• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1435-1439
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• 2004

Most recently, CP(Cellular Phone) has been one of the most important technologies in the IT(Information Tech-nology) field, and it is situated in a position of great importance industrially and economically. To produce the best CP in the world, a new technological concept and its advanced implementation technique is required, due to the extreme level of competition in the world market. The RT(Robot Technology) has been developed as the next generation of a future technology. Current robots require advanced technology, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition etc. unlike the industrial robots of the past. Therefore, this paper explains conceptual research for development of the RCP(Robotic Cellular Phone), a new technological concept, in which a synergy effect is generated by the merging of IT & RT. RCP infra consists of $RCP^{Mobility}$ $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP mobility system is focused in this paper. $RCP^{Mobility}$ is to apply a mobility technology, which is popular robot technology, to CP and combine human-friendly motion and navigation function to CP. It develops a new technological application system of auto-charging and real-world entertainment function etc. This technology can make a CP companion pet robot. It is an automation of human-friendly motions such as opening and closing of CPs, rotation of antenna, manipulation and wheel-walking. It's target is the implementation of wheel and manipulator functions that can give service to humans with human-friendly motion. So, this paper presents the definition, the basic theory and experiment results of the RCP mobility system. We confirm a good performance of the RCP mobility system through the experiment results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.457-462
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• 2005

Industrial and economical importance of CP(Cellular Phone) is growing rapidly. Combined with IT technology, CP is currently one of the most attractive technologies for all. However, unless we find a breakthrough to the technology, its growth may slow down soon. RT(Robot Technology) is considered one of the most promising next generation technology. Unlike the industrial robot of the past, today's robots require advanced technologies, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition, and many others. In this study, we present a new technological concept named RCP(Robotic Cellular Phone), which combines RT & CP, in the vision of opening a new direction to the advance of CP, IT, and RT all together. RCP consists of 3 sub-modules. They are $RCP^{Mobility}$, $RCP^{Interaction}$, and $RCP^{Interaction}$. $RCP^{Mobility}$ is the main focus of this paper. It is an autonomous navigation system that combines RT mobility with CP. Through $RCP^{Mobility}$, we should be able to provide CP with robotic functionalities such as auto-charging and real-world robotic entertainments. Eventually, CP may become a robotic pet to the human being. $RCP^{Mobility}$ consists of various controllers. Two of the main controllers are trajectory controller and self-localization controller. While Trajectory Controller is responsible for the wheel-based navigation of RCP, Self-Localization Controller provides localization information of the moving RCP. With the coordinate information acquired from RFID-based self-localization controller, Trajectory Controller refines RCP's movement to achieve better RCP navigations. In this paper, a prototype system we developed for $RCP^{Mobility}$ is presented. We describe overall structure of the system and provide experimental results of the RCP navigation.

• 한국주거학회:학술대회논문집
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• 한국주거학회 2008년 추계학술발표대회 논문집
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• pp.322-326
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• 2008

Due to the rapid increasing in the aged population, it calls for social countermeasures urgently. Especially, there are increasing needs of space environment to support physical and spiritual characteristics of elderly. When designing space environment including house, there are growing consideration for elderly and extending appreciation of aging. The purpose of this study is to investigate the perception on environment planning for the seniors among university students who majoring in Housing & Interior Design and who visited the Aging Simulation Center located in Seoul. The Aging Simulation Center gives a chance of space design to support the elderly based on the experiences of daily living for the designers who design environment for elderly. Questionnaire survey was conducted to obtain data from 93 university students in their 20s majoring in housing and interior design who visited the Aging Simulation Center. The research findings showed that the recognition for design elements of residential environment for the elderly of respondents was changed toward positive way after visiting the Aging Simulation Center. The Aging Simulation Center was an effective educational environment for the preliminary designers to understand aging and the importance of appropriate design for users' needs. That is, aging simulation space can improve recognition of necessity of universally designed environment to support the elderly. Handrails around bathtub and wash basin, stair slope, electric auto-level controlled kitchen counter and kitchen cabinet were especially perceived for the respondents as very essential design elements to support the aged.

