1. Active Display Robot System Using Ubiquitous Network 2008. 2. 15. Byung-Ju Yi Hanyang University

2. 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

3. 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

4. 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)

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

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

7.  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

8. 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

9. PIR (Pyroelectric infrared) sensor 123 Ⅰ○ XX Ⅱ○○ X Ⅲ X ○ X Ⅳ X ○○ Ⅴ XX ○ 2 3 1 Ⅰ Ⅱ Ⅲ Ⅳ Ⅴ

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

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

12.  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

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

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

15. 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

16. Continued  Navigation of Omni-directional Mobile Robot

17. 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

18. Continued  SECUBOT control

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

20. Continued  Illumination robot

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

22. Movie clip  Mannequin design using soft arm