• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.

• Journal of KIISE
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• v.42 no.10
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• pp.1231-1238
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• 2015

Traffic light rules are one among the most common and important safety rules as the directly correlate with the safety of pedestrians. Consequently, an algorithm is required to cause an automated (or semi-automated) vehicle to observe traffic light signals. We present a novel, artificial potential function to guide an automated vehicle through traffic lights. Our function consists of three potential function components representing the three traffic light colors: green, yellow, and red. The traffic light potential function smoothly changes an artificial potential field using the elapsed time for the current light and light conversion. Our traffic light potential function is combined with other potential functions to guide vehicles' movement and constructs the final artificial potential field. Using various simulations, we found or method successfully guided the vehicle to observe traffic lights while behaving like human-controlled cars.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.45 no.4
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• pp.34-40
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• 2008

This paper presents a vision based walking robot control system using hand shape recognition. To recognize hand shapes, the accurate hand boundary needs to be tracked in image obtained from moving camera. For this, we use an active contour model-based tracking approach with mean shift which reduces dependency of the active contour model to location of initial curve. The proposed system is composed of four modules: a hand detector, a hand tracker, a hand shape recognizer and a robot controller. The hand detector detects a skin color region, which has a specific shape, as hand in an image. Then, the hand tracking is performed using an active contour model with mean shift. Thereafter the hand shape recognition is performed using Hue moments. To assess the validity of the proposed system we tested the proposed system to a walking robot, RCB-1. The experimental results show the effectiveness of the proposed system.

• Science of Emotion and Sensibility
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• v.5 no.4
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• pp.67-75
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• 2002

The purpose of this study is to assess the ability of balance control in virtual moving surround stimulation using head mount display (HMD) device and force platform in patients with brain injury. Fifteen patients with stroke (mean age 54.47 yrs) and fifteen healthy normal persons participated. COP parameters were obtained total path distance, frequency of anterior-posterior and medial-lateral component by FFT analysis, weight-spectrum analysis in the two different conditions; (1) during comfortable standing with opened or closed eyes, (2) during virtual moving surround stimulation delivered using HMD with four different moving pattern. Moving patterns consisted of close-far, superior-inferior lilting (pitch) , right-left tilting (roll) and horizontal rotation (yaw) movement. In all parameters, the test-retest reliability was high. Also, the construct validity of virtual moving surround stimulation was excellent (p＜0.05). A posturographic balance assessment system equiped with virtual moving surround stimulation using HMD is considered clinically useful in evaluation of balance control in patients with brain injury.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.4
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• pp.293-300
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• 2016

The Voice recognition is one of convenient methods to communicate between human and robots. This study proposes a speech recognition method using speech recognizers based on Hidden Markov Model (HMM) with a combination of techniques to enhance a biped robot control. In the past, Artificial Neural Networks (ANN) and Dynamic Time Wrapping (DTW) were used, however, currently they are less commonly applied to speech recognition systems. This Research confirms that the HMM, an accepted high-performance technique, can be successfully employed to model speech signals. High recognition accuracy can be obtained by using HMMs. Apart from speech modeling techniques, multiple feature extraction methods have been studied to find speech stresses caused by emotions and the environment to improve speech recognition rates. The procedure consisted of 2 parts: one is recognizing robot commands using multiple HMM recognizers, and the other is sending recognized commands to control a robot. In this paper, a practical voice recognition system which can recognize a lot of task commands is proposed. The proposed system consists of a general purpose microprocessor and a useful voice recognition processor which can recognize a limited number of voice patterns. By simulation and experiment, it was illustrated the reliability of voice recognition rates for application of the manufacturing process.

• Journal of the Institute of Convergence Signal Processing
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• v.12 no.1
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• pp.13-19
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• 2011

In this paper, a visual surveillance system using SOPC based NIOS II embedded processor and C2H compiler was implemented. In this system, the IP is constructed by C2H compiler for the output of the camera images, image processing, serial communication and network communication, then, it is implemented to effectively control each IP based on the SOPC and the NIOS II embedded processor. And, an algorithm which updates the background images for high speed and robust detection of the moving objects is proposed using the Adaptive Gaussian Mixture Model(AGMM). In results, it can detecte the moving objects(pedestrians and vehicles) under day-time and night-time. It is confirmed that the proposed AGMM algorithm has better performance than the Adaptive Threshold Method(ATM) and the Gaussian Mixture Model(GMM) from our experiments.