• 한국컴퓨터정보학회논문지
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• 제12권2호
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• pp.77-82
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• 2007

본 논문에서는 콘크리트 표면 균열의 방향성을 효율적으로 인식하기 위하여 영상처리 기법을 적용하여 균열을 자동으로 검출하고 개선된 Max-Min 신경망을 제안하여 균열의 방향성을 자동으로 인식하는 기법을 제안한다. 균열 영상에서 빛의 영향을 효율적으로 보정하기 위해 모폴로지 기법인 채움 연산을 적용하고 Sobel 마스크를 적용하여 균열의 에지를 추출한 후, 반복 이진화를 적용하여 균열 영상을 이진화한다. 이진화된 균열 영상에서 2차례에 걸쳐 잡음 제거 연산을 수행한 후, 균열을 추출한다. 본 논문에서는 Max-Min 신경망을 개선하여 추출된 균열의 방향성을 자동으로 인식한다. 개선된 Max-Min 신경망은 delta-bar-delta 알고리즘을 적용하여 학습률을 자동으로 조정한다. 실제 콘크리트 표면 균열 영상을 대상으로 실험한 결과, 개선된 Max-Min 신경망이 균열의 방향성 인식에 효율적임을 확인하였다.

• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.480-488
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• 2006

Industrial and economical importance of CP(Cellular Phone) is growing rapidly. Combined with IT technology, CP is one of the most attractive technologies of today. However, unless we find a new breakthrough in the technology, its growth may slow down soon. RT(Robot Technology) is considered one of the most promising next generation technologies. Unlike the industrial robot of the past, today's robots require advanced features, such as soft computing, human-friendly interface, interaction technique, speech recognition object recognition, among many others. In this paper, we present a new technological concept named RCP (Robotic Cellular Phone) which integrates RT and CP in the vision of opening a combined advancement of CP, IT, and RT, RCP consists of 3 sub-modules. They are $RCP^{Mobility}$(RCP Mobility System), $RCP^{Interaction}$, and $RCP^{Integration}$. The main focus of this paper is on $RCP^{Mobility}$ which combines an autonomous navigation system of the RT mobility with CP. Through $RCP^{Mobility}$, we are able to provide CP with robotic functions such as auto-charging and real-world robotic entertainment. Ultimately, CP may become a robotic pet to the human beings. $RCP^{Mobility}$ consists of various controllers. Two of the main controllers are trajectory controller and self-localization controller. While the former is responsible for the wheel-based navigation of RCP, the latter provides localization information of the moving RCP With the coordinates acquired from RFID-based self-localization controller, trajectory controller refines RCP's movement to achieve better navigation. In this paper, a prototype of $RCP^{Mobility}$ is presented. We describe overall structure of the system and provide experimental results on the RCP navigation.

• 한국정보통신학회논문지
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• 제25권1호
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• pp.63-68
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• 2021

최근 유튜브와 같이 영상 콘텐츠를 보거나 제작하는 것에 관한 관심이 급증하고 있습니다. 그러나 개인 정보 보호 기술이 없이 동영상을 제작하게 되면, 출연을 원하지 않는 사람들이 공개적으로 노출되어 개인 정보 보호권을 침해할 수 있습니다. 본 논문은 이러한 문제를 해결하기 위해 얼굴을 식별하여 특정한 얼굴만 화면에 나오고 그 외에 다른 얼굴들은 Gaussian blur filter를 이용하여 흐리게 하여서 초상권을 보호하는 기술을 제안합니다. 이 논문의 핵심은 실시간 비디오에서 인물의 초상권을 보호하기 위한 주요 기술인 얼굴 식별 기술의 정확도를 높이기 위한 노력입니다. 본 논문은 얼굴 식별의 정확도를 높이기 위하여 추적 알고리즘을 사용하였으며 실시간 비디오에 적용하기 위하여 알고리즘을 변경하였습니다. 이 논문에서는 추적 알고리즘이 있는 경우와 없는 경우를 비교하여 결과를 보여줍니다.

