• Proceedings of the Korea Information Processing Society Conference
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• 2019.05a
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• pp.552-555
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• 2019

디지털 트윈이란 현실 세계의 물리적인 사물을 컴퓨터 상에 동일하게 가상화 시키는 기술을 의미하는 것으로, 물리적 사물이나 시스템을 모델링하거나 IoT 기술에 접목되어 활용되고 있는 기술이다. 디지털 트윈 기술은 가상의 모델을 무한정 시뮬레이션을 통해 동작을 튜닝하고 환경변화에 대한 대응을 미리 실험하여 리스크를 최소화할 수 있는 장점을 지닌다. 최근 인공지능이나 기계학습에 관련된 기술들이 주목받기 시작하면서, 이와 같은 물리적인 사물의 모델링 작업을 데이터 기반으로 수행하려는 시도가 증가하고 있다. 특히, 산업현장에서 많이 활용되는 인더스트리 4.0 공장 자동화의 핵심인 협력 로봇의 디지털 트윈을 구축하기 위해서는 로봇의 동작을 인지하는 과정이 필수적으로 요구된다. 그러나 현재 협력 로봇의 동작을 인지하기 위한 시도는 미비하며, 센서 데이터를 기반으로 동작을 역으로 예측하는 기술은 더욱 그렇다. 따라서 본 논문에서는 로봇의 동작을 인지하기 위해 가정용 협력 로봇에서 전류 및 관성 데이터를 수집하기 위한 실험 환경을 구축하고, 수집한 센서 데이터를 기반으로 한 동작 예측 모델을 제안하고자 한다. 제안하는 방식은 로봇의 동작 명령어를 조인트 위치 기반으로 분류하고 전류와 위치 센서 값을 사용하여 학습을 통해 예측하는 방식이다. SVM 을 이용하여 학습한 결과, 모델의 성능은 평균적으로 정확도, 정밀도, 및 재현율이 모두 96%로 평가되었다.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.05a
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• pp.867-868
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• 2013

본 논문은 물류창고와 같은 실내 공간에서 RFID와 초음파 센서등을 이용하여 이동로봇이 자율적으로 자신의 위치를 파악하고 관리자가 지정한 목표 물체를 인식하여 간단한 업무를 보조할 수 있는 기법을 제안한다. 실내공간엔 RFID를 지면과 목표물체에 설치하고 로봇은 RFID의 리더기와 물체 접근시 활용이 가능한 추가적 센서를 갖춤으로써 이동시 자기 위치를 실시간으로 파악하고 물체로부터도 고유정보를 얻는다. 초음파 센서 신호의 귀환시간을 활용하여 근접한 물체와의 상대 거리를 추출하고 바닥의 RFID로부터 이미 획득한 자기 위치를 조합하여 목표 물체의 절대 위치를 구한다. 이는 이동 로봇을 중심으로 한 경로지도를 실시간으로 작성하며 동시에 실내의 이동 가능 구조 및 목표 물체의 파악이 가능하여 이동로봇의 자율적 탐색을 위한 최적 경로 계획 수립에 활용 가능하다.

• Journal of Sensor Science and Technology
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• v.30 no.6
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• pp.429-435
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• 2021

In this study, the creation of emotional dialogue was investigated within the process of developing a robot's natural language understanding and emotional dialogue processing. Unlike an English-based dataset, which is the mainstay of natural language processing, the Korean-based dataset has several shortcomings. Therefore, in a situation where the Korean language base is insufficient, the Korean dataset should be dealt with in detail, and in particular, the unique characteristics of the language should be considered. Hence, the first step is to base this study on a specific Korean dataset consisting of conversations on emotional topics. Subsequently, a model was built that learns to extract the continuous dialogue features from a pre-trained language model to generate sentences while maintaining the context of the dialogue. To validate the model, a chatbot system was implemented and meaningful results were obtained by collecting the external subjects and conducting experiments. As a result, the proposed model was influenced by the dataset in which the conversation topic was consultation, to facilitate free and emotional communication with users as if they were consulting with a chatbot. The results were analyzed to identify and explain the advantages and disadvantages of the current model. Finally, as a necessary element to reach the aforementioned ultimate research goal, a discussion is presented on the areas for future studies.

