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Advanced Robotics and its Social Impacts (ARSO), 2010 IEEE Workshop on

Date 26-28 Oct. 2010

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Displaying Results 1 - 25 of 43
  • [Front cover]

    Publication Year: 2010 , Page(s): c1
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  • [Blank page]

    Publication Year: 2010 , Page(s): 2
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  • Conference proceedings

    Publication Year: 2010 , Page(s): 3
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  • [Copyright notice]

    Publication Year: 2010 , Page(s): 4
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  • Table of contents

    Publication Year: 2010 , Page(s): 5
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  • Welcome to ARSO2010

    Publication Year: 2010 , Page(s): 6
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  • Conference organization

    Publication Year: 2010 , Page(s): 7 - 8
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  • Author index

    Publication Year: 2010 , Page(s): 9 - 11
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  • Subject index

    Publication Year: 2010 , Page(s): 12
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  • A design for smooth transition of robotic emotional states

    Publication Year: 2010 , Page(s): 13 - 18
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (493 KB) |  | HTML iconHTML  

    A two-dimensional (2-D) emotional model is proposed to represent the emotional state of a sociable robot. We present a novel design of autonomous robotic emotional state transition based on a fuzzy-neuro network. By using fuzzy Kohonen clustering network (FKCN), a smooth transition of the robotic emotional states is obtained to generate continuous emotional behaviors. Moreover, the robotic emotional character can be specified in this design by assigning weights to the FKCN. In this study, four emotional characters and five primitive emotional behaviors (boring, smiling, crying, angry and relaxed) have been designed for a robotic face. The method has been tested by a graphical simulator to verify the robotic responses to the user's emotional intensity (neutral, happiness, anger and sadness). Computer simulations show that the proposed emotional state transition scheme effectively responds to user's emotional intensity in a continuous manner. Practical experiments on a 16-DOF robotic face validate the proposed design. View full abstract»

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  • A ubiquitous Smart Parenting and Customized Education service robot

    Publication Year: 2010 , Page(s): 19 - 23
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (211 KB) |  | HTML iconHTML  

    In this paper, we introduce a u-SPACE service robot, designed to help children who may be left alone while their caregivers are away from home. In order to protect children from indoor dangers, this service robot provides customized guiding messages taking into account the location information and behavioral patterns of a child, after the detection of dangerous objects and situations. And these guiding messages are vocalized by our emotional speech generation system. This emotional speech generation system is also being put to use in reading fairy tales to a child, as a part of a home education service. The outward appearance of the u-SPACE service robot is modeled on a teddy bear, in order to provide a safe and comforting environment for children. Two touch sensors designed for basic interactions between a child and the robot are installed on each hand of the robot, and an RFID tag is placed inside the body. A PDA with a Wi-Fi communication module, a touch screen, and a speaker is used as a main operating device of this u-SPACE service robot. View full abstract»

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  • An interactive robotic walker for assisting elderly mobility in senior care unit

    Publication Year: 2010 , Page(s): 24 - 29
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (446 KB) |  | HTML iconHTML  

    This paper describes a robotic walker, Johnnie, that provides assistance to mobility-challenged people, especially elderly people. Our walker is modified from a conventional unpowered four-wheel walker by equipping motors, sensors and some safety devices, providing mobility and stability to it. In our software system, we provide two modes: (1) autonomous mode in which the walker can autonomously navigate to the user without collision, and (2) rehabilitation mode in which the walker will assist the elderly to walk safely and smoothly. We have done a preliminary test of the two modes in our lab environment and analyzed the result. View full abstract»

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  • Application of English CALL system in the robot MERO

    Publication Year: 2010 , Page(s): 30 - 33
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (354 KB) |  | HTML iconHTML  

    We have developed the English educational robot system with the robot MERO of KIST and the English CALL system of HCILAB. This system expresses natural emotions about the result of learners' pronunciations and these expressions lead interests of learner. The English educational MERO robot system was verified the educational effects in a pilot project of after-school classes. View full abstract»

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  • Assistive robotic arm autonomously bringing a cup to the mouth by face recognition

    Publication Year: 2010 , Page(s): 34 - 39
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1933 KB) |  | HTML iconHTML  

    We developed an assistive-robotic-arm system which autonomously grasps a cup and brings it to the user's mouth. It was developed as a prototype of meal-assistance robot. We utilized two heterogeneous eye-in-hand cameras. One is the front-camera capturing objects, and the other is the side-camera capturing the user's face. The latter keeps an occlusion-free view even during the object bringing. We implemented a face recognition function which robustly identifies the user's face while predicting the face position. The arm is controlled by visual servoing technique. We verified the basic performance of the system through preliminary tests. The arm was able to execute the task, controlling the arm according to the position of the object and the user's face. We demonstrated the basic possibility for the meal-assistance robot. View full abstract»

