Tae Houn Song

Usability analysis of a PDA-based user interface for mobile robot teleoperation

This paper describes a user interface to remotely control a mobile robot using mobile devices such as a personal digital assistant (PDA) and a Smartphone, and we analyze the usability of the PDA-based user interfaces by changing their configurations. We then propose an optimal method of developing a user interface on the mobile devices, which have limited I/O capabilities. In this paper, the user can acquire an image and sensor data that are transferred from the mobile robot by using the PDA-based user interface, and we can send commands for robot navigation and robot camera control using this UL.

The development of interface device for human robot interaction

The interface systems used in robot controls have various advantages and disadvantages. In this paper, we develop a new human-robot interaction (HRI) device using a joystick and motion-based device for robot control. This HRI device consists of Bluetooth module, accelerometer, force sensor, speaker and vibration motor. It can provide bidirection communication with the host computer and recognize user input which using the motion-based device. It provides feedback using a vibration motor and speaker. Also, it compensates the error of the accelerometer. The proposed device can improve the reliability of the input device system using a force sensor.

A study on usability of human-robot interaction using a mobile computer and a human interface device

A variety of devices are used for robot control such as personal computers or other human interface devices, haptic devices, and so on. However, sometimes it is not easy to select a device which fits the specific character of varied kinds of robots while at the same time increasing the users convenience. Under these circumstances, in this study, we have tried to measure user convenience. We tried to understand the characteristics of several devices used to achieve human robot interaction by using each of these devices that could be used with a personal computer: We used a button type device, a joystick, a driving device which consisted of a handle and pedals, and a motion-based human interface device including an acceleration sensor.

Direct Share: Photo Management System Based on Round-Robin Concept-Driven User Preference Feedback

As the size of camera modules is decreasing and as the computing performance of portable devices is improving, taking photos has become a part of daily life. However, existing photo management programs and products that manage such photos still require extensive user effort to facilitate the sharing and browsing of images. It is especially difficult for novice users to manage and share photos. In this paper, we develop a round-robin concept-driven user preference feedback mechanism for achieving direct photo sharing, instant display, and easy management using optimized user controls and user preference-driven classification. Compared with commercial photo management systems, our proposed solution provides new features: optimized user controls, direct sharing and instant display, and user preference feedback driven classification. These new features boost the round-robin concept-driven user preference feedback. This paper proposes a photo finder that automatically searches for photos in storage spaces or cameras. The proposed photo finder relies on user preference feedback to share photos by leveraging user preferences, and the round-robin connection transmits photos to the family?s digital photo frame or web album by arbiter. The proposed method saves time and spares users the effort required for photo management. Moreover, this method does not merely direct photo sharing and simple photo management, but it also increases the satisfaction level of users viewing the photos.

Obstacle collision prevention of mobile robot using force feedback in remote sites

Essential surrounding environmental information needed to control remote mobile robots can be garnered from devices such as cameras, and ultrasonic and infrared sensors. Image delay and sensor noise sensitivity may engender inaccuracies in the information collected. Robot control by the user may become difficult. A force feedback controller transmitting a repulsive force to the user can aid recognition of the surrounding environment. This can operate despite the limited image information and uncertain sensor information. It is possible to transmit the magnitude and direction of the repulsive force by a vibration. The controller manages the vibration frequency and the vibration magnitude. A robot displays the information of the surrounding environment on a grid map to calculate the repulsive force of the obstacle. The cells of the grid map are filled with the certainty value of the obstacle. Then, the robot calculates the sum of the repulsive forces of the obstacle by a repulsive force vector calculation. The user can obtain the distance between the obstacle and robot using tactile perception using this method. The user, recognizing the obstacles distance by the magnitude and duration of the vibration, can navigate the robot at a remote site.

The local minimum escape using the grid map

Our study is concerned with avoiding the local minimum that occurs when the mobile robot is trapped at a concave-shaped obstacle. Mobile robots use VFF (Virtual Force Field) as their autonomous navigation method. This algorithm generates the attractive force from the target and the repulsive force from the obstacle. So using the sum of these forces, the mobile robot moves to the target point. The method to avoid a local minimum has two steps. The first step is that the mobile robot detects being trapped by an obstacle. The second step is that the mobile robot escapes from the trap point. Then the mobile robot can move to the target point. To execute this, our study uses a grid map to represent the robotpsilas surroundings. The map is constructed by the robot sensor.

Virtual Storyteller using marker based AR and FPGA

Advances in Information Technology (IT) have recently converged in diverse fields. The education market of children is one such field. We propose a novel system for a fairy tale storyteller. Previous fairy tale applications or products provided voice-based texture. Our system tries a novel approach in which we detect and trace a storytellers face in real-time via FPGA for face detection stream data. We illustrate the story with speech bubbles using a marker based on AR. The storyteller can convey precious story content to the audience. This process makes them feel more effective and intuitive to the audience. We performed a usability test with 20 kindergarten children.

A non-contact input device using infrared sensor array

An input device is a communication method between human and telecommunication device. General public input devices include keyboard, mouse, and joystick. These input devices are used to communicate between humans and telecommunication devices. Many kinds of telecommunication device are emerging, including intelligent robots. We must develop adaptable input devices for many telecommunication devices and their applications. We have to consider, not only interface performance, but also fun and user experience, when developing the input devices for users. This paper proposes a position-based input device, embedding a new paradigm using an Infrared sensor array. Our Non-contact Input Device specification supports fun and the user experience when communicating between humans and telecommunication devices, including robots. Our non-contact type input device transmits commands to control mobile robots. It can also control Google Earths map searching programs, and other applications.

Sensible interface using multi-sensors in mobile device

This research aim is to create sensible interactions between multisensors in mobile devices. The proposal covers sensible interactions for all three kinds of methods: Mobile Application Interaction, Mobile to Mobile Interaction, and Mobile to Home Appliance Interaction. Five components are built in the handheld sensible interface device: distance measurement component, acceleration measure component, main processing component, haptic generation component, and wireless communication component. This research can support emotional user experience better than the button type input method or touch type input method can do. In addition, the proposal developed from the research can support Mobile to Mobile Interaction and Mobile to Home Appliance Interaction. The implement of the proposed sensible interaction method will demonstrate an appliance with a navigation application and digital TV control.

Game control using multiple sensors

In this paper, we propose a motion-based game control system using the flex sensor and the infrared sensor board. This system operates using a combination of player movement data detected from the flex sensor and the direction or positional data detected from the infrared sensor board. The players motion is detected from a flex sensor band worn on his/her elbow and knee and the flex sensor belt on his/her waist. The infrared sensor board detects the players direction of movement through the detected sequence or detected position of the infrared sensors. This system does not recognize all the detailed human motion, since detailed motion detection is not necessary to control the game. The proposed system only detects player motion types through multiple sensors. This feature distinguishes the system from other motion-based controllers such as Nintendo Wii, Sony motion controller and Microsoft Natal. Unlike our system, these existing controllers require a high-technology, high-cost system. This system is implemented on an existing game pad (PC, Xbox360, PS3) based combat game to test the detection of the player motion type.