• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.1
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• pp.60-65
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• 2010

This paper describes the results of 2D mapping, feature detection and matching to create the surrounding environment in the mounted stereo camera on Mobile robot. Extract method of image's feature in real-time processing for quick operation uses the edge detection and Sum of Absolute Difference(SAD), stereo matching technique can be obtained through the correlation coefficient. To estimate the location of a mobile robot using ZigBee beacon and encoders mounted on the robot is estimated by Kalman filter. In addition, the merged gyro scope to measure compass is possible to generate map during mobile robot is moving. The Simultaneous Localization and Mapping (SLAM) of mobile robot technology with an intelligent robot can be applied efficiently in human life would be based.

• Journal of Advanced Navigation Technology
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• v.11 no.2
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• pp.209-216
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• 2007

In this paper, we embodied posture-stabilization and dynamic gait in a walking robot. 10 RC servo motors are used to operate joints. And the joints have enough moving ranges suitable in any walking pattern. Each joint trajectory is generated by cubic spline interpolation method and the stability of the trajectory is verified by using Zero Moment Point from the robot modeling. To avoid complex structure and expression, Zero Moment Point of the biped robot used angular acceleration is suggested. To measure the stability of the biped robot, Tilt sensor and gyro sensor are used. Finally, Personal Computer is used computer monitoring and data processing. Most of computation, such as 10 RC servo motor control, joint trajectory generating, ZMP compensation, sense measuring, etc, was used Digital Signal Processor.

• Proceedings of the Korean Society of Computer Information Conference
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• 2020.07a
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• pp.665-666
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• 2020

4차 산업혁명 시대로 들어서면서 인공지능, 로봇산업이 크게 떠오르고 활발해지기 시작했으며 특히 가정용 제품들이 많이 나오고 있다. 최근 들어 미세먼지, 황사 등 공기 중의 미세먼지나 세균 바이러스로 인해 호흡기 질병에 많이 걸리고 이러한 환경문제 때문에 많은 사람들이 집안 공기를 정화 시킬 수 있는 공기청정기를 많이 구매하고 있다. 대부분 집의 일반적인 공기청정기는 한 자리에서 한정된 공간의 공기만 정화 시키고 다른 공간에 필요하면 직접 옮기거나 추가로 구매해야 하는 문제가 있다. 이러한 문제를 해결 하기위해 비교적 가정에 많이 사용하고 있는 로봇청소기에 공기 청정기 기능을 접목시켜 청소를 하면서 생기는 먼지들을 걸러내는 동시에 공기청정기능 까지 접목시켜 로봇청소기가 움직이며 여러 공간을 청소도 하며 공기 청정 기능 까지 하고 로봇청소기가 작동 안 할 때는 공기청정기의 기능만 하여 따로 로봇청소기와 공기청정기를 구매할 필요가 없어 공간절약과 비용감소 효과를 기대할 수 있을 것이다.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.532-537
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• 2009

The necessity of intelligent surveillance system is gradually considered seriously from the space where the security is important. In this paper, we embodied unmanned intelligent system by developing embedded mobile robot based on images and sounds tracking. For objects tracking, we used block-matching algorithm and for sound source tracking, we calculated time differences and magnitude dissimilarities of sound. And we demonstrated the superiority of intruder tracking algorithm through the embodiment of Pan-Tilt camera and sound source tracking module using system, Network camera and mobile robot using system and mobile robot using system. By linking security system, the suggested system can provide some interfacing functions for the security service of the public facilities as well as that of home.

• The Journal of Sustainable Design and Educational Environment Research
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• v.19 no.4
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• pp.78-87
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• 2020

This study proposed the basic data that contributes to inducing an effective construction plan through the application of the 4th industrial technology to construct a school building that can guarantee the five goals of construction management: cost, process, quality, safety, and environmental management. To this end, 3D printing, drones, robot automation, and augmented reality technologies that are highly usable in construction sites were identified for construction workers. As part of this, related literature and research data were investigated. The selected 4th industrial technology was investigated and analyzed on how it was used for cost, process, quality, safety, and environmental management in a detailed school construction process. As a result of the analysis, significant results were found for the application plan of the 4th industrial technology in school construction for cost, process, quality, safety, and environmental management.