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  • Autonomous navigation of a mobile robot using an upward-looking camera and sonar sensors

    Publication Year: 2010 , Page(s): 40 - 45
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (371 KB) |  | HTML iconHTML  

    This paper deals with the autonomous navigation scheme for a mobile robot in indoor environment using an upward-looking camera and sonar sensors. Corner and lamp features are extracted from the sequential ceiling images, and these features are used as landmarks in the SLAM (simultaneous localization and mapping) process. Combining lamp information with the conventional corner feature-based approach provides accurate pose estimation, since lamp features are robustly detected and associated in most indoor environments. The extracted features are used in the EKF (extended Kalman filter) to estimate both robot pose and feature positions. Based on the pose estimation from the SLAM process, autonomous exploration is achieved by applying driving gains to exploration nodes. The sonar sensors are adopted to detect most obstacles including glasses and black surfaces. The proposed scheme is a low-cost solution to autonomous mobile robot navigation since it can be implemented with a web camera and a small number of sonar sensors. Experimental results show that the proposed scheme works successfully in real environments. View full abstract»

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  • Autonomous urban navigation and its application to patrol

    Publication Year: 2010 , Page(s): 46 - 51
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (513 KB) |  | HTML iconHTML  

    In urban environment, the Global Positioning System (GPS), including differential variant of it, does not have sufficient accuracy for unmanned autonomous robot to drive along a lane because of tall buildings and trees. It is required to keep the variance of the distance between the robot and the boundary of the road less than 10-20cm to safely follow the road, as human beings drive. To comply the requirement, our autonomous navigation system detects local features of the road, e.g., curb and lines on the roadside using laser range finder and vision camera. In this paper, we develop and implement probabilistic approach for the robustness of the detection system; a model-based Bayesian method to detect the curb and line and a weighted sum-based sensor fusion method to increase the reliability. Finally, we are applying the techniques proposed to a mobile robot for unmanned patrol in urban environment. View full abstract»

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  • Control performance of a motion controller for robot-assisted surgery

    Publication Year: 2010 , Page(s): 52
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (134 KB) |  | HTML iconHTML  

    Total Knee/Hip Replacement(TKR/THR) is one of the most important orthopedic surgical techniques of this century. If patient's whole joint is damaged, an artificial joint (total hip/knee replacement surgery) can relieve patient's pain and help the patient get back normal activities. The goal for TKR/THR is to relieve the pain in the joint caused by the damage done to the cartilage. The surgeon will replace the damaged parts of the joint. The article looks at the use of the commercialized version of ROBODOC to execute THR/TKR robotic surgery. It consists of a robotic arm, a robot case, a control cabinet and etc. The motion controller is constructed hierarchically; a high-level motion controller to receive robot trajectories from the ORTHDOC preoperative planning system, a low-level motion controller to do position/force servo, a robot base to control several input/output devices. The contribution of this paper is to upgrade the current low-level controller in the real time OS environment and the force guidance function. The force guidance function is useful in surgeon's intuitive and direct teaching of ROBODOC. View full abstract»

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  • Design of mine detection robot for Korean mine field

    Publication Year: 2010 , Page(s): 53 - 56
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (265 KB) |  | HTML iconHTML  

    This paper presents the critical design constraints of mine detection robots for Korean minefield. As a part of a demining robot development project, the environment of Korean minefield was investigated, and the requirements for suitable robot design were determined. Most of landmines in Korean minefield were buried close to the demilitarized zone (DMZ) more than half of a century ago. The areas have not been urbanized at all since the Korea War, and the potential locations of the explosives by military tactics have been covered by vegetation. Therefore, at the initial stage of the demining robot system development, the target areas were investigated and the suitable design for Korean minefield terrain was determined. The design includes a track type main platform with a simple moving arm and a mine detection sensor (consists of a metal detector and a GPR at this stage). In addition, in order to maintain the effective distance between the landmine sensors and ground surface, a distance sensing technique for terrain adaptability was developed and briefly introduced in this paper. The overall design of this robot was determined by considering the speed of the whole mine detection process and a point of economic view to replace human in minefield. Thus, the detail of the conceptual design and the mine detection scenario is presented in this paper. View full abstract»

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  • Development of public service robot ARO for commercialize

    Publication Year: 2010 , Page(s): 57 - 58
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (245 KB) |  | HTML iconHTML  

    This Paper describes the development and system of the public service robot called “ARO” that was developed for the purpose of commercialization by ED Corporation. First, it explains about definition and market of the public service robot and then about its development stages and basic system configuration. Second, it explains about the hardware connection diagram and each function of ARO. Third, it describes the control program and the service and functions based on it. Fourth, contents provided to customers and the remote monitoring and control using RMS (Remote Management Service) are given. Fifth, the maintenance and safety of ARO are explained. Finally, it discusses about the field that has to be additionally developed and advanced in future for commercialization. View full abstract»

