Research Portfolio

Research Portfolio -Publications and Researches- University of Texas at Dallas Electrical Engineering Department JeongHee Kim jxk069000@utdallas.edu Contents 1. Publications 2. Senior Design Project-UTDrive 3. Capstone Design Project 4. SCARO Robot Simulator 5. Other Robots 6. Awards 01 NEDO-supported NEDO international collaboration between Universities in Japan, Italy, Singapore, Turkey, and USA. UTDrive is part of three-year To develop a framework for building effective models of drivers' behavior, smart inter-vehicle communications, and smart technologies for safe driving. UTDrive @ RTT Showcase Slide 3 Feb 27, 2007 02 Collect multi-modal driving signals from a large number of drivers in a car environment (within Texas, compare with four other countries). Predict drivers’ behavior and develop an alert system when cognitive load of present distraction and primary driving tasks is higher than driver’s cognitive capacity. Design vehicle dialog management which is capable of adapting itself to support a driver's cognitive capacity. Make safe-drive recommendations to scientific community and industry. UTDrive @ RTT Showcase Slide 4 Feb 27, 2007 03 Recommendations for insurance companies; State Laws on Limiting Distractions; Graduated Driver Licenses (age, cognitive load, ex perience) experience) UTDrive @ RTT Showcase Slide 5 Feb 27, 2007 04 Bruce Magladry (Director of Highway Safety Office, U.S. NTSB) said that “Future design and development will lead to a seamless implementation of handshands-free interaction among digital devices in vehicles. In addition, systems will not only meet the wants and needs of drivers but also accommodate their frailties by factoring in the workload context .” .” UTDrive @ RTT Showcase Slide 6 Feb 27, 2007 05 NHTSA estimates that 20-30% (1.2 million accidents) of all motor vehicle crashes are caused by driver distraction. 30.00% 25.00% 20.00% 15.00% 10.00% 5.00% 0.00% External Distraction Adjusting Radio, CD, etc., Other occupants Moving objects in car Other objects in car Vehicle controls Eating, Drinking Cell Phones Sm oking Other distractions Unknow n distractions Source: www.hsrc.unc.edu Average American spends more than 300 hrs in the car every year, and estimates the number of people using cell phones while driving vary 50-73%. Estimates are that 60% of cell phone calls initiated in 2000 originated in car environments UTDrive @ RTT Showcase Slide 7 Feb 27, 2007 06 2005 Traffic Fatalities by State Top 3 States with Traffic Fatalities etc 55% CA 9% FL 6% TX 6% Source: www.nhtsa.dot.gov CA IL FL MO TX OH GA TN PA AZ NC SC NY etc UTDrive @ RTT Showcase Slide 8 Feb 27, 2007 07 Total Fatality Rate per 100,000 Total Killed Population 14 12 10 8 6 4 2 0 Source: www.nhtsa.dot.gov New York Los Angeles Chicago Houston San Antonio Dallas Austin Fort W orth El Paso Arlington Corpus Christi Plano Garland Lubbock Laredo Irving February 22, 2007 - Texas bill targets cell phone use in vehicles (Menendez’ bill). (Menendez’ bill). Texas State lawmaker has introduced a bill that would prohibit drivers in the state drivers from talking on hand-held cell phones while driving {http://www.landlinemag.com} hand{http://www.landlinemag.com} UTDrive @ RTT Showcase