• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.866-867
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• 2023

기존의 무인 경로 로봇 시스템은 지형 제약과 높은 가격으로 인해 범용성에 한계를 갖는다. 이러한 한계를 극복하기 위해 철조망 위를 자율 주행하는 로봇 시스템(FPS, Fence Patrol System)을 소개하고, 하드웨어와 소프트웨어 측면에서 FPS 의 시스템 작동 원리를 설명한다. FPS 는 철조망 위에서 진동이 감지된 지역으로 이동해 객체를 탐지하고 추적하면서 관리자에게 전송한다. FPS 는 다양한 폭을 갖는 철조망 위에서 주행이 가능하고 완만한 곡률이 있는 철조망도 주행할 수 있도록 설계되었다. 이를 통해 지상 무인 경계 시스템의 한계를 해결하고 다양한 분야에 활용될 것으로 기대한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.878-879
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• 2023

본 프로젝트에서는 BLDC 인휠모터를 사용하여 조향각에 제약이 없는 다자유도 기동 모빌리티 플랫폼을 구현하고 로봇 모듈화로 정비 편의성과 범용성을 높인 자율 모빌리티 플랫폼의 개발로 사용편의성 뿐만 아니라 산업 전반에서 발생하는 안전사고 리스크 관리에 도움이 되고자 한다.

• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.5
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• pp.249-257
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• 2023

This paper discusses the increasing need for autonomous delivery robots due to the current growth in the delivery market, rising delivery fees, high costs of hiring delivery personnel, and the need for contactless services. Additionally, the cost of hardware and complex software systems required to build and operate autonomous delivery robots is high. To provide a low-cost alternative to this, this paper proposes a autonomous delivery robot platform using a low-cost sensor combination of 2D LIDAR, depth camera and tracking camera to replace the existing expensive 3D LIDAR. The proposed robot was developed using the RTAB-Map SLAM open source package for 2D mapping and overcomes the limitations of low-cost sensors by using the convex hull algorithm. The paper details the hardware and software configuration of the robot and presents the results of driving experiments. The proposed platform has significant potential for various industries, including the delivery and other industries.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.5
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• pp.219-224
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• 2015

In this paper, the designed fish robots DOMI ver1.0 is researched and development for aquarium underwater robot. The presented fish robot consists of the head, 1'st stage body, 2nd stage body and tail, which is connected two point driving joints. The model of the robot fish is analysis to maximize the momentum of the robot fish and the body of the robot is designed through the analysis of the biological fish swimming. Also, Lighthill was applied to the kinematics analysis of robot fish swimming algorithms, we are applied to the approximate method of the streamer model that utilizes techniques mimic the biological fish. The swimming robot has two operating mode such as manual and autonomous operation modes. In manual mode the fish robot is operated to using the RF transceiver, and in autonomous mode the robot is controlled by microprocessor board that is consist PSD sensor for the object recognition and avoidance. In order to the submerged and emerged, the robot has the bladder device in a head portion. The robot gravity center weight is transferred to a one-axis sliding and it is possible to the submerged and emerged of DOMI robot by the breath unit. It was verified by the performance test of this design robot DOMI ver1.0. It was confirmed that excellent performance, such as driving force, durability and water resistance through the underwater field test.

• KIPS Transactions on Software and Data Engineering
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• v.6 no.12
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• pp.549-564
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• 2017

Not only services that are provided by a single system have been various with the development of the Internet of Things and autonomous software but also new services that are not possible before are provided through collaboration between systems. The collaboration between autonomous systems is similar to the ecosystem configuration in terms of biological viewpoints. Thus, it is called the IT Ecosystem, and this concept has arisen newly in recent years. The IT Ecosystem refers to a concept that achieves a mission of each of a number of heterogeneous systems rather than a single system utilizing their own autonomy as well as achieving the objectives of the overall system simultaneously in order to meet a single common goal. In our previous study, we proposed architecture of elementary level and as well as basic several meta-models to implement the IT Ecosystem. This paper proposes comprehensive reference architecture framework to implement the IT Ecosystem by cleansing the previous study. Among them, a utility function based on cost-benefit model is proposed to solve the dynamic re-configuration problem of system components. Furthermore, a measure of using genetic algorithm is proposed as a solution to reduce the dynamic re-configuration overhead that is increased exponentially according to the expansion of the number of entities of components in the IT Ecosystem. Finally, the utilization of the proposed orchestration framework is verified quantitatively through probable case studies on IT Ecosystem for unmanned forestry management.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.4
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• pp.153-163
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• 2017

This research is based on the previous research that personally preferred safe distance, rotating angle and speed are differentiated. Thus, we use machine learning model for recognizing maneuvering modes trained per personal or per similar driving pattern groups, and we evaluate automatic driving according to maneuvering modes. By utilizing driving knowledge, we subdivided 8 kinds of longitudinal modes and 4 kinds of lateral modes, and by combining the longitudinal and lateral modes, we build 21 kinds of maneuvering modes. we train the labeled data set per time stamp through RNN, LSTM and Bi-LSTM models by the trips of drivers, which are supervised deep learning models, and evaluate the maneuvering modes of automatic driving for the test data set. The evaluation dataset is aggregated of living trips of 3,000 populations by VTTI in USA for 3 years and we use 1500 trips of 22 people and training, validation and test dataset ratio is 80%, 10% and 10%, respectively. For recognizing longitudinal 8 kinds of maneuvering modes, RNN achieves better accuracy compared to LSTM, Bi-LSTM. However, Bi-LSTM improves the accuracy in recognizing 21 kinds of longitudinal and lateral maneuvering modes in comparison with RNN and LSTM as 1.54% and 0.47%, respectively.