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  • Eye motion generation in a mobile service robot ‘SILBOT II’

    Publication Year: 2010 , Page(s): 59 - 64
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (969 KB) |  | HTML iconHTML  

    Face of a robot capable of facial expression has a complex structure inside consisting of many actuators, sensors, and other parts. Specially, eyes and its neighbor elements such as upper/lower eyelids, cameras and eyelids, are very densely arranged. In this paper, a compact eyeball module is suggested which is driven with Teflon tube enveloped metal wires, so that one directional motion can be made with one wire pushed or pulled by a motor. And the cylindrical and ball-type pivot parts are used in ends of the tubes and wires, so as to permit their rotation during eye movement. The performance of the suggested module is verified through the comparison between experimental and analytical results. The results are well matched with each other and the degree of positioning precision is also good. View full abstract»

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  • Hierarchical database based on feature parameters for various multimodal expression generation of robot

    Publication Year: 2010 , Page(s): 65 - 69
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (396 KB) |  | HTML iconHTML  

    In this paper, we propose reliable, diverse, expansible, and usable expression generation system. Proposed system is to generate synchronized multimodal expression automatically based on hierarchical database and context information such as robot's emotional state and sentence robot is trying to say. Compared to prior system, our system based on feature parameters is much easier to generate new expression and modify expressions according to the robot's emotion. In our system, there are sentence module, emotion module, and expression module. We focus on only robot's expression module. In order to generate expressions automatically, we use outputs of the sentence and emotion modules. We have classified robot sentence under 13 types and robot emotion under 3 types. About all 39 categories and body language, we have constructed behavior database with 128 expressions. For the reliability and the variety of expressions, a professional actor's expression data have been obtained and we requested a cartoonist to draw sketch of robot's expressions corresponding to defined categories. View full abstract»

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  • Intelligent surveillance and security robot systems

    Publication Year: 2010 , Page(s): 70 - 73
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (517 KB) |  | HTML iconHTML  

    This paper presents a new security solution that integrates vision, intelligent algorithm and robot technology. The solution can be applied to guarding large facilities, critical infrastructures and national borders. While conventional security solutions rely on human operator's vigilance on the images provided by cameras, the proposed solution uses machine intelligence to compensate for human factors and robots to provide immediate counter response. The system is currently deployed at Korea National Oil Corporation's Seosan oil reserve facility. Overall structure of the system and description of each component are presented. View full abstract»

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  • Kinematics-based collision-free motion planning for autonomous mobile robot in dynamic environment

    Publication Year: 2010 , Page(s): 74 - 80
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (712 KB) |  | HTML iconHTML  

    In indoor environment, often time there always exist moving objects such as people or other service robots. For indoor service robot, they may follow a priori to patrol or help people to delivery so that it is fundamental and essential to achieve the destination without collision. In this paper, we aim at developing the collision-free algorithm by using kinematics-based method. Based on the model developed, we propose the collision-free conditions to find out proper via-postures. While the conditions are satisfied, the relative distance between the robot and the moving obstacle will be guaranteed, the collision vanishes and via-postures are derived from the condition as well. To enhance robot collision avoidance behavior, we make efforts on the following requirements: (1) smooth collision-free paths (2) situation-dependant path selection mechanism (3) redirection to the priori to conduct the tasks continuously. The justifications and approaches used for all the requirements are stated and discussed. Simulations and experimental results are made to demonstrate the feasibility and applicability of the method. View full abstract»

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  • Path reconstruction method for sampling based planners

    Publication Year: 2010 , Page(s): 81 - 86
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1056 KB) |  | HTML iconHTML  

    A path reconstruction method for sampling based planners is proposed in this paper. The proposed method improves the quality of the initially planned path. The node update and Dijkstra's graph search algorithm are used in the iterative process of the proposed method. The proposed method improves the safety and efficiency of the initially planned path simultaneously, and can be applied to any kinds of sampling based planners if the planned path represented by a simple path graph. Quantitative analyses of simulation results were done to verify the proposed method. View full abstract»

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  • Rescue robot systems - development of high-functionality multiple robot system and robust/scalable information infrastructure -

    Publication Year: 2010 , Page(s): 87 - 91
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (483 KB) |  | HTML iconHTML  

    We have constructed a new system for searching the inside of damaged buildings by grouped robots. Especially, we developed a new wireless ad-hoc network system called `Robohoc network' system. It is necessary to communicate information such as commands to robots and sensor data to an operator including video images stably with considering not to break down all network performance. In this paper, an outline of each constructed element and an example of methodology how to integrate each element such as robots, network, user interface and data server are shown. View full abstract»

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