• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.11
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• pp.75-87
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• 1998

KARES (KAIST Rehabilitation Engineering System) is the rehabilitation robot system in the type of the 6 degrees of freedom robot arm mounted on the wheelchair, in order to assist the independent livelihood of the disabled and the elderly. The interface device for programming and controlling of the robot arm is essential in the rehabilitation robotic system. Specially, in the case of the manual operation of the robot arm, the user has the burden of cognition and the difficulty for the operation of the robot arm. As a remedy, color vision system for the autonomous performance of jobs is proposed, and four basic desired jobs are specified. By mounting the camera in eye-in-hand type, color vision system for KARES is set up. The desired jobs for picking up the target and moving it to the user's face for drinking are successfully performed in real-time at the indoor environment.

• Journal of Drive and Control
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• v.17 no.1
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• pp.27-36
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• 2020

The aim of this study is to design a simulation model for an electric All-Wheel-Drive (AWD) tractor to evaluate the performance of the selected component and agricultural work ability. The electric AWD tractor consists of four motors independently for each drive wheel, and each motor is combined with an engine generator, a battery pack, and reducers. The torque data of a 78 kW-class tractor was measured during plow tillage and driving operation to develop a workload cycle. A simulation model was developed by using commercial software, Simulation X, and it used the workload as the simulation condition. As a result of simulation analysis, the drive system, including an electric motor and reducers, was able to cope with high load during plow tillage. The SOC (State of Charge) level was influenced by the output power of the motor, and it was maintained in the range of 50~80%. The fuel consumed by the engine was about 18.23 L during working on a total of 8 fields. The electric AWD tractor was able to perform agricultural work for about 7 hours. In the future study, the electric AWD tractor will be developed reflecting the simulation condition. Research on the comparison between the simulation model and the electric AWD tractor should be performed.

• The Journal of the Korea Contents Association
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• v.9 no.12
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• pp.932-939
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• 2009

This paper implements the graphic service template authoring tool based on the service template object model of describing the meta information of the services for early childhood education in the semantic web service environment. Our proposed system provides the robot services by constructing web services automatically and making the appropriate service plans. Moreover, it can create, append, delete, and update the service templates of URC based on STDL, and provide the graphic function on service template resources. In order to provide the user friendly environment in the service template phase, we implement the various editing environment : flow view style, grid view style, and text view style. We also provide the easy editing function by realizing abstract service block based on the robot API. Finally we can offer the intelligent and autonomous service of service agent based on semantic information.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.173-180
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• 2006

A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20cm the distance between two camera and capture the 3frames per second. The experimental results show :t6cm maximum error in the range of less than 2m and ${\pm}15cm$ maximum error in the range of between 2m and 4m.

• Asia pacific journal of information systems
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• v.14 no.3
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• pp.121-144
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• 2004

Developing a personalized system on a user's behalf which is working around the Internet-based marketplace is one of the challenging issues in intelligent e-business, especially mobile commenrce. It has been highly recommended that such a mobile personalized system has to perceive the user's needs a priori by tracking user's current context such as location with activity and then to identify the current needs dynamically and proactively. Automatically and unobtrusively getting user's context is an inevitable feature for the development of autonomous mobile commenrce. However, personalization methodologies and their feasible architectures for context-aware mobile commerce have been so far very rare. Hence, this paper aims to propose a context-aware mobile commerce development methodology by applying agent and semantic web technologies for personalized reminder system, which is one of the mobile commerce support system. We revisited associationism to understand a buyer's need identification process and adopt the process as 'purchase based on association' to implement a personalized reminder system. Based on this approach, we have showed how the agent-based semantic web service system can be used to realize need-aware reminder system. NAMA(Need-Aware Multi-Agent), a prototype system, has been implemented to show the feasibility of the methodology and framework under mobile setting proposed in this paper. NAMA embeds bluetooth-based location tracking module and identify what a user is currently looking at through her/his mobile device such as PDA. Based on these capabilities, NAMA considers the context, user profile with preferences, and information about currently available services, to aware user's current needs and then link her/him to a set of services, which are implemented as web services.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1011-1019
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• 2005

In this paper, Ubiquitous Home Mess-Cleanup Robot(UHMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of tile self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulate,, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and UHMR. Finally, the good performance of the designed UHMR is confirmed through the results of the mess clean-up and arrangement.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1612-1616
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• 2005

In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulator, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and HMR. Finally, the good performance of the designed HMR is confirmed through the results of the mess clean-up and arrangement.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.584-593
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• 2012

This paper introduces an AVP (Automated Valet Parking) system which applies an autonomous driving concept into the current PAS (Parking Assistant System). The present commercial PAS technology is limited into vehicle. It means vehicle only senses and controls by and for itself to assist the parking. Therefore, the present PAS is restricted to simple parking events. But AVP includes wider parking events and planning because it uses infra-sensor network as well as vehicle sensor. For the realization of AVP, the commercial steering system of a compact vehicle was modified into steer-by-wire structure and various sensors like LRF (Long Range Finder) and camera were installed in a parking area. And local & global server decides where and when the vehicle can go and park in the testing area after recognized the status of environment and vehicle from those sensors. GPS solution was used to validate the AVP performance. More various parking situations, vehicles and obstacles will be considered in the next research stages based on these results. And we expect this AVP solution with more intelligent vehicles can be applied in a big parking lot like a market, an amusement park, etc.

• Journal of Broadcast Engineering
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• v.25 no.3
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• pp.362-373
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• 2020

Recently, as autonomous vehicles and intelligent CCTV are growing more interest, the efficient object detection is essential technique. The DPM(Deformable Part Models) which is basis of this paper have used a typical object system that represents highly variable objects using mixtures of deformable part for object. Although it shows high detection performance by capturing part shape and configuration of object model, but it is limited to use in real application due to the complicated algorithm. In this paper, instead of image feature pyramid that takes up a large amount of computation in one part of the detector, we propose a method to reduce the computation speed by reconstructing a new image feature pyramid that uses adaptive bilinear interpolation of feature maps obtained on a specific image scale. As a result, the detection performance for object was lowered a little by 2.82%, however, the proposed detection method improved the speed performance by 10% in comparison with original DPM.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.199-209
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• 2015

This paper presents a model predictive control (MPC) approach to control the steering angle in an autonomous vehicle. In designing a highly automated driving control algorithm, one of the research issues is to cope with probable risky situations for enhancement of safety. While human drivers maneuver the vehicle, they determine the appropriate steering angle and acceleration based on the predictable trajectories of surrounding vehicles. Likewise, it is required that the automated driving control algorithm should determine the desired steering angle and acceleration with the consideration of not only the current states of surrounding vehicles but also their predictable behaviors. Then, in order to guarantee safety to the possible change of traffic situation surrounding the subject vehicle during a finite time-horizon, we define a safe driving envelope with the consideration of probable risky behaviors among the predicted probable behaviors of surrounding vehicles over a finite prediction horizon. For the control of the vehicle while satisfying the safe driving envelope and system constraints over a finite prediction horizon, a MPC approach is used in this research. At each time step, MPC based controller computes the desired steering angle to keep the subject vehicle in the safe driving envelope over a finite prediction horizon. Simulation and experimental tests show the effectiveness of the proposed algorithm.