Nakju Lett Doh

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In this paper, a robust algorithm that discriminates various eye motions from the ElectroOculoGram (EOG) signals is proposed. Previous researches that use the EOG only focused on saccadic motions or blinks. However, we cover all eye motions including double/triple blinks and left/right winks. Furthermore, we suggest a novel method, which removes noises of(More)
This paper presents a practical algorithm for topological navigation in corridor environment using cheap sonar sensors. Topological navigation consists of topological mapping and obstacle avoidance navigation. In this environment, it has two major problems which are 1) identifying nodes under globally similar but locally slightly different shape of corridor(More)
Abstracl-GVG has been effectively used as a sensor based navigation tool using 360' sensor data. For mobile guide mhot applications, however, we can only use 180' s e m r data and the rohusiness of the navigation algorithm is critical for successful applications. For that purpose, the robot should he equipped with three capabilities. Those are 1)(More)
All mobile bases suffer from localization errors. Previous approaches to accommodate for localization errors either use external sensors such as lasers or sonars, or use internal sensors like encoders. An encoder’s information is integrated to derive the robot’s position; this is called odometry. A combination of external and internal sensors will(More)
In this paper, a dependable humanoid navigation system is proposed by considering many difficulties in humanoid navigation based on bipedal locomotion in an uncertain environment. In particular, we propose a layered architecture to resolve complicated problems through a hierarchical manner. Within the proposed software architecture, a walking path planner,(More)
In this paper, we propose an algorithmic compass that yields the heading information of a mobile robot using the vanishing point in indoor environments: VPass. With the VPass, a loop-closing effect (which is a significant reduction of errors by revisiting a known place through a loop) can be achieved even for a loop-less environment. From the implementation(More)