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BEXCO, Busan, KOREA November 24~27, 2010

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BEXCO, Busan, KOREA November 24~27, 2010 http://www.kros.org/urai2010/ URAI 2010 BEXCO, Busan, KOREA November 24~27, 2010 Final Program The 7th International Conference on Ubiquitous Robots URAI 2010 and Ambient Intelligence The 7th International Conference on Ubiquitous Robots and Ambient Intelligence Organized by Technically Co-Sponsored by Sponsored by Supported by ContentsContents ofof FinalFinal ProgramProgram ‣ Welcome to URAI 2010 ······································································································ 3 ‣ Conference Organization ····································································································· 4 ‣ International Program Committee ···················································································· 6 ‣ Conference Organizers & Sponsors ·················································································· 7 ‣ Exhibitors ······························································································································· 9 ‣ General Information ·········································································································· 12 ‣ Tour Program ····················································································································· 13 ‣ Conference Venue ··············································································································· 14 ‣ ACCAS ································································································································· 17 ‣ Plenary Speakers ················································································································ 19 ‣ Technical Program Information ······················································································· 23 ‣ Technical Program at a glance ······················································································· 24 ‣ Technical Program Schedule ···························································································· 27 • Thursday (Nov. 25) • Friday (Nov. 26) ‣ Abstracts of Papers ··········································································································· 50 • Thursday (Nov. 25) • Friday (Nov. 26) ‣ Author Index ······················································································································· 91 2 WelcomeWelcome toto URAIURAI 20102010 On the behalf of the organizing committee, I would like to welcome all of you to URAI 2010, the 7th International Conference on Ubiquitous Robots and Ambient Intelligence, which will be held at Busan Exhibition & Convention Center in the city of Busan, Korea, on November 24-27, 2010. General Chair As the General Chair, it is my great pleasure and honor to host URAl Professor, 2010, organized by KROS (Korea Robotics Society), co-sponsored by Sungshin Kim Pusan National Busan Metropolitan City, and technically co-sponsored by IEEE RAS, RSJ, University and RST. Although URAl began as a small workshop focusing on ubiquitous robotics 7 years ago, it has grown into an international conference which covers both ubiquitous robotics and other categories of intelligent robotic systems. The aim of this conference is to bring together researchers, engineers and practitioners to present their ideas and recent works. URAI 2010 is highlighted by four plenary talks by renowned researchers, regular and audio-visual presentation sessions, and poster session of the contributed papers. Series of exciting social events are to be provided for the participants, including welcoming reception, conference banquet, as well as specially organized cultural tour of southeastern part of Korean peninsula. I would like to take this opportunity to thank all the organizing and program committee members who work hard to make URAl 2010 a success. My special appreciation should be directed to Prof. Min-Cheol Lee and Prof. Hideki Hashimoto, the program chairs for their invaluable contributions. As the second biggest city of South Korea, Busan is located at the southern tip of Korean peninsula. There are many beautiful beaches, resort areas as well as cultural heritage sites which are among others, one of most popular tourist attractions within South Korea. Profiting from this occasion, I sincerely hope that all of you will enjoy your stay in South Korea which, I have no doubt, will bring forth fruitful exchange of scientific ideas and showcase our collaborative effort to explore and pioneer new paradigms in robotic system research. It is also my best wish that the vibrant city of Busan will leave you with lasting impression and inspire you for the next venue of the event. 