• Proceedings of the Korea Information Processing Society Conference
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• 2020.11a
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• pp.788-791
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• 2020

낙농업에서 경제적 손실을 불러일으키고 관찰 시간과 비용이 필요한 젖소의 유방염 관리는 중요하다. 그러나 지금까지의 연구는 유방염 진단에 초점을 맞추고 있고, 예측하려는 시도는 전무하다. 유방염에 걸린 개체는 며칠 동안 우유를 생산할 수 없기 때문에 낙농가에 막대한 피해를 준다. 따라서 젖소가 유방염에 걸려 증상이 나타나기 전에 미리 파악해 조처를 할 수 있도록 하는 것이 중요하다. 이에 본 연구는 유방염 예측을 위해 생체 데이터를 포함한 다중 센싱 데이터를 사용해 유방염 예측 모델을 개발하였다. 모델에 사용된 데이터는 충청남도의 농가에 설치된 로봇 착유기로 부터 수집하였으며, 일정 기간 동안의 다중 센싱 데이터를 바탕으로 다음 날의 유방염 여부를 예측한다. 많은 양의 비선형 데이터를 효과적으로 처리하기 위해 다층 퍼셉트론을 사용해 모델을 학습하였다. 그 결과, 81.6%의 예측 정확도를 보였으며 교차 검증을 통해 정확도뿐만 아니라 재현율까지 우수함을 확인할 수 있었다.

• Proceedings of the Korea Information Processing Society Conference
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• 2021.05a
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• pp.529-532
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• 2021

본 논문은 서비스 로봇 분야에서 역할을 수행하는 ROS 및 딥러닝 기반 모듈형 6자유도 매니퓰레이터의 설계 방법 및 성능 개선 결과를 제시한다. 기구적 설계, 모터 선정, 역 기구학 해석 방법 및 지능적 제어 방법에 대한 개선점과 향후 연구과제에 대해 다루었다. 특히 고정된 작업 반경 안에 있는 물체를 검출하고 이동시키는 방법을 딥러닝학습에 의해 정확도를 증가시키며, 임의의 위치에 존재하는 다양한 작업환경에서도 성공적인 작업수행이 가능하도록 수직 다관절 모듈형 매니퓰레이터를 설계하고 주요 성능을 검증하였으며 사용자의 사용 목적에 맞게 다양한 환경에서의 임무 수행이 가능하도록 설계하였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2020.07a
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• pp.203-204
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• 2020

챗봇이란 인공지능 기반으로 인간과 대화하는 로봇을 일컬으며, 요청과 응답구조로 운영되는 인공지능 프로그램을 말한다. 챗봇은 사용자와 상호작용하기 위해 대화형 인터페이스를 사용하는 소프트웨어로 기존 사용자의 언어를 이해하고 학습하여 인간이 대화하듯이 대화를 하도록 설계되어있다. 챗봇을 사용하는 회사는 인건비를 줄이고 빅데이터를 기반으로 전문적이고 정확한 답변을 제공할 수 있어 활용 효율성이 높은 편이다. 그러나 회사가 챗봇을 적극적으로 도입하고 사용자에게 긍정적인 영향을 줄 것이라는 기대와 달리 사용자는 챗봇을 계속 사용하지 않고있다. 따라서 본 논문은 챗봇 서비스의 지속사용의도에 영향을 미치는 요인들을 파악하고자 한다. 특히 인공지능 특성이 챗봇 서비스 지속적 사용의도에 미치는 영향을 연구한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2021.11a
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• pp.600-601
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• 2021

식품제조 현장에서 유연포장을 수행하기 위해, 로봇이 다양한 제품들을 파지하거나 이송하는 작업이 필수적이다. 본 논문에서는 전통장류 식품제조에서 다양한 종류와 무게를 조합하는 혼합포장을 위해 전통장류 물체 영역 인식과 종류 인식을 수행한다. 이를 위하여, 대표적인 전통장류에 대해 종류를 분류하고, RGB-D 데이터를 입력으로 물체 영역과 종류 인식을 수행하는 딥러닝 네트워크를 학습한다. 실험 결과를 통해, 물체 영역의 중심점을 기반으로 흡착 기반 파지점을 선정할 수 있음을 확인한다.

• KIPS Transactions on Software and Data Engineering
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• v.5 no.2
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• pp.107-116
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• 2016

Industrial robots have been usually controlled using text-based programming languages provided by each manufacturer with its button-based TP(Teaching Pendent) terminal. Unfortunately, when we consider that people who manipulate TPs in manufacturing sites are mostly unskilled with no background knowledge about computer programming, these text-based programming languages using button-based interaction on manufacturing sites are too difficult for them to learn and use. In order to overcome the weaknesses of the text-based programming language, we propose a visual programming language that can be easily used on gesture-enabled devices. Especially, in our visual programming environment, each command is represented as a block and robots are controlled by stacking those blocks using drag-and-drop gestures, which is easily learnable even by beginners. In this paper, we utilize a widely-spread device, Tablet PC as the gesture-enabled TP. Considering that Tablet PC has limited display space in contrast to PC environments, we designed different kinds of sets of command blocks and conducted user tests. Based on the experiment results, we propose an effective set of command blocks for Tablet PC environment.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.297-305
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• 2017

