Browsing by Author "Song, Shao-Huan"

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A Fuel Cell Power Supply System Based on Charging Scheduling of Multiple Lithium Batteries
(2018-01-01)
Song, Kai-Tai
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Song, Shao-Huan
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Wang, Sz-Sheng
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電控工程研究所
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Institute of Electrical and Control Engineering
In recent years, various service-oriented mobile robots have become more and more popular. These mobile robots need electrical power for continuous work for some duration using some kind of battery and hence a battery charging system is required. In order to increase the durability of robot operation, it is desirable to provide a power generation as well as a power supply system onboard the robot. This paper presents a design and implementation of a power supply system combining a fuel cell and lithium batteries to increase durability. It will be a new option to provide durable and environment-friendly energy for mobile robot. In this paper, we propose a charging logic to manage fuel-cell charging of multiple lithium polymer batteries, so that the power supply system can switch among lithium polymer batteries according to the load requirement. Experimental results of the developed power supply system on a laboratory mobile robot verified the effectiveness of the proposed design.
Human-Robot Interaction Design Based on Specific Person Finding and Localization of a Mobile Robot
(2019-01-01)
Song, Kai-Tai
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Lu, Pei-Chun
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Song, Shao-Huan
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電控工程研究所
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Institute of Electrical and Control Engineering
In this paper we propose a novel human-robot interaction system to find a specific person in public for providing service. The system combines indoor localization, face recognition and robot navigation. The indoor localization uses deep neural network (DNN) and particle filtering to estimate the user position. A face recognition module provides the user identification to the robot. The robot first uses localization data to navigate to the vicinity of the user and then uses the face recognition to move to the front of the user to provide service. To verify the effectiveness of the design, we implemented the system to a mobile robot and integrated the application through a smart phone. The integrated experiments demonstrated that a user can call the robot to come to his/her front by using the proposed design. One also can order the robot via a smart phone to find a specific person and interact with him/her.
Navigation Control Design of a Mobile Robot by Integrating Obstacle Avoidance and LiDAR SLAM
(2018-01-01)
Song, Kai-Tai
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Chiu, Yu-Heng
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Kang, Li-Ren
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Song, Shao-Huan
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Yang, Cheng-An
This paper presents a mobile robot navigation control system based on integration of laser SLAM localization and real-time obstacle avoidance control to provide personnel guidance for daily-life services. The LiDAR SLAM localization system is implemented in a ROS software architecture, in which Cartographer SLAM is adopted and the adaptive Monte Carlo localization is employed onboard the robot. An integrated guidance system is proposed in this paper to combine obstacle avoidance and SLAM so that the robot can move to the desired location without colliding with any unexpected obstacles. A safety-weight parameter is used to integrate goal seeking controller with the obstacle avoidance controller. The experimental results show that the robot can localize itself and navigate to the target location while avoiding obstacles on the path.
Scheduling and Control of a Cloud Robot for Reception and Guidance
(2017-01-01)
Song, Kai-Tai
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Chiu, Yu-Heng
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Song, Shao-Huan
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Zinchenko, Kateryna
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電控工程研究所
This paper presents a design for robot task scheduling and human guidance for health checkup application in a hospital. For a health-checkup robot in a hospital, an IC card reader mounted on the robot is used to retrieve user's personal information from the cloud server. After data retrieval, a visiting list in the hospital is automatically scheduled for each patient. Next, the robot guides each user according to the scheduled list. The scheduling is completed by adopting the non-preemptive Priority Scheduling approach. To assure safe human guidance and navigation, the robot uses data from two laser scanners: one is used for robot localization, and the other is used to detect user's leg for guidance. The robot uses Cartographer for localization and mapping. The guidance controller constantly adjusts motion commands depending on the user's position, meanwhile guides the user to the planned destination. The motion commands are executed by robot motion controller. The proposed design has been successfully verified using a prototype mobile robot in the lab environment.
Trajectory Modification of a Cloud Learning Robot
(2017-01-01)
Song, Kai-Tai
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Song, Shao-Huan
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Liu, Hung-Shen
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電控工程研究所
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Institute of Electrical and Control Engineering
In the near future, home service robots will enter our daily life and interact with people more and more frequently. In order to cope with the needs and habits of different users, an easy robot programming method is desirable. For some users, who are not familiar with programming, customizing the robot program deserves attention. This paper suggests a method to use Programming by Demonstration(PbD) to teach a robot through user demonstration of the trajectory and save the trajectory into a cloud database to facilitate future playback when needed. Through the cloud database, each robot shares previously recorded trajectories. However, in many cases a recorded trajectory may need to be modified to be customized for an individual user. In this paper, a method is proposed to facilitate the robot to return to the original trajectory as part of the retrieved trajectory is modified. Experimental results are presented by using two robots in the robotic cloud system. The first one is the prototype dual-arm home service robot Aladdin developed in the lab. The second robot is a TM5 robot from Techman, which reproduced the learned trajectories remotely.