Browsing by Author "Huang, Fu-Sheng"

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Development of the Robot of Living Aid: RoLA
(2008)
Song, Kai-Tai
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Tsai, Chi-Yi
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Huang, Fu-Sheng
;
Hong, Jung-Wei
;
Lin, Chen-Yang
With increasing number of aging people, taking care of the elderly will become more and more important for future society, especially for those elderly living alone. This paper presents an autonomous mobile robot Rola (Robot of LivingAid), which can handle certain emergency conditions in a home setting to help the elderly through multi-modal sensing and control functions. The implemented functions include visual tracking, video transmission, location aware, navigation, body pose recognition and emergency call out. Rola can accommodate smoothly to the movement of a user through face tracking and performs robot-assisted video conferencing. Rola follows the elderly in the living room using the developed RF-based location aware system. It avoids obstacles in a narrow space employing a laser scanner. Further, Rola can help the elderly as he/she falls down at home. This accidental situation can be detected with a tri-axial accelerometer mounted on the waist of the elderly. It approaches to the elderly by the help of location-aware system and provides timely help through automatic call out and wireless video transmission.
NURSING SYSTEM
(2009-08-06)
Tsai, Chi-Yi
;
Huang, Fu-Sheng
;
Lin, Chen-Yang
;
Lin, Zhi-Sheng
;
Chen, Chun-Wei
A nursing system of the present invention can position where a person to be nursed through a sensor network widely deployed in an environment, instantaneously detect if the person to be nursed has an accident, and forward a message to inform a relative or medical staff. An autonomous robot will actively move beside the person to be nursed and transmit real-time images to a remote computer or PDA so that the relative or medical staff can swiftly ascertain the situation of the person to be nursed and the person to be nursed in case of emergency can be rescued as soon as possible.
Vision SLAM Using Omni-Directional Visual Scan Matching
(2008)
Huang, Fu-Sheng
;
Song, Kai-Tai
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電控工程研究所
;
Institute of Electrical and Control Engineering
Because of its 3600 field of view, an omni-directional camera is suitable for detecting and tracking environmental features in mobile robot navigation applications. This study aims to investigate simultaneous localization and mapping (SLAM) of a mobile robot using omni-directional images. A switching method of visual reference scans is proposed to facilitate fast visual scan matching in the SLAM design. In this method, new reference scans can be added to a database and an existent reference scan can be switched to be current reference scan automatically in SLAM calculation. Visual reference scans can be used repeatedly to reduce the computation complexity of extended Kalman filter (EKF) in the SLAM algorithm. Experimental results show that the correct matching rate of landmark features is 92.6%. Indoor navigation experiments vatidate the proposed localization algorithm. Average localization error of 10cm has been achieved in a 30m travel in an indoor environment using omni-directional images.