• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.12
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• pp.6986-6992
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• 2014

The generalized Voronoi graph (GVG) is a topological map of a constrained environment. This is defined in terms of workspace distance measurements using only sensor-provided information, with a robot having a maximum distance from obstacles, and is the optimum for exploration and obstacle avoidance. This is the safest path for the robot, and is very significant when studying the GVG edges of highly articulated robots. In previous work, the point-GVG edge and Rod-GVG were built with point robot and rod robot using sensor-based control. An attempt was made to use a higher degree of freedom robot to build GVG edges. This paper presents GVG-based a new local roadmap for the two-link robot in the constrained two-dimensional environment. This new local roadmap is called the two-identical-link generalized Voronoi graph (L2-GVG). This is used to explore an unknown planar workspace and build a local roadmap in an unknown configuration space $R^2{\times}T^2$ for a planar two-identical-link robot. The two-identical-link GVG also can be constructed using only sensor-provided information. These results show the more complex properties of two-link-GVG, which are very different from point-GVG and rod-GVG. Furthermore, this approach draws on the experience of other highly articulated robots.

• Journal of the Korean Society of Physical Medicine
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• v.17 no.1
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• pp.127-137
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• 2022

PURPOSE: This study sought to evaluate muscle activity and foot pressure during gait, and balance in female college students with genu valgum. METHOD: Participants were assigned based on their Q-angle to genu valgum group greater than 20° (GVG, n = 12), unilateral genu valgum group greater than 20° (UVG, n = 11), and control group (CON, n = 13). All subjects were evaluated for balance (Trace length, C90 area, C90 angle, and the Romberg test), muscle activity (gluteus medius; GM, tensor fasciae latae; TFL, vastus medialis; VM, vastus lateralis; VL, biceps femoris; BF, gastrocnemius; GCM and tibialis anterior; TA) and foot pressure (F/F ratio, R/F ratio, Hallux, 2~5 toe, 1st MT, 2~4 MT, 5th MT, Midfoot, M/heel, and L/heel) during gait. RESULTS: Romberg test showed significantly increased loss of balance in the UVG group compared with the CON. In the forward position, the imbalance was significantly increased in the UVG and GVG groups compared to the CON. Muscle activity of VL, GCM, and TA significantly increased in the GVG group compared with the CON. Static foot pressure, 1st MT significantly increased in the GVG compared to the CON group. The 5th MT significantly decreased in the CON compared with the GVG group. The R/F ratio significantly decreased in the GVG compared to the CON group. In dynamic foot pressure, the 2~5 toe significantly increased in the GVG compared with the UVG group. The left 5th MT significantly decreased in the UVG compared with the CON and GVG groups. CONCLUSION: These results indicate that genu valgum has a negative effect on balance, muscle activity, and foot pressure during gait in female college students.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2450-2452
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• 2004

Map building is essential to a mobile robot navigation system. Localization and path planning methods depend on map building strategies. A topological map is commonly constructed using the GVG(Generalized Voronoi Graph). The advantage of the GVG based topological map is compactness. But the GVG method have many difficulties because it consists of collision-free path. In this paper, we proposed an extended map building method, the AVG (Areal Voronoi Graph) based topological map. The AVG based topological map consists of collision-free area. This feature can improve map building, localization and path planning performance.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.8-11
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• 2021

This paper proposes a method of estimating the optimal position of a robot in order to provide a service by approaching a user located outside the sensing area of the robot in an indoor environment. First, in order to estimate the user's location, the location in the indoor environment was estimated by applying a trilateral approach to the beacon-tag module data, and Voronoi thinning to set the optimal movement goal from the user's estimated location. Based on the generated nodes, the final location was estimated through the calculation of the user location, obstacle, and movement path, and the location accuracy of the service robot was verified through the movement of the destination of the actual robot platform.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.174-179
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• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• The Journal of Information Systems
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• v.25 no.4
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• pp.23-36
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• 2016

Purpose Recently, many researchers have paid much attention to the Artificial Intelligence fields of GVGP, PCG. The paper suggests that the improved MCTS algorithm to apply for the framework can generate better AI agent. Design/methodology/approach As noted, the MCTS generate magnificent performance without an advanced training and in turn, fit applying to the field of GVGP which does not need prior knowledge. The improved and modified MCTS shows that the survival rate is increased interestingly and the search can be done in a significant way. The study was done with 2 different sets. Findings The results showed that the 10 training set which was not given any prior knowledge and the other training set which played a role as validation set generated better performance than the existed MCTS algorithm. Besed upon the results, the further study was suggested.

• KIISE Transactions on Computing Practices
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• v.21 no.8
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• pp.572-577
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• 2015

Generally, the existing Artificial Intelligence (AI) systems were designed for specific purposes and their capabilities handle only specific problems. Alternatively, Artificial General Intelligence can solve new problems as well as those that are already known. Recently, General Video Game Playing the game AI version of General Artificial Intelligence, has garnered a large amount of interest among Game Artificial Intelligence communities. Although video games are the sole concern, the design of a single AI that is capable of playing various video games is not an easy process. In this paper, we propose a GreedyUCB1 algorithm and rollout method that were formulated using the knowledge from a game analysis for the Monte-Carlo Tree Search game AI. An AI that used our method was ranked fourth at the GVG-AI (General Video Game-Artificial Intelligence) competition of the IEEE international conference of CIG (Computational Intelligence in Games) 2014.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.6
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• pp.785-791
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• 2021

In this paper, we propose a methodology for estimating the optimal traversable destination from the location-based information of the object recognized by the mobile robot to perform the object delivery service. The location estimation process is to apply the generalized Voronoi graph to the grid map to create an initial topology map composed of nodes and links, recognize objects and extract location data using RGB-D sensors, and collect the shape and distance information of obstacles. Then, by applying the hybrid approach that combines the center of gravity and thinning method, the optimal moving position for the service robot to perform the task of grabbing is estimated. And then, the optimal node information for the robot's work destination is updated by comparing the geometric distance between the estimated position and the existing node according to the node update rule.