mapping of Mobile Robot using Digital Magnetic Compass and Ultrasonic Sensors

Digital Magnetic Compass(DMC) has a robust feature against interference in the indoor environment better than compass which is easily disturbed by electromagnetic sources or large ferromagnetic structures. Ultrasonic Sensors are cheap and can give relatively accurate range readings. So they ate used in Simultaneous Localization and Mapping(SLAM). In this paper, we study the Simultaneous Localization and Mapping(SLAM) of mobile robot in the indoor environment with Digital Magnetic Compass and Ultrasonic Sensors. Autonomous mobile robot is aware of robot`s moving direction and position by the restricted data. Also robot must localize as quickly as possible. And in the moving of the mobile robot, the mobile robot must acquire a map of its environment. As application for the Simultaneous Localization and Mapping(SLAM) on the autonomous mobile robot system, robot can find the localization and the mapping and can solve the Kid Napping situation for itself. Especially, in the Kid Napping situation, autonomous mobile robot use Ultrasonic sensors and Digital Magnetic Compass(DMC)`s data for moving. The robot is aware of accurate location By using Digital Magnetic Compass(DMC).

Object Position Tracking Algorithm of Intelligent Robot using Sound Source and Absolute Orientation

As recent research on home service robot has been performed actively in these days. It becomes very important for the robot to react upon voice and sound source, and then tracks an object position in dynamic environment like a home. When people choose a path for finding a destination of objects, in case of sound, they track a direction of the sound source. Or in case as a position of the object be girded with a point on map, people track the position according to absolute orientation of the present position and the sound source position. In this paper, In this manner we had views on what people decide own direction when they react one`s voice or go some directions. We suggest a algorithm that intelligent mobile robots on which we installed a sound source tracking board and a digital magnetic compass board go some object`s positions by the direction of sound source and absolute orientation.

Brain-Computer Interface based on Changes of EEG on Broca`s Area

In this paper, we measured EEG signals on frontal and Broca`s area when subjects imagine to speak A or B or C or D. These signals were analyzed by Event-Related Spectral Perturbation (ERSP), Inter-Trial Coherence (ITC) and Event Related Potential (ERP) methods. As a result, high coherences were showed at 113Hz during 0300ms after the stimuli of each character and P300 was seen clearly and there are several differences between the ERP results. However, unlike the motivation of this study to classify the characters, it is impossible that we can classify each intention or each character cause these differences. Nevertheless, this paper suggest an application system using this results so BCI can provide various services.

Soundsource Localization and Tracking System of Intruder for Intelligent Surveillance System

In the place that its security is crucial, the necessity of system which can tract and recognize random person is getting more important. In this paper, we`d like to develop the invader tracking system which consists of the sound source tracking-sensor and the pan-tilt camera for wide-area guard. After detecting the direction of any sound with the sound source tracking-sensor at first, our system make move the pan-tilt camera to that direction and extract reference image from that camera. This reference image is compared and updated by the next captured image after some interval time. By keeping on it over again, we can realize the guard system which can tract an invader using the difference image and the result of another image processing. By linking home network security system, the suggested system can provide some interfacing functions for the security service of the public facilities as well as that of home.

Design of Communication System for Intelligent Multi Agent Robot System

In the ad-hoc wireless network environment, that the fixed sensor nodes and the sensor nodes to move are mixed, as the number of the sensor nodes with mobility are getting more, the costs to recover and maintain the whole network will increase more and more. This paper proposed the CDSR (Cost based Dynamic Source Routing) algorithm being motivated from the typical DSR algorithm, that is one of the reactive routing protocol. The cost function is defined through measuring the cost which any sensor node pays to participate in the whole network for communication. It is also showed in this paper that the proposed routing algorithm will increase the efficiency and life of whole sensor network through a series of experiments.