• 한국게임학회 논문지
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• 제20권3호
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• pp.85-94
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• 2020

작업자-로봇 간 협업은 다품종 소량생산 기반의 스마트팩토리에서 중요한 요소가 된다. 기존 제조 공장을 스마트화하기 위해 AI 기반의 기술이 도입되고 있지만 이 경우 단기적 생산성 향상에 그친다. 이를 해결하기 위한 협업 지성은 인간의 팀워크, 창의력 등과 AI의 속도, 정확성 등이 결합되어 서로의 단점을 적극적으로 보완 할 수 있다. 그러나 현재 자동화설비는 돌발사태 발생 시 재해강도가 높기 때문에 안전대책이 요구된다. 따라서 본 논문에서는 깊이 영상 카메라를 이용하여 작업자 및 설비를 가상 세계에 구현하고, 시뮬레이션을 통해 작업자의 안전을 판별하는 공장 안전 제어 시스템을 설계하고 구현한다.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2007년도 한국컴퓨터종합학술대회논문집 Vol.34 No.1 (C)
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• pp.332-335
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• 2007

이메일은 누구나 쉽게 정보를 교환할 수 있는 편리함 때문에 인터넷에서 가장 중요한 수단으로 사용되고 있다. 그러나 순수한 의사소통의 수단이 아닌 스팸메일의 범람은 성인뿐만 아니라, 어린이 청소년에게도 무차별적으로 전송됨으로써 심각한 부작용을 낳고 있다. 본 논문은 점차 지능화 되는 신 유형의 음란 스팸메일로부터 청소년을 보호하기 위하여 새로운 방법의 음란메일 차단시스템을 제안하고자 한다. 기존의 스팸메일 차단시스템은 사용자가 직접 음란한 메일이라고 판단되는 메일에 대해 일일이 키워드를 설정하거나, 메일 내용 중에 텍스트만을 추출하여 패턴 매칭방법으로 분류하는 것이 대부분이었지만, 본 논문은 기존 방법의 문제점을 해결하기 위하여 이미지 내 Skin-Color분포의 Human Detection 알고리즘과 웹 로봇 에이전트의 하이퍼링크 분석기법을 사용하였다. 성능 측정결과, 형태소 분석과 Human Detection 알고리즘을 병합하여 적용한 경우 성능 측정에서 90% 정도의 F-measure를 보였지만, 추가적으로 웹 로봇 에이전트의 하이퍼링크 분석기법을 병합하여 적용한 경우 97% 이상의 F-measure를 보이며, 신뢰성이 높은 음란스팸메일 차단 시스템을 구현할 수 있다는 것을 증명하였다.

• 한국산업안전학회:학술대회논문집
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• 한국안전학회 2003년도 추계 학술논문발표회 논문집
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• pp.3-16
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• 2003

After a not-widely-known fact is revealed that Japan is a leading country in production and use of industrial unmanned helicopters, a kind of UAV. The voice command system and the autonomous flight control system with a variety of control algorithms including neural network, robust and adaptive control that have been developed in collaboration between Kyoto University and Yamaha Motor Co., and funded by the Ministry of Education and Science of Japan are described in some detail. Both already-proven and promising future applications of the autonomous unmanned helicopters are given.

• 한국안전학회지
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• 제30권6호
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• pp.110-116
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• 2015

A 3D camera-based on-site work-related musculoskeletal disorder risk assessment(WMDs) tool has been developed. The device consists of Kinect a 3D camera manufactured by Microsoft, a servo-motor, and a mobile robot. To complement inherent narrow field of view(FOV) of Kinect, Kinect is rotated according to PID servo-control algorithm by a servo-motor attached underneath, to track movement of a subject, producing skeleton-based motion data. With servo-control, full 360 degrees tracking of a test subject is possible by single Kinect. It was found from experimental tests that the proposed device can be successfully employed for on-site WMDs risk assessing tool.

• 한국IT서비스학회:학술대회논문집
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• 한국IT서비스학회 2009년도 춘계학술대회
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• pp.409-414
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• 2009

I have not seen each of the existing technology, RFID/USN technology combined with the wireless communication channel for the state of nuclear safety in real-time remote monitoring and operation system technology CARE existing radioactive accident information collected by the nuclear power and nuclear power status, 10-20 second intervals to monitor the safety network (SIDS), and nuclear power plants located on the site within 40 ㎞ radius around the 13~15 of the wind speed from the automatic weather network weather information such as rainfall and temperature every 10 minutes to collect as automatic weather network (REMDAS), Evaluation of atmospheric radiation and radiation of the bomb radiation impact assessment system to calculate the goodness (FADAS) and thicken the radiation-related information consists of real-time web technology to collect, the last robot on behalf of the human will to manage the nuclear power plant accident of the technology to prevent the concrete from the following narrative about to have.