• Journal of the Society of Disaster Information
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• v.11 no.4
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• pp.570-580
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• 2015

In the study, planning indicator that should be considered in applying traffic calming technique was derived, and it was intended to analyze the importance of indicator that should most considered in planning traffic calming technique through AHP analysis on the basis of it. The result of planning indicator may be summarized by dividing into road section and crossing section. In road section, hump (0.35) for equipment stimulating reduction of speed, hump image/fort (0.31) for visual control equipment, and slalom type road (0.52) for chicane, and bollard (0.47) for blocking passing route are shown to be the most important and come before anything. In crossing section, signal indicator (0.33) for visual control equipment, rumble strip (0.44) for equipment stimulating reduction of speed, zigzag type road (0.65) for chicane, and blocking going straight at crossing (0.45) for blocking passing route are shown to be the most important and come before anything. The result of the study is judged to be used for basic material in applying traffic calming technique and establishing policy hereafter.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.9 no.5
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• pp.49-58
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• 2010

The traffic signal controllers being used in the domestic currently are being manufactured based on the korean national police standard which was developed for controlling the quad-light traffic signal having the red, yellow, left-turn arrow, and green lights. But according to the national policy for the traffic operation, they have to be changed to be able to switch the tri-light signal having red, yellow and green lights. In this study, a new tri-light traffic signal controller was designed and developed by the way improving the Signal Control Unit of the existing quad-light standard traffic controller. The Load Signal Unit(LSU) was improved to output 6 signals which are the two assemblies of three signal indications having the red, yellow, and green lights. To enough traffic signals output to control each directional movements and the various transport modes which are car, bus, bike, and pedestrian etc., the connector bus system was designed to be able to accommodate maximum 96 signals outputs being constructed by 16 LSUs. Flasher device was developed to be able to support maximum 32 red signals. In the software, the communication protocol between traffic control center and the traffic signal controller was improved and new signal map code values were defined for the developed LSU controlling the quad-light traffic signal. A model of the quad-light traffic signal controller developed and was tested three operations, protocol-operation, remote-command and control-mode. The test result operated all of them successfully.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2002.11a
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• pp.233-244
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• 2002

The purpose of this study is to assess the ability of balance control in moving surround using head mount device and force platform and to examine the clinical usefulness of COP parameters. Fifteen patients with stroke and healthy persons were participated. COP parameters were obtained as total path distance, frequency of anterior-posterior and medial-lateral component by FFT analysis, weight-spectrum analysis in the two different conditions; (1) in comfortable standing with opened or closed eyes, (2) in virtual moving surround delivered using HMD to four different moving pattern. In virtual moving surround setting, moving pattern was composed of close-far, superior-inferior tilting(pitch), right-left tilting(roll) and horizontal rotation(yaw) movement. In all parameters, the reliebility of COP analysis system was significantly high. Also, the construct validity compared between fifteen patients with stroke and normal persons was excellent in virtual moving surround condition(p

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.5
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• pp.3610-3618
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• 2015

The congestion of railway vehicle and station shows up to 220%. Especially, transfer resistance of passenger increase rapidly by the collision of circulation. So increment of travel time, occurrence of safety accidents act as a factor that inhibits the utilization of urban railway station. In this paper, to improve traveling speed and comfort of urban rail passengers, urban transit passenger guidance system using congestion management model is proposed. The congestion management model that can mitigate a recurring/non-recurring congestion is constructed and the preliminary design of the system (middleware system, control system, guidance drive system) is carried out. Passenger Guidance System is configured by step for changing the external data into a form usable by the algorithm, step to perform the congestion management algorithm using the real-time data and historical data, step to control device based on the value that is calculated by congestion management algorithm, step to drive the device based on the information in the control system and circulation guidance devices. In the future, detail design will be performed based on the preliminary design. A prototype of the various devices according to the station structures and locations will be made. The control module of guidance device will be developed.