• Proceedings of the Korea Information Processing Society Conference
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• 2004.05a
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• pp.577-580
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• 2004

본 논문은 지식의 규칙 표현을 위한 저작도구인 규칙편집기에 대하여 기술한다. 지식표현방법은 인간의 일상언어와 컴퓨터와의 표현구조를 고려하여 결정된다[2]. 이러한 지식표현방법에는 규칙, 프레임, 의미망, 그래프 등이 있다[2]. 본 논문에서는 지식을 규칙의 형태로 표현하고자 한다. 또한, 표현하고자 하는 지식의 영역은 비즈니스 도메인으로 한정한다. 비즈니스 지식이란 기업의 업무처리에 필요한 제반 지식인 업무처리 절차, 규정 등을 의미하며, 현재 대부분의 기업이 운영하는 기존 응용 시스템은 프로그램 소스의 일부분으로 비즈니스 규칙을 포함하고 있다. 기존 응용 시스템은 경영 상황 및 업무의 변경 등에 따른 비즈니스 지식의 잦은 수정 요구로 시스템의 유지 관리에 많은 비용과 수고가 필요하다. 이러한 문제점의 해결을 위하여 응용 프로그램에서 비즈니스 지식을 분리하여 관리하는 비즈니스 지식처리기술이 기업 응용 프로그램 개발에 도입되고 있다. 코드 속에서 분리된 비즈니스 지식은 규칙의 형태로 표현되고, 이들 규칙은 독립된 지식베이스에서 관리된다. 본 논문에서는 코드에서 분리된 비즈니스 지식을 규칙의 형태로 표현하기 위한 규칙편집기 개발과 개발된 편집기의 기능 및 특징에 대하여 기술한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.248-253
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• 2015

In order to adapt to human's life and perform missions, a humanoid robot needs a height at least similar with children's. In this paper, we proposed a humanoid robot which is like a child who is taller than 1m. We presented showing the humanoid robot's kinematics, designing of a three-dimensional model, developing mechanisms, and the hardware structures using servo motors and compact size PC. Through this process, we designed and manufactured child humanoid robot 'CHARLES(Cognitive Humanoid Autonomous Robot with Learning and Evolutionary Systems)' that is robot is 1m 10cm tall and 8.16kg in weight. For robot's walking, we applied to ZMP-based walking technique and the creation algorithm is applied for walking patterns. Through experiments, we analyzed walking patterns according to the creation and changing parameter values.

• The Journal of the Korea Contents Association
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• v.22 no.5
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• pp.305-318
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• 2022

We focused on the care effectiveness of the interactive AI robots. developed an AI toy robot called 'Agaya' to contribute to personalization with more human-centered care. First, by applying P-TTS technology, you can maximize intimacy by autonomously selecting the voice of the person you want to hear. Second, it is possible to heal in your own way with good memory storage and bring back memory function. Third, by having five senses of the role of eyes, nose, mouth, ears, and hands, seeking better personalised services. Fourth, it attempted to develop technologies such as warm temperature maintenance, aroma, sterilization and fine dust removal, convenient charging method. These skills will expand the effective use of interactive robots by elderly people and contribute to building a positive image of the elderly who can plan the remaining old age productively and independently

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.1
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• pp.89-97
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• 2001

In this paper, we present a new two-dof anthropomorphic joint mechanism that enables to mimic the humanlike motion. The proposed mechanism, called Double Active Universal Joint(DAUJ), generates a two-dof swivel motion without rolling by the coupled motion of two independent motor. In addition, we perform basic experiments to confirm the effectiveness of the proposed mechanism and the results are reported.

