Jaewook Bae

Learn More
A cutom per-siun of rhe TeminotorBot i~ described for core-bored inspection during seareh-ond-rescue operations. "Core-bored inspection " refers to ~~irool inspection of a void by paning a small comer0 thmiigh on access hole into rhe w i d. Titis is the clossic "camera-on-a-stick " approach. Somerimes rite occesx hole occurs noruroll~ Sometimes a suspected(More)
This paper describes the design and evaluation of the "gestural joystick," a wearable 2-D pointing controller for mobile robots in hazardous environments that uses hand gestures. Hazardous environments, such as that of a collapsed building search, require operators to wear a significant amount of protective clothing. This protective clothing, which may(More)
In this paper, we describe a novel routing mechanism to create a low power, high-bandwidth Wireless Video Sensor Network (WVSN) for miniature distributed robots in urban search and rescue (USAR) applications. WVSN features: 1) high-bandwidth, high-quality lossless images, 2) low power, and 3) low la-tency of data traffic. Traditional proactive network(More)
— Limbs are an attractive approach to certain niche robotic applications, such as urban search and rescue, that require both small size and the ability to locomote through highly rubbled terrain. Unfortunately, a large number of degrees of freedom implies there is a large space of non-optimal locomotion trajectories (gaits), making gait adaptation critical.(More)
Small-size robots provide access and maneuverability in the tight confines of highly rubbled and uncertain environments such as those encountered in Urban Search and Rescue (USAR). Small size also provides easy portability and deployability and the potential for redundancy through multi-robot teaming. Unfortunately, small size does not diminish the data(More)
— For controlling robots in an urban search and rescue (USAR) application, we present a wearable joystick with improved sensing capability as well as Giant Magneto-Resistance(GMR) sensor model for rare-earth magnet. Scientists have already begun to try to apply existing interactive devices to control USAR robots in a disaster. In a USAR task, the selection(More)
— In this paper, we describe usability tests to evaluate a gestural joystick as a new input device. The usability of a device addresses five main issues: learnability, efficiency, memorability, errors, and satisfaction. These different measures of usability are used in an attempt to compare the gestural joystick, called " wearable joystick " , with four(More)
— Limbs are an attractive approach to certain niche robotic applications, such as urban search and rescue, that require both small size and the ability to locomote through highly rubbled terrain. Unfortunately, a large number of degrees of freedom implies there is a large space of non-optimal locomotion trajectories (gaits), making gait adaptation critical.(More)
  • 1