• 한국화재소방학회:학술대회논문집
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• 한국화재소방학회 2010년도 춘계학술논문발표회 논문집
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• pp.231-237
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• 2010

소방방재로봇이 2009년 9월부터 대구시 산하 소방서에 배치되어 시범적으로 운용되고 있다. 운용자인 소방관을 대상으로 심층면담과 설문 등을 통해 각종 문제점들과 기능 개선사항을 분석함으로써 현장 적응성, 실효성 있는 로봇의 개발방향을 제시하고자 했다. 소방관 보조로봇은 조종 편의성을 높이고, 장애물 통과 및 이동성이 용이하도록 바퀴 성능을 우선적으로 개선하여야 하며, 소방 필드로봇은 조종 편의성을 높이고, 무게의 경량화와 아울러 제어 통신선 꼬임을 방지하기 위한 무선통신방식을 안정화할 필요가 있는 것으로 분석되었다. 현재 운용중인 로봇에 대한 기능 만족도는 전반적으로 낮으며, 보조로봇에 대해서는 현장 투입의사가 8.4% 수준으로 미미하였다. 이에 소방방재로봇의 조기 상용화를 이루기 위해서는 현장에서의 사용 활성화가 우선되어야 하며 이를 통해 국내 로봇산업의 성장과 경쟁력을 높일 수 있을 것이다.

• 대한안전경영과학회지
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• 제19권1호
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• pp.227-236
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• 2017

Smart Manufacturing Factory is a paradigm of the future lead to the fourth industrial revolution that led Germany and the United States. Now the automation of the production facility and won a certain degree, and through the process of integrating the entire process, including planning, design, distribution of information and communication technology products in emerging as a core competitiveness of the national economy. In particular, the company accelerated the smart factory building in order to improve the manufacturing industry, cost savings and productivity simply to incorporate internet of things(IoT),Robot, artificial intelligence, big data technology as a factory automation level of sophistication of the system and out to progress to the level that replaces human labor have. In this we should look at the trend of promoting domestic and foreign factories want to present these smart strategies for Korea.

• 한국안전학회지
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• 제29권1호
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• pp.41-46
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• 2014

The design of a 7 degree of freedom motion capture device(MCD) has been presented. The newly designed MCD overcomes the shortcomings of the existing CADEN-7 exoskeleton robot by implementing various ergonomic design. To improve ease of operation, light-weight high-strength materials such as carbon pipes and engineering plastics were used to reduce weight of the MCD and arm-length adjustment mechanism was also added. The MCD showed consistent measurement results in designed experiments involving change of arm posture from nominal configuration to either elbow-side or arm-front configurations. Furthermore, captured motion in more natural tennis swing appeared to agree well with visual observations made.

• 자동차안전학회지
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• 제13권4호
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• pp.123-128
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• 2021

This paper present box feature estimation from LiDAR point cluster using maximum likelihood Method. Previous LiDAR tracking method for autonomous driving shows high accuracy about velocity and heading of point cluster. However, Assuming the average position of a point cluster as the vehicle position has a lower accuracy than ground truth. Therefore, the box feature estimation algorithm to improve position accuracy of autonomous driving perception consists of two procedures. Firstly, proposed algorithm calculates vehicle candidate position based on relative position of point cluster. Secondly, to reflect the features of the point cluster in estimation, the likelihood of the particle scattered around the candidate position is used. The proposed estimation method has been implemented in robot operating system (ROS) environment, and investigated via simulation and actual vehicle test. The test result show that proposed cluster position estimation enhances perception and path planning performance in autonomous driving.

• Journal of Positioning, Navigation, and Timing
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• 제11권4호
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• pp.389-395
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• 2022

In order to ensure reliability the high-level automated driving such as Advanced Driver Assistance System (ADAS) and universal robot taxi provided by autonomous driving systems, the operation with high integrity must be generated within the defined Operation Design Domain (ODD). For this, the position and posture accuracy requirements of autonomous driving systems based on the safety driving requirements for autonomous vehicles and domestic road geometry standard are necessarily demanded. This paper presents localization requirements for safe road driving of autonomous ground vehicles based on the requirements of the positioning system installed on autonomous vehicle systems, the domestic road geometry standard and the dimensions of the vehicle to be designed. Based on this, 4 Protection Levels (PLs) such as longitudinal, lateral, vertical PLs, and attitude PL are calculated. The calculated results reveal that the PLs are more strict to urban roads than highways. The defined requirements can be used as a basis for guaranteeing the minimum reliability of the designed autonomous driving system on roads.