• 전자공학회논문지CI
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• 제48권5호
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• pp.8-15
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• 2011

본 연구의 목적은 가상환경 내의 가상 군인이 다른 가상군인 혹은 시뮬레이션에 참가한 실제 군인과 원활한 의사소통을 하기 위해, 제한된 인지에 기초한 지도제작 (Limited-Perception Mapping) 모듈을 지형추론(Spatial Reasoning) 모듈, 경로 계획(Path Planning) 모듈, 및 인간 모션스타일 (Human Motion Style) 모듈들과 통합하는 통합 시뮬레이션 시스템(Integrated Simulation System)을 만드는 것이다. 가상 인간을 다루는 군사 시뮬레이션, 컴퓨터 게임과 같은 많은 연구들에서, 인간의 고유 특성인 제한된 인지 (예: 120 정도의 시야)가 무시돼왔거나 전지전능한 인지에 의해 제작되는 전역 지도를 사용함에 의해서 인지과정을 단순화해 왔다. 이들의 시스템에서는 Placement node가 사용됨으로써 가상환경 디자이너들은 가상환경을 제작할 때 노드들 간에 서로 도달할 수 있는 노드들과 필요 정보를 미리 저장해 두는 기법을 사용하고 있다. 그러나 본 연구의 통합 시뮬레이션 시스템은 노동집약적이고 다이내믹한 상황에서는 많은 제한사항이 존재하는 전지전능한 기법에 의하지 않고 단지 인간과 같은 정도의 제한적 인지만을 갖고도 인간과 유사한 움직임을 성공적으로 달성할 수 있음을 보여 주고 있다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2006년도 춘계학술대회 논문집
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• pp.688-695
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• 2006

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2019년도 춘계학술발표대회
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• pp.485-486
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• 2019

Simulated driving behavior is an important aspect of realistic simulation systems. To simulate natural driving behavior, this paper proposes an imitation learning method based on active learning that combines demonstration and experience. Driving demonstrations are collected from human drivers in a driving simulator. A driving behavior policy is learned from these demonstrations. The driving demonstration dataset is augmented with new demonstrations that the original demonstrations did not contain, in the form of behaviors from another driving behavior policy learned from experience. The final driving behavior policy is learned from an augmented demonstration dataset.

• Nuclear Engineering and Technology
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• 제53권3호
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• pp.825-832
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• 2021

A simulation-based approach is proposed to study the protective actions taken by residents during nuclear emergencies using cognitive findings. Human perception-based behaviors are not heavily incorporated in the evacuation study for nuclear emergencies despite their known importance. This study proposes a generic framework of perception-based behavior simulation, in accordance with the ecological concept of affordance theory and a formal representation of affordance-based finite state automata. Based on the generic framework, a simulation model is developed to allow an evacuee to perceive available actions and execute one of them according to Newton's laws of motion. The case of a shadow evacuation under nuclear emergency is utilized to demonstrate the applicability of the proposed framework. The illustrated planning algorithm enables residents to compute not only prior knowledge of the environmental map, but also the perception of dynamic surroundings, using widely observed heuristics. The simulation results show that the temporal and spatial dynamics of the evacuation behaviors can be analyzed based on individual perception of circumstances, while utilizing the findings in cognitive science under unavoidable data restriction of nuclear emergencies. The perception-based analysis of the proposed framework is expected to enhance nuclear safety technology by complementing macroscopic analyses for advanced protective measures.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.227-235
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• 2006

For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.