As the development of autonomous vehicles becomes realistic, many automobile manufacturers and components producers aim to develop 'completely autonomous driving'. ADAS (Advanced Driver Assistance Systems) which has been applied in automobile recently, supports the driver in controlling lane maintenance, speed and direction in a single lane based on limited road environment. Although technologies of obstacles avoidance on the obstacle environment have been developed, they concentrates on simple obstacle avoidances, not considering the control of the actual vehicle in the real situation which makes drivers feel unsafe from the sudden change of the wheel and the speed of the vehicle. In order to develop the 'completely autonomous driving' automobile which perceives the surrounding environment by itself and operates, ability of the vehicle should be enhanced in a way human driver does. In this sense, this paper intends to establish a strategy with which autonomous vehicles behave human-friendly based on vehicle dynamics through the reinforcement learning that is based on Q-learning, a type of machine learning. The obstacle avoidance reinforcement learning proceeded in 5 simulations. The reward rule has been set in the experiment so that the car can learn by itself with recurring events, allowing the experiment to have the similar environment to the one when humans drive. Driving Simulator has been used to verify results of the reinforcement learning. The ultimate goal of this study is to enable autonomous vehicles avoid obstacles in a human-friendly way when obstacles appear in their sight, using controlling methods that have previously been learned in various conditions through the reinforcement learning.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.279-285
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• 2007

The objective of the research is two fold. The first is to design and propose a stable and robust learning control algorithm. The controller is CMAC Learning Controller which consists of a model-based controller, such as LQR or PID, as a reference control and a CMAC. The second objective is to implement a reference control and CMAC at two different sampling rates. Generally, a conventional controller is designed based on a mathematical plant model. However, increasing complexity of the plant and accuracy requirement on mathematical models nearly prohibits the application of the conventional controller design approach. To avoid inherent complexity and unavoidable uncertainty in modeling, biology mimetic methods have been developed. One of such attempts is Cerebellar Model Articulation Computer(CMAC) developed by Albus. CMAC has two main disadvantages. The first disadvantage of CMAC is increasing memory requirement with increasing number of input variables and with increasing accuracy demand. The memory needs can be solved with cheap memories due to recent development of new memory technology. The second disadvantage is a demand for processing powers which could be an obstacle especially when CMAC should be implemented in real-time. To overcome the disadvantages of CMAC, we propose CMAC learning controller with multiple sampling rates. With this approach a conventional controller which is a reference to CMAC at high enough sampling rate but CMAC runs at the processor's unoccupied time. To show efficiency of the proposed method, an inverted pendulum controller is designed and implemented. We also demonstrate it's possibility as an industrial control solution and robustness against a modeling uncertainty.

• Journal of Digital Contents Society
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• v.18 no.5
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• pp.995-1000
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• 2017

The purpose of this study is to analyze the educational effect on creativity and solving-problem ability based on hackathon of elementary SW education. We divided into control and experimental groups with activities of physical computing or robots. The control groups conducted by traditional project based learning collaboratively and the experimental group in hackathon. The outcomes from students were evaluated to by elementary teachers with questionnaire and analyzed to the creativity and solving-problem ability of physical computing or robot productions. As a result, a group of hackathon showed significant positive results in the accuracy on creativity and solving-problem skills statistically. We concluded that the free atmosphere of hackathon for communication and consultation have been attributed to various ideas of students.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.10
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• pp.2180-2188
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• 2009

This paper is study on real-time hand gesture recognition system based on vision for intelligent robot control. We are proposed a recognition system using PCA and BP algorithm. Recognition of hand gestures consists of two steps which are preprocessing step using PCA algorithm and classification step using BP algorithm. The PCA algorithm is a technique used to reduce multidimensional data sets to lower dimensions for effective analysis. In our simulation, the PCA is applied to calculate feature projection vectors for the image of a given hand. The BP algorithm is capable of doing parallel distributed processing and expedite processing since it take parallel structure. The BP algorithm recognized in real time hand gestures by self learning of trained eigen hand gesture. The proposed PCA and BP algorithm show improvement on the recognition compared to PCA algorithm.

• The Journal of the Acoustical Society of Korea
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• v.40 no.5
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• pp.439-451
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• 2021

We propose a deep learning-based beamformer combined with spectral subtraction for continuous speech recognition operating in noisy environments. Conventional beamforming systems were mostly evaluated by using pre-segmented audio signals which were typically generated by mixing speech and noise continuously on a computer. However, since speech utterances are sparsely uttered along the time axis in real environments, conventional beamforming systems degrade in case when noise-only signals without speech are input. To alleviate this drawback, we combine online beamforming algorithm and spectral subtraction. We construct a Continuous Speech Enhancement (CSE) evaluation set to evaluate the online beamforming algorithm in noisy environments. The evaluation set is built by mixing sparsely-occurring speech utterances of the CHiME3 evaluation set and continuously-played CHiME3 background noise and background music of MUSDB. Using a Kaldi-based toolkit and Google web speech recognizer as a speech recognition back-end, we confirm that the proposed online beamforming algorithm with spectral subtraction shows better performance than the baseline online algorithm.