• Journal of Korean Philosophical Society
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• v.147
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• pp.261-281
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• 2018

This paper will cover recent discussions on the risks of human being due to the development of artificial intelligence(AI). We will consider AI research as artificial narrow intelligence(ANI), artificial general intelligence(AGI), and artificial super intelligence(ASI). First, we examine the risks of ANI, or weak AI systems. To maximize efficiency, humans will use autonomous AI extensively. At this time, we can predict the risks that can arise by transferring a great deal of authority to autonomous AI and AI's judging and acting without human intervention. Even a sophisticated system, human-made artificial intelligence systems are incomplete, and virus infections or bugs can cause errors. So I think there should be a limit to what I entrust to artificial intelligence. Typically, we do not believe that lethal autonomous weapons systems should be allowed. Strong AI researchers are optimistic about the emergence of artificial general intelligence(AGI) and artificial superintelligence(ASI). Superintelligence is an AI system that surpasses human ability in all respects, so it may act against human interests or harm human beings. So the problem of controlling superintelligence, i.e. control problem is being seriously considered. In this paper, we have outlined how to control superintelligence based on the proposed control schemes. If superintelligence emerges, it is judged that there is no way for humans to completely control superintelligence at this time. But the emergence of superintelligence may be a fictitious assumption. Even in this case, research on control problems is of practical value in setting the direction of future AI research.

• Journal of the Korean Orthopaedic Association
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• v.54 no.5
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• pp.463-468
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• 2019

Congenital insensitivity to pain with anhidrosis (CIPA) is a rare disease that affects the sensory and autonomic nervous system. The patients do not have the ability to sense different sensations, such as pain, which tends to lead to different injuries. In addition, the patients suffer from fluctuations in body temperature due to autonomic involvement. The present case was a five-year-old girl with a neglected distal femur fracture. X-rays taken during the follow-up showed marked callus formation and pseudarthrosis of the distal femur. She had biting injuries of the tongue, auto-amputation of the fingers, some developmental delay and a history of recurrent fever with an unknown origin. The electrodiagnostic study was normal. The quantitative sudomotor axon reflex test revealed markedly reduced postganglionic sudomotor axonal responses at all sites recorded on the left. She was diagnosed with CIPA. As the initial presentation of CIPA involves the musculoskeletal system, orthopedic surgeons should have a high index of suspicion.

• Journal of the Korea Society of Computer and Information
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• v.29 no.1
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• pp.21-30
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• 2024

In this paper, we propose a method to build a sample dataset of the features of eight sensor-only facilities built as infrastructure for autonomous cooperative driving. The feature extracted from point cloud data acquired by LiDAR and build them into the sample dataset for recognizing the facilities. In order to build the dataset, eight sensor-only facilities with high-brightness reflector sheets and a sensor acquisition system were developed. To extract the features of facilities located within a certain measurement distance from the acquired point cloud data, a cylindrical projection method was applied to the extracted points after applying DBSCAN method for points and then a modified OTSU method for reflected intensity. Coordinates of 3D points, projected coordinates of 2D, and reflection intensity were set as the features of the facility, and the dataset was built along with labels. In order to check the effectiveness of the facility dataset built based on LiDAR data, a common CNN model was selected and tested after training, showing an accuracy of about 90% or more, confirming the possibility of facility recognition. Through continuous experiments, we will improve the feature extraction algorithm for building the proposed dataset and improve its performance, and develop a dedicated model for recognizing sensor-only facilities for autonomous cooperative driving.

• School Mathematics
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• v.10 no.3
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• pp.401-422
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• 2008

In the current school curriculum, an alternative assessment method which focuses more on the problem solving process rather than the final solution is being investigated. The goal is to evaluate students' understanding of the subject. A descriptive evaluation is being suggested as a way of examining the thought process of the students by a structured analysis of the problem solving process. But currently, there are not enough descriptive problems available for teachers to effectively carry out the alternative assessment method in the elementary school mathematics curriculum. In this research, we surveyed 197 elementary school teachers in Seoul to determine the status of descriptive evaluation in elementary school mathematics and to understand the teachers perception about the new assessment method. The goal of the survey was to find an effective implication of the new assessment method in elementary mathematics classes. The research showed that the elementary teachers use this assessment method about 4 to 7 times per month in their classes. They give descriptive problem test anytime they think it is appropriate during the Instruction of the topic. More than 90% of the teachers were using this assessment method to improve students' creativity and mathematical thinking. The teachers in the survey also commented that the teachers' administrative responsibility should be reduced and that the school environment in general should be improved for the new assessment method to be successful. Finally the study also showed that development of more descriptive problems in each grade level is needed to progress the new assessment method.