• Journal of Mechanical Science and Technology
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• 제19권4호
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• pp.993-1000
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• 2005

A vehicle cruise control strategy designed based on human drivers driving characteristics has been investigated. Human drivers driving patterns have been investigated using vehicle driving test data obtained from 125 participants. The control algorithm has been designed to incorporate the driving characteristics of the human drivers and to achieve natural vehicle behavior of the controlled vehicle that would feel comfortable to the human driver. Vehicle following charac­teristics of the cruise controlled vehicle have been investigated using real-world vehicle driving test data and a validated simulation package.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.328-335
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• 2022

With the advance of robot capabilities and functionalities, construction robots assisting construction workers have been increasingly deployed on construction sites to improve safety, efficiency and productivity. For close-proximity human-robot collaboration in construction sites, robots need to be aware of the context, especially construction worker's behavior, in real-time to avoid collision with workers. To recognize human behavior, most previous studies obtained 3D human poses using a single camera or an RGB-depth (RGB-D) camera. However, single-camera detection has limitations such as occlusions, detection failure, and sensor malfunction, and an RGB-D camera may suffer from interference from lighting conditions and surface material. To address these issues, this study proposes a novel method of 3D human pose estimation by extracting 2D location of each joint from multiple images captured at the same time from different viewpoints, fusing each joint's 2D locations, and estimating the 3D joint location. For higher accuracy, the probabilistic representation is used to extract the 2D location of the joints, considering each joint location extracted from images as a noisy partial observation. Then, this study estimates the 3D human pose by fusing the probabilistic 2D joint locations to maximize the likelihood. The proposed method was evaluated in both simulation and laboratory settings, and the results demonstrated the accuracy of estimation and the feasibility in practice. This study contributes to ensuring human safety in close-proximity human-robot collaboration by providing a novel method of 3D human pose estimation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2759-2764
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• 2003

Humans usually employ more joints than they actually need, and thus they can be categorized as a kinematically redundant system. Therefore, the behavior of the human body can be analyzed by several redundancy resolution algorithms. Different from typical industrial robots that are fixed to the ground, the COG/ZMP condition should be taken into account in the human body motion in order not to fall down. Thus a COG/ZMP stability index is employed as a measure of stability. Kinematic redundancy inherent in the human body can be exploited to satisfy the COG/ZMP condition. Simulation result shows that the COG/ZMP condition can be satisfied by exploiting the null space motion of the kinematically redundant human body model.

• 한국농촌건축학회논문집
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• 제7권3호
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• pp.93-100
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• 2005

The purpose of this study is to investigate specific crowding areas resulted from diverse physical factors of multi-plex theaters in a fire evacuation, and more accurately predict the evacuation route of people. To achieve these purpose, the architectural characteristics of three multi-plex theaters in Jinju have been chosen, and the evacuation experiments through the computer simulation called Simulex were carried out for each on the these theaters. The conclusions from this study are as follows: (1) Crowding usually happens cross areas between theater inside and corridors, and Crowding rate depending on the number of cross areas. (2) It is necessary to design the escape routes being employed ordinary times. And the egress routes planning should be integrated into space programming at the early stage of building design.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2019년도 춘계학술대회
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• pp.395-397
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• 2019

조선기술과 항해장비 기술이 발전하고 있지만 여전히 해양사고는 80%이상이 인적과실에서 비롯되고 있다. 인적과실을 저감시켜 해양사고를 절감시키려는 노력은 항해사를 대상으로 면담이나 설문을 시행하는 등 정성적인 연구방식에 많이 의존하고 있어서 객관적인 인적과실의 실체를 규명하는데 제한이 있다. 본 연구에서는 이 같은 단점을 극복하기 위하여 항해사의 항해 업무 수행을 방해하지 않으며 공간적 제한을 극복할 수 있도록 웨어러블 센서를 활용하여 항해사의 동작을 실측하고 상황인지 여부가 항해 수행 동작에 어떤 영향을 미치는지 구분하고자 한다. Full mission ship handling simulator를 활용하여 항해사가 특정한 시나리오를 수행하는 중에 위험성을 가진 장애물을 발견하기 전과 후의 어떤 행동패턴 변화를 보이는지 측정하였다. 구분된 항해 동작 패턴은 항해 위험 상황에서 적절한 조치를 취하고 있는지 여부를 객관적으로 구분하여 인적과실을 절감하는데 활용될 것으로 기대된다.