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Difference of efficiency in human-robot interaction according to condition of experimental environment

4th International Conference on Social robotics, ICSR 2012

作者： Ahn, Ho Seok Lee, Dong-Wook Choi, Dongwoon Lee, Duk-Yeon Hur, Manhong Lee, Hogil Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Kyoto 619-0288 Japan

ISBN: (纸本)9783642341021

Human-robot Interaction is most important function for social robot systems. Android robot systems, which have human-like appearance, are used for interaction with humans because they have the merit of showing their emotions by similar way to humans. Lots of these robot systems are developed and verified their efficiency and performance by analyzing the experimental results from questionnaire method. However, the results from questionnaire method can be different from many conditions. In this paper, we analyze the difference of experimental results from questionnaire method by comparing three groups: the first group gains benefits by competition, the second group gains benefits without competition, and the last group does not gain anything. For these experiments, android head system EveR-4 H33, which has 33 motors inside of head to show its facial expressions, is used. © 2012 Springer-Verlag.

关键词： Human robot interaction

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Appropriate emotions for facial expressions of 33-DOFs android head EveR-4 H33

Appropriate emotions for facial expressions of 33-DOFs andro...

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2012 21st IEEE International Symposium on robot and Human Interactive Communication, RO-MAN 2012

ISBN: (纸本)9781467346054

There are many theories about basic emotions, and we do not know which emotions are appropriate to use. Also, faces of robots are designed differently and require different ways to embody emotional expressions. Therefore, in this paper we address the appropriate emotions for facial expressions of EveR-4 H33, which is controlled by thirty-three motors for head system. EveR-4 H33 displays her facial expressions for certain emotions selected from typical basic emotion theories. Then, audiences at an exhibition evaluate her facial expressions, by enjoying a game of emotional correction. We analyze the results of the game, and decide appropriate emotions for EveR-4 H33. © 2012 IEEE.

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Analysis of attention deficit hyperactivity disorder in EEG using wavelet transform and self organizing maps

Analysis of attention deficit hyperactivity disorder in EEG ...

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作者： Lee, Seung Hyun Abibullaev, Berdakh Kang, Won-Seok Shin, Yunhee An, Jinung Pragmatic Applied Robot Institute Daegu Gyeongbuk Institute of Science and Technology Daegu Korea Republic of Research Institute of Special Education and Rehabilitation Science Daegu University Daegu Korea Republic of

ISBN: (纸本)9781424474530

This paper presents our preliminary study EEG brain signals of children with attention deficit hyperactivity disorder (ADHD) in order to support a computer assisted diagnostic system. The EEG signals were recorded from 13 children including normal and children diagnosed with ADHD. We analyzed the signals with multilevel discrete wavelet decompositions in order to extract brain signal power spectrum features. A wavelet thresholding technique was employed to further improve the data quality by denoising the artifacts. In order to discriminate the attention level in electrical brain activity of ADHD children, we used a standard Self-Organizing Map clustering technique with wavelet coefficient input features. Clustering results varied depending on the wavelet feature extraction stage, particularly it was noticed that accuracy was dependent on the type of the used wavelet function. The clustering results demonstrate that 'sym7' wavelet function provides better input feature localization to provide the accurate separation of normal and disordered children's brain activity. ©ICROS.

关键词： Self organizing maps

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Moving objects detection using freely moving depth sensing camera

Moving objects detection using freely moving depth sensing c...

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International Conference on Pattern Recognition

作者： Yong-Deuk Shin Jae-Han Park Ga-Ram Jang Moon-Hong Baeg Applied Robot technology Research and Development Group Korea Institute of Industrial Technology South Korea

ISBN: (纸本)9781467322164

The detection of moving objects for the surveillance and monitoring has been studied in the computer vision community for many years. Traditionally, the studies assume the use of a stationary camera. When using a 3D point cloud, research is restricted to the fixed laser scanner because of the slow data acquisition time. In this paper, we propose a method for detecting moving objects based on a freely moving sensor that provides two-dimensional-three-dimensional(2D-3D) fused data. Our method is a frame-differencing, which compares two consecutive frames combining visual features and a 3D point cloud. The RANSAC and ICP algorithms are applied for more accurate results. The moving objects can be separated in the 3D point cloud by adopting RANSAC outliers.

关键词： Cameras Object detection robot vision systems Iterative closest point algorithm Euclidean distance Image segmentation

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A cooperative multi-camera system for tracking a fast moving object

A cooperative multi-camera system for tracking a fast moving...

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IEEE International Conference on Cyber technology in Automation, Control, and Intelligent Systems

作者： Su Jeong You Phuc H. Truong Sang Hoon Ji Sang Moo Lee Chang Eun Lee Young Jo Cho Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Department of Advanced Robot Technology Electronic Telecommunication Research Institute Daejeon Korea

This paper presents an economic real-time system for tracking a fast moving object using adjacent inexpensive multiple web cameras. Our experimental system includes three cameras that integrated into three client computers, and an acquisition sever computer that receives information from the clients and estimates the object speed in real-time. In this system, the three client computers play the role of monitor stations that detect the object, calculate the object position and capture the moment of a successful detection. From information of clients, the server estimates the relative positions of the object in each detection event to calculate the instantaneous velocities of the object. Finally, the speed of the object is determined by its average velocity in its all trajectory. The experimental results perform an accurate measurement on the setup environment.