Slide 9 Feb 27, 2007 Texas Cities Texas Cities 08 Collecting rich multi-modal data Driving cognitive assessment with various distractions Statistical modeling of driving behavior Inter-vehicle communications (“smart highway systems”) Recommendation to scientific community and industry UTDrive @ RTT Showcase Slide 10 Feb 27, 2007 09 Change lane to the left lane In-vehicle device Larger deviation from the target path Higher distraction UTDrive @ RTT Showcase Smaller deviation from the target path lower distraction Slide 11 Feb 27, 2007 10 Audio Sequence 5000 4000 3000 2000 1000 0 - 1000 - 2000 - 3000 - 4000 - 5000 0 0. 5 1 1. 5 2 x 10 2. 5 4 Noise Candidate TEO Energy Detector Speaker Location Detector Interf ering Talking Candid. Desired Talking Candidate Noise Suppression Speech Candidate Audio-Visual Data Sy nchronization Ey es & Mouth Detector Video Sequence Interf ering Speech Suppression Non-Face Candidate Face Candidate Desired Speech Enhancement Figure 1: Schematic diagram of the proposed audio-visual integration system Audio Processing Source Tracking, Speech Enhancement, Noise and interference cancellation Visual Processing Face Detection Using Eyes & Mouth detection UTDrive @ RTT Showcase Slide 12 Feb 27, 2007 11 UTDrive @ RTT Showcase Slide 13 Feb 27, 2007 12 UTDrive @ RTT Showcase Slide 14 Feb 27, 2007 13 Brake Accelerator Speed Steering Wheel i. ii. iii. Driver hits brake & begins turning steering wheel While speed drops to the lowest point (in middle of turn), drive r driver engages the accelerator. Once desired speed is obtained, driver periodically uses accelerator accelerator to maintain overall vehicle speed. Slide 15 Feb 27, 2007 UTDrive @ RTT Showcase 14 Future Research Directions Effective driver behavior model Generate/explain driver's behavior characteristics Predict driver’s “next move” Monitor/identify driving behavior (e.g., sleepy) Recognize driver of the vehicle adjust systems to support driver, increase safety and security Make Recommendations on Driver Distractions which impact driving performance; make this information available to car companies & insurance providers UTDrive @ RTT Showcase Slide 16 Feb 27, 2007 Capstone Design Project -Applied Robot Control SystemTeam Name: Robot Soccer Team, P.O.S. Members: SoonJe Jo,JeongHee Kim, DongGil Kim, SongHwa Kim Advisor: Dr. WooHyun Kwon Phantom Of Soccer System Formation VISION STRATEGY STRATEGY ROBOT Phantom Of Soccer Color System at Robot Soccer System RGB or YUV Color Space Phantom Of Soccer Color Setting Using the histogram of YUV Color Setting Phantom Of Soccer Center and Angle Calculation - CCD : SDC-4304NA - Frame Grabber : Matrox Meteor II-2 - Host PC : Pentium III-700 - Compiler : WindowsNT 4.0, Visual C++ MFC Calculation Formula and Result Phantom Of Soccer Vision System Vision System Using by CCD camera Phantom Of Soccer Strategy I Basic Route and Ground Section DEFENCE ZONE CENTER AREA 1 ATTACK AREA CENTER AREA 2 Phantom Of Soccer Strategy II Obstacle Evade Algorithm Phantom Of Soccer Robot Synopsis Communication Signal Communication Module Motor Power Battery Micro-Controller Voltage Regulator PWM Left Motor PWM Right Motor Driver Motor Driver Motor Phantom Of Soccer Robot Control by PID Kp E Ki Kd