• Journal of the Korea Society of Computer and Information
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• v.27 no.3
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• pp.99-104
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• 2022

In this paper, we first intend to develop and introduce a smart laundry drying system for verandas that controls the drying rack by actively responding to climate change. The developed smart laundry drying system receives laundry location information through the app, then detects climate change in real time through data from the Korea Meteorological Administration such as temperature and humidity according to the location information, and automatically controls the laundry on the drying rack in case of rain. It acquires weather information through the Arduino humidity sensor and the Korea Meteorological Administration Open-API, which is used to control the switch bot by the Raspberry Pi. The user interface uses Blynk, and the switch bot controls the laundry. Our proposed system can detect bad weather and automatically control the laundry at a remote location to prevent damage to the laundry.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.417-424
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• 2022

In this paper, the developed trunk cargo unloading automation system is introduced, and the RGB-D sensor-based box loading situation recognition method and unloading plan applied to this system are suggested. First of all, it is necessary to recognize the position of the box in a truck. To do this, we first apply CNN-based YOLO, which can recognize objects in RGB images in real-time. Then, the normal vector of the center of the box is obtained using the depth image to reduce misrecognition in parts other than the box, and the inner wall of the truck in an image is removed. And a method of classifying the layers of the boxes according to the distance using the recognized depth information of the boxes is suggested. Given the coordinates of the boxes on the nearest layer, a method of generating the optimal path to take out the boxes the fastest using this information is introduced. In addition, kinematic analysis is performed to move the conveyor to the position of the box to be taken out of the truck, and kinematic analysis is also performed to control the robot arm that takes out the boxes. Finally, the effectiveness of the developed system and algorithm through a test bed is proved.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.26 no.3
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• pp.449-455
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• 2022

In this paper, we propose a position measuring system using trilateration based on the illuminance of a light-emitting diode (LED). Three LEDs are located on the ceiling of the virtual space, and each fixed coordinate is inputted to the monitoring program, and Length to the illuminance sensor is drawn through the relational expression of the length and illuminance value from the respective LED. Based on the derived length, the trilateration method is used to find object location information in virtual space. By using the least square equation to minimize the error of the length drawn to trilateration, the error is reduced to the utmost. Unlike the existing indoor positioning system using visible light communication (VLC), the proposed system does not require synchronization between the transmitter and the receiver, so the system can be configured simply.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.520-522
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• 2022

Lone Death is increasing as elderly population increases. Lone elderly is vulnerable in society for many reasons. This paper explores digital solution to protect solitary in society. First, sensor and AI care robot can be used to collect digital data and situation check. Second, digital device is checked regularly and visiting is expanded in digital environment. Third, digital emergency security system should be established. Fourth, user education is to be regularly carried out including complementary education.

• Journal of Internet Computing and Services
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• v.18 no.4
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• pp.43-50
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• 2017

Embedded System includes touch, GPS, motion, and acceleration sensor, and can communicate with neighbor devices using wireless communication. Because Arduino with embedded system provides good environment for development and application, developers, engineers, designers, as well as artists, students have a great interest. They utilize Arduino in the robot, home appliances, fashion, culture and so on. In this paper, we design and implement a game using Arduino with embedded system which recognizes the human movement by moving away from one-dimensional game of the existing touch method. Implemented embedded system game measures gyro-sensor to recognize human movement and detects the attack success of the opponent by using touch sensor. Moreover, health of the game player is updated in the real time through the android phone-based database. In this paper, implemented embedded system-based game provides GUI screen of android phone. It is possible to select watching mode and competition mode. Also, it has low energy consumption and easy to expand because it send and receive data packet through recent Bluetooth communication.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.3
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• pp.259-264
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• 2014

This paper is research paper on the MPD(Magnet Position Device) for the outdoor MGV(Magnet /Magnet Gyro Guidance Vehicle). Usually, MGV is used in indoor environment because of a measurement height of the magnet position device. CMPD(Commercial magnet position device) has 30 mm measurement height, so this is suitable structure in indoor environment like to a flat surface. Outdoor environment is an uneven and irregular, So Outdoor MGV must has a suspension. But CMPD is unsuitable for outdoor environment because of a collision with a surface caused by suspension. Thus, measurement height of the outdoor MPD is positively necessary more than 100 mm. So, we suggest the outdoor MPD using analog magnet hall sensor, moving average filter and Characteristic(rate of the magnet hall sensor) function of the localization. Result of the experiments, the proposed Magnet Position Device for the outdoor MGV has localization accuracy 4.31 mm, measurement height 150 mm and width 150 mm and is efficient more than CMPD.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.2
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• pp.123-128
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• 2014

This paper presents the study about MGV(Magnetic guidance vehicle) with up-and-down rotating type differential drive unit. Previous MGV needs the landmarks to get the driving information and additional sensor to recognize the landmarks except for localization sensor. Previous MGV requires at least 2 drive units when common fixed differential drive unit is used because it occurs the problems with driving control and localization error from imbalance of the MGV's weight. To solve such problems, we propose the MGV using up-and-down rotating type differential drive unit. Proposed MGV recognizes the driving information from the pattern which is consisted of both pole of magnet without landmarks and additional sensors, and it control the backward movement using up-and-down rotating type differential drive unit instead of common drive units. Proposed MGV considers KF(Kalman filter) to improve the localization accuracy. To verify the performance of proposed method, we designed MGV for the experiment. As the results, we can confirm the performance of propoesed method to recognize the pattern and to control the backward movement. With respect to localization, proposed method has the less RMSE about 5.6904 mm than previous method.