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In this paper, user-friendly micro manipulation system for the bio-medical scientist is introduced. An operator usually is not familiar with robot technology. However, supports for RT system have great means for such users. So, user friendly system architecture is necessary to provide useful operation scheme. In this paper, the component-based architecture for micro manipulation system is proposed...
A new convergence calculation method of the normal distributions transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs interactive closest point (ICP) algorithm to find corresponding point, and it also enlarges the...
To make structured environment aims at establishing the information structured environment which enables robots to get information and knowledge necessary to carry out the given tasks from the environment. In this paper, we build the information structured environment named the u-RT space, and then design and control the librarian robot system based on the proposed environment, which can put books...
In this work, we create a large planar camera array in our intelligent environment. It extremely extends the scope of surveillance area, and more precisely localizes robots with high response speed for AGV system. In this camera array system, color based particle filter tracking algorithm efficiently performs the task of localizing and identifying robots. The tracking algorithm intelligently controls...
Vision based localization techniques in an intelligent environments have been well studied. But it still faces several difficulties, such as limited surveillance area, low response speed, relative high computation cost and so on. In this work, we create a large planar camera array which extremely extends the scope of surveillance area, and more precisely localizes robots with high response speed for...
Ubiquitous computing brought about the paradigm change that robot technology transforms itself to technology for everything which includes robots and objects. Actually, these changes are continued to the various researches to link robots to the functions of objects which can be used by programmable resource on networks in the ubiquitous computing environment. In this paper, these inherent functions...
In the ubiquitous robot system, various embedded elements (ex. sensors, actuators, and computers) are distributed and connected each other over network. Ubiquitous Functions Activation Module (UFAM) has been developed in our research group as one of key device for ubiquitous robots. UFAM can add wireless communication function into embedded elements. UFAM has a relatively low performance micro processor,...
In this paper, a novel approach of knowledge management for the space/location perceiving capacity of robots is proposed. First, the ubiquitous function services composed of smart object, smart logic, and smart discovery service are proposed in order to distribute knowledge flexibly and reliably to changing environment and also for a robot to invoke and merge the distributed knowledge more freely...
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