3 ConferenceConference OrganizationOrganization ❏ Organizing Committee Advisory Committee : Z. Zenn Bien (KAIST, Korea) Myung Jin Chung (KAIST, Korea) Il Hong Suh (Hanyang Univ., Korea) Beom Hee Lee (Seoul National Univ., Korea) Honorary General Chair Jang Myung Lee (Pusan National Univ., Korea) General Chair Sungshin Kim (Pusan National Univ., Korea) Program Chairs Min-Cheol Lee (Pusan National Univ., Korea) Hideki Hashimoto (Univ. of Tokyo, Japan) Publicity Chairs George Chiu (Purdue Univ., USA) Nak-Young Chong (JAIST, Japan) Wan Kyun Chung (POSTECH, Korea) Li-Chen Fu (National Taiwan Univ., Taiwan) Dennis Hong (Virginia Tech., USA) Seul Jung (Chungnam National Univ., Korea) Hirohiko Kawata (Hokuyo Automatic Co., LTD., Japan) Ren C. Luo (National Taiwan Univ., Taiwan) Mihoko Niitsuma (Chuo Univ., Japan) Wonpil Yu (ETRI, Korea) Publication Chairs Jin-Woo Jung (Dongguk Univ., Korea) Euntai Kim (Yonsei Univ., Korea) Video/Poster Chairs Jong-Wook Kim (Dong-A Univ., Korea) Jee-Hyong Lee (Sungkyunkwan Univ., Korea) Local Chairs Kwang-Ryul Beak (Pusan National Univ., Korea) Dae Woo Lee (Pusan National Univ., Korea) 4 Finance Chair TaeSeok Jin (Dongseo University, Korea) Workshop Chairs Hyeon Bae (Busan Technopark, Korea) Seung-Wook Choi (Busan Technopark, Korea) Hyeon-Sik Kim / Marine Robot (Tongmyong Univ., Korea) Soo Hyun Kim / Military Robot (KAIST, Korea) Byung-Ju Yi / Medical Robot (Hanyang Univ., Korea) Exhibition Chairs Dong-Seog Bae (Korea Polytechnic VII Univ., Korea) Seong-Pyo Cheon (Gyeongnam Technopark, Korea) Sam Tae Gang (Robotech Co., LTD., Korea) Young-Hu Park (ED Co., LTD., Korea) Secretariat Kate Lim (KROS, Korea) 5 InternationalInternational ProgramProgram CommitteeCommittee Name Affiliation Ai, Qingsong Wuhan University of Technology, China Arai, Tatsuo Osaka University, Japan Cho, Dongil Seoul National University, Korea Choi, S.J. University of Technology and Education, Korea Choi, YoungJin Hanyang University, Korea Chong, Nak Young JAIST, Japan Chung, Sheng-Luen National Taiwan University of Science and Tech., Taiwan Chung, Wan Kyun POSTECH, Korea Ciaravella, Gaetano KIST, Korea Dragone, Mauro University College Dublin, Ireland Fu, Li-Chen National Taiwan University, Taiwan Han, Sung-Hyun Kyungnam University, Korea Hong, Dennis Virginia Tech., USA Jung, Jin-Woo Dongguk University, Korea Jung, Seul Chungnam National University, Korea Kang, Chul-Goo Konkuk University, Korea Kawata, Hirohiko Hokuyo Automatic Co. Ltd, Japan Kim, Euntai Yonsei University, Korea Kim, Hyoung-Nam Pusan National University, Korea Kim, Jong-Wook Dong-A University, Korea Kim, JungHa Kookmin University, Korea Kim, Sunghoon ETRI, Korea Kwon, Yongjin(James) Ajou University, Korea Liu, Tao Kochi University of Technology, Japan Matsumoto, Mitsuharu University of Electro-Communications, Japan Mbaitiga, Zacharie Okinawa National College of Technology, Japan Nitsuma, Mihoko Chuo University, Japan Ohara, Kenichi Osaka University, Japan Seo, Young-Woo Daeyang Electric Co., LTD., Korea Shin, Jinok KITECH, Korea Song, Young-Hwan DRB Co., LTD., Korea Suwanratchatmanee, Kitti Waseda University, Japan Tarokh, Mahmoud San Diego State University, USA Yoo, Bum-Jae KIST, Korea 6 ConferenceConference OrganizersOrganizers && SponsorsSponsors ❏ Conference Organizer Korea Robotics Society ❏ Technically Co-Sponsored IEEE Robotics & Automation Society Robotics Society of Japan Robotics Society of Taiwan ❏ Conference Sponsors Specialized Navigation / Localization robot technology research center of Pusan National University The Korean Federation of Science and Technology Societies Busan Metropolitan City Busan Convention & Visitors Bureau Korea Tourism Organization Institute of Logistics Information Technology 7 ❏ Conference Supported Hokuyo Automatic Robobuilder Robotis SimLab Unmanned Solution Co., Ltd Robotever ED corporation 8 ExibitorsExibitors Name of Company HOKUYO KOREA CO., LTD. President Kadowaki Akihisa 104-211, Techno Park3 36-1, Address Samjeong-Dong, Ojeong-Gu, Bucheon-Si, Country Korea Gyeonggi-Do Tel +82-32-624-3194~5 Fax +82-32-624-3196 E-mail [email protected] Web-site www.hokuyokorea.co.kr Contents of Exhibit Introducing new laser scanner specialized for Robotics (SOKUIKI sensor) Introduction Hokuyo is one of famous automatic control manufacturing company in the world. Since our establishment in 1946, we have focused on high-tech automatic control product and provide customized products to our various clients. Based on our experience and expertise, Hokuyo is contributing to advance the industries and enhancement of human life. Our laser scanner for Robotics (SOKUIKI sensor) which is the most popular in robotics field as known “URG” series, is one of our answers. In this exhibition, we will present two of new product “Ether-Top” and “Tough-URG” which were developed for outdoor and industrial
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