• 한국전자통신학회논문지
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• 제8권8호
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• pp.1195-1200
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• 2013

본 논문에서는 퍼지 제어 기법을 적용하여 학습률을 자동으로 조정하는 개선된 Max-Min 신경망을 제안하였다. 개선된 Max-Min 신경망은 경쟁 단계에서 필요한 학습 시간을 줄이기 위하여, 정확성의 수와 부정확성의 수를 퍼지 제어 시스템의 입력으로 적용하여 학습률을 동적으로 조정하는 기법이다. 본 논문에서 제안된 방법을 실제 콘크리트 표면 균열 영상에서 추출한 균열의 방향성 패턴을 대상으로 인식 실험한 결과, 개선된 Max-Min 신경망이 효과적임을 확인할 수 있었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.687-690
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• 2000

Lately, many studies have been progressed for the protection human's lives and property as holding in check accidents happened by human's carelessness or mistakes. One part of these is the development of an autonomouse vehicle. General control method of vision-based autonomous vehicle system is to determine the navigation direction by analyzing lane images from a camera, and to navigate using proper control algorithm. In this paper, characteristic points are abstracted from lane images using lane recognition algorithm with sobel operator. And then the vehicle is controlled using two proposed auto-steering algorithms. Two steering control algorithms are introduced in this paper. First method is to use the geometric relation of a camera. After transforming from an image coordinate to a vehicle coordinate, a steering angle is calculated using Ackermann angle. Second one is using a neural network algorithm. It doesn't need to use the geometric relation of a camera and is easy to apply a steering algorithm. In addition, It is a nearest algorithm for the driving style of human driver. Proposed controller is a multilayer neural network using Levenberg-Marquardt backpropagation learning algorithm which was estimated much better than other methods, i.e. Conjugate Gradient or Gradient Decent ones.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.209-213
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• 1997

This paper deals with sensing ability of $2^{nd}$ smart sensor that has a sensing ability of distinguish materials. We have developed new signal processing method that have distinguish different materials. We made the $2^{nd}$ smart sensor for experiment. The second type of smart sensor is HH type. We have developed a new signal processing method that can distinguish among different materials. The estimation method (RSAIIn dex) is developed for $2^{nd}$ smart sensor(HH smart sensor). Experiment and analysis are executed for estimation the new method. We estimated sensing ability of $2^{nd}$ smart sensor with RsA, method. Sensing Ability of the $2^{nd}$ smart sensor were evaluated relatively through a new RsAl method. According to frequency changing, influences of the $2^{nd}$ smart sensor are evaluated through a new recognition index RSAI. Applications of this method are for finding abnormal conditions of objects (automanufacturing), feeling of objects (medical product), robotics, safety diagnosis of structure, etc.

• 한국공작기계학회논문집
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• 제15권2호
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• pp.99-106
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• 2006

In this paper, the new method that estimates a sensing ability of smart sensor will be proposed. A study is estimation method that evaluates sensing ability about smart sensor respectively. According to acceleration(g) and displacement changing, we estimated sensing ability of smart sensor using SAI(Sensing Ability Index) method respectively. Smart sensors was made fer experiment. The types of smart sensor are two types(hard and soft smart sensor). Smart sensors developed for recognition of material. Experiment and analysis are executed for estimate the SAI method. In develop a smart sensor, the SAI method will be useful for finding optical design condition of smart sensor that can sense a material. And then dynamic characteristics of smart sensors(frequency changing, acceleration changing, critical point, etc.) are evaluated respectively through new method(SAI) that use the power spectrum density. Dynamic characteristic of sensor is evaluated with SAI method relatively. We can use the SAI for finding critical point of smart sensor, too.