• 한국HCI학회:학술대회논문집
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• 2008.02b
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• pp.126-130
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• 2008

It takes only few seconds to find an artifact that has anthropomorphic form. There are numerous examples illustrating human's shape in daily life products. Usage of anthropomorphic form has been a basic design strategy especially when industrial designers design intelligent service robots because most of robot features were basically from human. Therefore, it's necessary to use anthropomorphic form not only in appearance design but also in interaction design. To use anthropomorphic form effectively, it needs to measure how much the artifact is similar to human, and then to evaluate whether the usage of anthropomorphic form fits to the artifact. This study's goal was to set up an evaluation standard for anthropomorphism for robot design. We suggest that there are three criteria for the evaluation standard. Those are 'anthropomorphic form in appearance', 'anthropomorphic form in Human-Robot Interaction', and 'accordance in two former criteria'. We expect that when designers put an evaluation step of anthropomophism in their design process of robots, robots might become more preferred by users, and easier to understand how to interact with.

• Proceedings of the Korea Information Processing Society Conference
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• 2020.11a
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• pp.858-861
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• 2020

로봇이 사람과 같이 다양하고 복잡한 사물 조작을 하기 위해서 휴먼형 로봇손의 사물 파지 작업이 필수적이다. 자유도 (Degree of Freedom, DoF)가 높은 휴먼형(anthropomorphic) 로봇손을 학습시키기 위하여 사람 데모(human demonstration)가 결합된 강화학습 최적화 방법이 제안되었다. 본 연구에서는 강화학습 최적화 방법에 사람 데모가 결합된 Demonstration Augmented Natural Policy Gradient(DA-NPG)와 NPG 의 성능 비교를 통하여 행동 복제의 효율성을 확인하고, DA-NPG, DA-Trust Region Policy Optimization (DA-TRPO), DA-Proximal Policy Optimization (DA-PPO)의 최적화 방법의 성능 평가를 위하여 6 종의 물체에 대한 휴먼형 로봇손의 사물 조작 작업을 수행한다. 그 결과, DA-NPG 와 NPG를 비교한 결과를 통해 휴먼형 로봇손의 사물 조작 강화학습에 행동 복제가 효율적임을 증명하였다. 또한, DA-NPG 는 DA-TRPO 와 유사한 성능을 보이면서 모든 물체에 대한 사물 파지에 성공하여 가장 안정적이었다. 반면, DA-TRPO 와 DA-PPO 는 사물 조작에 실패한 물체가 존재하여 불안정한 성능을 보였다. 본 연구에서 제안하는 방법은 향후 실제 휴먼형 로봇에 적용하여 휴먼형 로봇 손의 사물조작 지능 개발에 유용할 것으로 전망된다.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.750-757
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• 2012

This paper focuses on human adaptive HVAC system that can regulate the thermal comfort of the resident in intelligent buildings. The thermal comfort is represented in this paper by PMV (Predicted Mean Vote) as defined by ISO 7730. This PMV value indicates how hot or cold a resident feels by considering temperature, humidity, resident's metabolic rate, relative air velocity, and clothing insulation. In order to develop such a system, a location detection system based on ZigBee module was used along with temperature sensors, other environment sensors. The human adaptive HVAC system was evaluated experimentally on a test bed emulating a room.

• 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.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.1
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• pp.179-185
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• 2019

A core technology of social robot is voice recognition and dialogue engine technology, but too much money is needed for development and an implementation of robot's conversation function is difficult resulting from insufficiency of performance. Dialogue function's implementation between human and robot can be possible due to advance of cloud AI technology and several company's supply of their open API. In this paper, current intelligent social robot technology trend is investigated and effective social robot system architecture is designed. Also an effective analysis and design method of social robot system will be presented by showing user requirement analysis using object-oriented method, flowchart and screen design.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.2
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• pp.208-213
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• 2007

As recent research on home service robot has been performed actively in these days. It becomes very important for the robot to react upon voice and sound source, and then tracks an object position in dynamic environment like a home. When people choose a path for finding a destination of objects, in case of sound, they track a direction of the sound source. Or in case as a position of the object be girded with a point on map, people track the position according to absolute orientation of the present position and the sound source position. In this paper, In this manner we had views on what people decide own direction when they react one's voice or go some directions. We suggest a algorithm that intelligent mobile robots on which we installed a sound source tracking board and a digital magnetic compass board go some object's positions by the direction of sound source and absolute orientation.