Implementation of Underwater Entertainment Robots Based on Ubiquitous Sensor Networks
1
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
We present an autonomous entertainment dolphin robot system based on ubiquitous sensor networks(USN). Generally, It is impossible to apply to USN and GPS in underwater bio-mimetic robots. But An Entertainment dolphin robot which presented in this paper operates on the water not underwater. Navigation of the underwater robot in a given area is based on GPS data and the acquired position information from deployed USN motes with emphasis on user interaction. Body structures, sensors and actuators, governing microcontroller boards, and swimming and interaction features are described for a typical entertainment dolphin robot. Actions of mouth-opening, tail splash or water blow through a spout hole are typical responses of interaction when touch sensors on the body detect users’ demand. Dolphin robots should turn towards people who demand to interact with them, while swimming autonomously. The functions that are relevant to human-robot interaction as well as robot movement such as path control, obstacle detection and avoidance are managed by microcontrollers on the robot for autonomy. Distance errors are calibrated periodically by the known position data of the deployed USN motes.
Abstract
We present an autonomous entertainment dolphin robot system based on ubiquitous sensor networks(USN). Generally, It is impossible to apply to USN and GPS in underwater bio-mimetic robots. But An Entertainment dolphin robot which presented in this paper operates on the water not underwater. Navigation of the underwater robot in a given area is based on GPS data and the acquired position information from deployed USN motes with emphasis on user interaction. Body structures, sensors and actuators, governing microcontroller boards, and swimming and interaction features are described for a typical entertainment dolphin robot. Actions of mouth-opening, tail splash or water blow through a spout hole are typical responses of interaction when touch sensors on the body detect users’ demand. Dolphin robots should turn towards people who demand to interact with them, while swimming autonomously. The functions that are relevant to human-robot interaction as well as robot movement such as path control, obstacle detection and avoidance are managed by microcontrollers on the robot for autonomy. Distance errors are calibrated periodically by the known position data of the deployed USN motes.
참고문헌 (10)
- Yu, M. Tan, "Development of a biomimetic robotic fish and its control algorithm", IEEE Trans. on Systems, Man, and Cybernetics - PartB, 통권 : 34, pp.1798~1810 (2004)
- X. Tan, "An autonomous robotic fish for mobile sensing", Proceedings of the 2006 IEEE, 2006, 5424~5429
- Seung Y Na, "Collision Recognition and Direction Changes Using Fuzzy Logic for Small Scale Fish Robots by Acceleration Sensor Data", Fuzzy Systems and Knowledge Discovery, pp.329~338 (2005)
- D. Shin, "Fuzzy neural networks for obstacle pattern recognition and collision avoidance of fish robots", Soft Computing : Springer, 12(7), pp.715~720 (2008)
- Daejung Shin, "Sonar Localization using Ubiquitous Sensor Network for Water Pollution Monitoring Fish Robot", The 7th IEEE International Symposium on Signal Processing and Information Technology (2007)
- D. Shin, "Estimation of Sound Direction for Improved Interaction of Entertainment Dolphin Robots", The 12th IEEE International Symposiumon Consumer Electronics (2008)
- Arati Gopalakrishnan, "Vision-based Mobile Robot Learning and Navigation", pp.48~53 (2005), RO-MAN
- Dong To Nguyen, "A Framework for Internet-Based Interaction of Humans, Robots, and Responsive Environments Using Agent Technology", IEEE Transactions on Industrial Electronics, 52(6), pp.1521~1529 (2005)
- Bum-Jae You, "Development of a home service robot ‘ISSAC’", Proceedings of the 2003 IEEE, 2003, 2630~2635
- Gunhee Kim, "Tripodal Schematic Control Architecture for Integration of Multi-Functional Indoor Service Robots", IEEE Transactions on Industrial Electronics, 53(5), pp.1723~1736 (2006)