Active Display Robot System Using Ubiquitous Network Byung-Ju Yi Hanyang University

Outline  Active Display Systems  Concept  Application areas  Application 1 : Active Display Systems PIR sensor mounted on the display system PIR sensor mounted on environment Laser sensor mounted on the display system  Application 2 though 5  Future Direction

What is active display system?  Current displays  All static  Customers look display EX : TV, Mannequin Advertising boards  Active display  Displays look customer  Dynamic motion by robotic technology  Ubiquitous sensor based motion

Objective of Research  Final objective Development of USN Based Active Display Robot System Sensor Network Active Display Device Human Human Information Sensing (location, voice, motion) Display Action (Device motion change, voice service)

Application 1  Motion control of Panel TV  Motion  Current type Control 100kg panel TV Commercialized model Remote controlled type ExtensionSwivelTilting 25cm± 30º+ 7º ~ - 25º

Bluetooth Sensor based TV Display System PSD Ultrasonic sensor /Mono Vision PIR sensor  Ongoing research work for active TV display

 Use  Detect the Human  Infrared -wavelength 6.5 ㎛ ~15 ㎛  Detection condition  Temperature difference  More than 3˚c  Move motion  0.3~2m/s  Working range : 0 ~ 5m  Detecting angle : 95˚ PIR (Pyroelectric infrared) sensor PIR sensor

PIR (Pyroelectric infrared) sensor  Motion algorithm  Use three PIR sensors  Determine the direction analyze the sensor data find the location of the Human  TV panel turns to the direction of the Human PIR sensor Determine the Direction Motion Generation Motor Control Moving Device

PIR (Pyroelectric infrared) sensor 123 Ⅰ○ XX Ⅱ○○ X Ⅲ X ○ X Ⅳ X ○○ Ⅴ XX ○ Ⅰ Ⅱ Ⅲ Ⅳ Ⅴ

Types  Type 1 : sensor mounted on the panel  Type 2 : sensor mounted on the environment

Laser Range Finder  Detect the direction and the distance information of human  Scan range  -120°~+120°(0.36 ° increment)  Scan distance  4m (1mm increment)

 Motion algorithm  Use One Laser Range Finder  Determine the distance/angle Calculate the distance Calculate the angle Find the Human located section  Several people TV panel turns to the near Human Laser Range Finder Determine the Direction Motion Generation Motor Control Moving Device Laser Range Finder

Mounting Device Design I  T-Arm  Characteristics  2 Degrees of freedom  Low cost model Hybrid Type Device

Mounting Device Design II  Planner 3-Dof parallel device Foldable Mechanism

Application 2  Omni-directional Mobile Robot  Specification Motion (x, y, Φ) 6-DC motor Sensor : Laser finder  Applications USN based Localization Platform of service robots

Continued  Navigation of Omni-directional Mobile Robot

Application 3  SECUBOT  Specification wireless CMOS camera Ultrasonic sensor for perceiving obstacles Photo TR and IRED for tracking other robots Self-contained system Communication by bluetooth  Applications Surveillance purpose Rescue sites Terror site Fire site

Continued  SECUBOT control

Application 4  Illumination Robot  Specification 5 Degrees of motion 5-AC motor Ultra sensor based tracking system  Applications Surgical operation Light focusing ``` Target

Continued  Illumination robot

Future Works  Sensor modules  Low cost  Wide range sensing  External design  Packaging of sensor modules  Display devices  Applications  Mannequin motion control  Automatic Illumination robot

Movie clip  Mannequin design using soft arm