• Journal of Convergence for Information Technology
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• v.11 no.4
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• pp.83-101
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• 2021

This study is to investigate, using AHP, what technologies should be applied first to Korean SMEs in order to respond to the 4th industrial revolution and change to a smart enterprise. To this end, technologies related to the 4th industrial revolution and smart factory are synthesized, and the classification criteria of Dae-Hoon Kim et al. (2019) are applied, but additional opinions of experts are collected and related technologies are converted to artificial intelligence (AI), Big Data, and Cloud Computing. As a base technology, mobile, Internet of Things (IoT), block chain as hyper-connected technology, unmanned transportation (autonomous driving), robot, 3D printing, drone as a convergence technology, smart manufacturing and logistics, smart healthcare, smart transportation and smart finance were classified as smart industrial technologies. As a result of confirming the priorities for technical use by AHP analysis and calculating the total weight, manufacturing companies have a high ranking in mobile, artificial intelligence (AI), big data, and robots, while service companies are in big data and robots, artificial intelligence (AI), and smart healthcare are ranked high, and in all companies, it is in the order of big data, artificial intelligence (AI), robot, and mobile. Through this study, it was clearly identified which technologies should be applied first in order to respond to the 4th industrial revolution and change to a smart company.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.7
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• pp.852-857
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• 2005

This paper discusses a human body extraction method for intelligent robot system. The intelligent robot system requires more robust silhouette extraction method because it has internal vibration and low resolution. The new hybrid silhouette extraction method is proposed to overcome this constrained environment. The temporal and gradient information is combined as hybrid silhouette. The motion region model is used to adjust combining parameters in hybrid silhouette. Finally, the experimental results show the superiority of the proposed method.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1999.07a
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• pp.142-149
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• 1999

최근 주변첨단기술이 발달하여 수확, 접목 및 착유 등 농작업에 로봇을 응용하기 위한 연구가 수행되고 있다. 작업의 특성에 따라 응용되는 로봇기술도 차이는 있겠으나 수확용 로봇의 경우 대상물을 인식하고 위치를 검출하는 기술개발이 선행되어야만 대상물을 파지 또는 절단하여 수확이 가능하며, 대상물의 인식 및 위치 검출에는 영상처리기술이 많이 응용되고 있다. 따라서 수확로봇의 작업성능은 대상물을 얼마나 정확하게 인식하고 위치를 정확하게 검출하는 것이 중요하다. 그러나 작업대상이 일정한 조건에서 표준화 되어있는 일반 산업분야와는 달리 농산물의 수확작업현장은 대상물의 배치, 크기 및 형상 둥이 일정하지 않고 작업환경 또한 다양하여 외란의 영향을 많기 받기 때문에 시각장치의 개발은 매우 중요하다. (중략)

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.5
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• pp.1112-1118
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• 1990

The end tip position control of a flexible robot arm has been presented by utilizing the feedback signal from the rate-gyro mounted at the end tip. Kalmann filter and the state feedback gains were determined by optimal sense based upon the parameter from the geometrical and electrical data of the flexible arm system. The simulation and experiment were performed and it has been proved that implementation of the rate-gyro drastically improves the performance.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.11a
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• pp.46-47
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• 2012

본 논문은 360도 전방향을 찍을 수 있는 Omni Directional Lens를 장착한 카메라 로봇에 대해 소개한다. 이는 여러 대의 안드로이드 폰으로 원격에서 접속하여 360도 전방의 파노라마 영상을 받아볼 수 있으며, 마스터 권한을 가진 안드로이드 폰의 경우, 카메라 로봇을 원격으로 제어할 수 있다. 이 로봇은 원격에서 무인 감시 시스템 등 여러 가지 영역에서 활용될 수 있다.