关键词： Conferences Automation Control systems Intelligent systems

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Healthcare robot technology Development

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IFAC Proceedings Volumes 2008年第2期41卷 5318-5323页

作者： Sungil Yi Dongju Moon Yongju Yang Kangeun Kim Control & Perception Research Team Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea (Tel: 82-31-8040-6286

The interest in a healthy and happy life for seniors has increased of late as the quality of life in old age has become a hot issue. Moreover, the interest in health has led industrial companies to concentrate on healthcare technology. Healthcare robot technology is one of the biggest issues in the robotics field, and many companies and institutes have sought to develop a healthcare robot technology. The healthcare robot must have certain abilities that would allow it to help a person mentally and/or physically. There is no common interface module, however, for healthcare robot platforms, and few robots that have healthcare abilities exist. Therefore, developing a common interface technology and applying the technology to robot platforms can pave the way for the development of a technology that could improve the physical and mental health of humans. This paper introduces the authors’ research on a common interface module and a healthcare service robot platform. First, a common interface module is one that can be used in common in the healthcare robot area. The research on a common interface module contains the following technologies: biosignal processing modules; voice signal processing modules, which could recognize voice commands; control modules for robot actuators; and a human-friendly design for a healthcare system. Lastly, the research on a healthcare service robot platform contains three types of robot platforms: ChairBot for relaxation, RideBot for exercising, and LifecareBot for human emotions. Each robot platform has common interface modules for healthcare services and can provide specialized intelligent services based on their own objectives. In conclusion, the intellectual healthcare robot is expected to promote a new field and to pave the way for a new product.

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Development of A Glove-Based Input Device

Development of A Glove-Based Input Device

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首届亚洲机械电子学学术会议

作者： Daeheui Won Moosung Choi Kwangwoong Yang Minsung Kang Sensing and Perception Research Team Division for Applied Robot Technology (DART) Korea Institute of Industrial Technology (KITECH) Cheonan & Ansan KOREA Division for Applied Robot Technology (DART) Korea Institute of Industrial Technology (KITECH) Cheonan & Ansan KOREA Division for Applied Robot Technology (DART) Korea Institute of Industrial Technology (KITECH) Cheonan & Ansan KOREA

In this paper,we proposed a new wearable input device by recognizing human hand-motions,so-called a wearable keyglove,which can solve the disadvantages of the conventional input devices and can be adapted to the mobile computing *** system is applied to the touch- typing-input method by means of hands for user's easy understanding and improvement of input speed,and we analyzed hand-motions for touch-typing using QWERTY keyboard because it is most widely used *** the analyzed result,we are able to reduce the model with 21 DOF to one that is approximated by 14 *** we developed the hand-motions capture module using low price sensors for hand-motions recognition(production cost is about $15). Typists using the keyglove system can not exactly determine the key position of desired input letter because of the virtual keyboard without the physical location of a key *** problem caused many typing errors at long typing time. Therefore an algorithm is needed to cope with the problem and needed to reduce typing errors due to personal differences such as hand shapes and typing *** this reason,we proposed the time-variant prediction algorithm for the least typing error and confirmed the possibility of the keyglove system.

关键词： Wearable Input Device Virtual Keyboard Data Glove

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High Accurate Two-Dimensional Geo-Location System for Social Safety robot

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IFAC Proceedings Volumes 2008年第2期41卷 1675-1678页

作者： Sujin Kim Gon-Woo Kim Kyung-Tae Nam Sang-Moo Lee Joonhyuk Kang Woong-Hee Shon Jeahwan Kim School of Engineering Information and Communications University Division of Applied Robot Technology Korea Institute of Industrial Technology Advanced u-PAN Research Team Electronics and Telecommunications Research Institute (ETRI)

In this paper, we propose an efficient two-dimensional geo-location system for social safety robot, where its location is obtained by direction of arrival (DOA) and time of arrival (TOA) of the radio signal. The proposed system requires two reference signals while the conventional systems generally deploy more than three reference signals. For estimating TOA and DOA information together, we employ a multiple signal classification (MUSIC) algorithm. The simulation results show that the proposed geo-location system achieves accuracy within 3 meters error in 2 kilo-meters coverage which is constraint for mobile social safety robot.

关键词： MUSIC TOA DOA Location

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Appropriate Emotions for Facial Expressions of 33-DOFs Android Head EveR-4 H33

Appropriate Emotions for Facial Expressions of 33-DOFs Andro...

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IEEE International Symposium on robot and Human Interactive Communication

作者： Ho Seok Ahn Dong-Wook Lee Dongwoon Choi Duk-Yeon Lee Manhong Hur Hogil Lee Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Department of Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9781467346047

关键词： Facial Expression Emotions Game theory Game animals Methyltestosterone Androids robot

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Uses of Facial Expressions of Android Head System according to Gender and Age

Uses of Facial Expressions of Android Head System according ...

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IEEE International Conference on Systems, Man, and Cybernetics

ISBN: (纸本)9781467317139

This paper analyzes emotional expressions of an android head system according to gender and age. We use an EveR-4 H33 controlled by thirty-three motors for facial expression. EveR-4 H33 is a head system for an android face consists of three layers: a mechanical layer, an inner cover layer and an outer cover layer. Facial expressions of robots are different from the purposes of robots. In addition, feeling of emotional expressions is also different from humans depending on age, gender, etc. Therefore, we find the appropriate uses of EveR-4 H33 in this paper. EveR-4 H33 shows her facial expressions about some emotions. Then, audiences of exhibition evaluate her facial expressions by enjoying a game of emotional correction. We analyze the results of the game according to gender and age, and decide appropriate uses of EveR-4 H33.

关键词： Android Facial expression Emotional expression EveR Human-robot Interaction Facial Expression Gender Methyltestosterone Androids robot Emotions Aged Game theory Game animals Head

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