Edt d E dt PID Algorithm Phantom Of Soccer Robot DSP Chip Lay Out C1 XTAL1/C LKIN 33pF R1 Y1 C2 33pF 10MH z XTAL2 1M EMU1 EMU0 CHA_L/3.3V CHA_R/3.3V CHB_L/3.3V CHB_R/3.3V TP2 CLKOUT VCC 3.3V 75 74 73 72 71 70 69 68 67 66 65 64 63 62 61 60 59 58 57 56 55 54 53 52 51 U1 TMS320LF2406A VCC 3.3V VCC 3.3V 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 ADCIN10 ADCIN01 ADCIN09 ADCIN00 ADCIN08 VREFLO VREFHI VCCA VSSA BIO/IOPC1 BOOT_EN/XF XTAL1/CLKIN XTAL2 TCLKINB/IOPF5 VSS VDD IOPF6 RS TCK PDPINTB TDI VSSO VDDO TDO TMS ADCIN11 ADCIN02 ADCIN12 ADCIN03 ADCIN13 ADCIN04 ADCIN05 ADCIN14 ADCIN06 ADCIN07 ADCIN15 VDDO VSSO EMU1/O FF EMU0 CAP4/Q EP3/IO PE7 VDD VSS CAP1/Q EP1/IO PA3 CAP5/Q EP4/IO PF0 CAP2/Q EP2/IO PA4 VDDO VSSO CAP3/IO PA5 CLKO UT/IO PE0 VCC 3.3V 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 VCC 5V VC C 3.3V VC C 3.3V R2 10K /PD PIN TA B1 /PD PIN TB BEAD R4 10K C7 0.1uF /RS /PDPINTB R13 10k R3 10K PLLVC C A XTAL1/CLKIN XTAL2 TMS320LF2406A TCK TDI TDO TMS /R S PLLF SW 1 R5 C8 0.1uF 16 C9 6.8nF C 10 0.33uF PLLF2 TRST PLLF2 PLLF PLLVCCA /PDPINTA 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 VCC 3.3V TRST TDIRB/IO PF4 VSSO VDDO T4PWM/T4CMP/IO PF3 PDPINTA T3PWM/T3CMP/IO PF2 PLLF2 PLLF PLLVCCA TDIRA/IO PB6 T1PWM/T1CMP/IO PF4 T2PWM/T2CMP/IO PF5 IO PC0 XINT2/ADCSO C/IO PD0 XINT1/IO PA2 SCITXD/IO PA0 SCIRXD/IO PA1 VSS VDD SPISMO /IO PC2 SPISO MI/IO PC3 SPISTE/IO PC5 SPICLK/IO PC4 TMS2 CANTX/IOPC6 CANRX/IOPC7 CAP6/IOPF1 VDDO VSSO PWM7/IOPE1 TP2 PWM8/IOPE2 TP1 PWM9/IOPE3 VCCP PWM1/IOPA6 PWM10/IOPE4 PWM2/IOPA7 PWM3/IOPB0 VDD VSS PWM4/IOPB1 PWM11/IOPE5 PWM5/IOPB2 VDDO VSSO PWM6/IOPB3 PWM12/IOPE6 TCLKINA/IOPB7 PWM7/IOPE1 PWM8/IOPE2 PWM9/IOPE3 PWM1/IOPA6 PWM10/IOPE4 PWM3/IOPB0 PWM11/IOPE5 SCIRXD/IO PA1/3.3V TP1 SCITX Phantom Of Soccer Robot Process Board Phantom Of Soccer Robot Main Board TI TMS320LF2406A Board Using by CCS, JTAG Emulator PCB production Phantom Of Soccer Robot Body Lay Out Phantom Of Soccer Soccer Robot and Spec. CPU : TI TMS320LF2406 40Mhz Motor : minimotor 2224 Encoder : IE2-512 Gearhead : int. 3.71 : 1, ext. 2 : 1 Motor Driver : L298 RF module : BIM 914/869Mhz Battery : 1.2V 900mAh(x6) Sampling Time : 750us Speed : max 2.5m/s Phantom Of Soccer SCARA ROBOT Graphics simulator : Dynamic Name : WonHyuk Jung, JeongHee Kim Advisor: Dr. SunMog Hong 1. Introduction •Used the Spec of one of the Industrial Robot, SCARA robots, COBRA600 •Calculated 4 Axis Robots’ Kinematics, Jacobian, Dynamics •Simulated Robot’s movement by using Matlab •Application for Multi-Axis Robot Simulator •Basic toolbox of Simulator is Pinjarra Hills. AUSTRALIA • 2. Theory of Robotics MANIPULATOR KINEMATICS Standard form 2. Theory of Robotics Homogeneous transformation matrix Link’s coordinate system Inverse Dynamics Forward and Inverse Kinematics Manipulator Jacobian Matrix 2. Theory of Robotics Manipulator Rigid-Body Dynamics 3. SCARA ROBOT 4-Axis SCARA ROBOT, COBRA 600 4. ROBOT Simulator MENU of ROBOT Toolbox Animation of ROBOT Simulation 4. ROBOT Simulator Solution of Jacobian Matrix 4. ROBOT Simulator Inverse Kinematics Inverse Dynamics 6. Photo at SEEK Square SEEK Square 2004, KNU EE Annual Exhibition, EXCO, Daegu Other Robots Ultra-Red Sensor Robot Other Robots Step Motor Robot Awards Awards