• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.26 no.5
• /
• pp.779-785
• /
• 2022

Study analyzes whether the 3D CAD class using the flipped learning-based PBL is effective in acquiring professional knowledge and nurturing talent. A Flipped Learning-based PBL class was implemented for 3rd grade students of Robot and Automation Engineering Major, Dong-Eui University, and a survey was conducted on satisfaction and effectiveness. The students seemed to be generally satisfied with the class, and the flipped learning-based PBL appeared to be effective in improving the competency required by companies. In particular, it is hoped that it will contribute to the use of video education in practical subjects in the future by proving that practical classes can be operated effectively even in non-face-to-face learning. Moreover, this study is an important indicator for future research and will be used as a quantitative indicator for class improvement.

• Journal of KIISE:Software and Applications
• /
• v.34 no.8
• /
• pp.731-742
• /
• 2007

Self-growing software is a software system that has the capability of evolving its functionalities and configurations by itself based on dynamically monitored situations. Self-growing software is especially necessary for intelligent service robots, which must have the capability to monitor their surrounding environments and provide appropriate behaviors for human users. However, it is hard to anticipate all situations that robots face with, and it is hard to make robots have all functionalities for various environments. In addition, robots have limited internal capacity. To support self-growing software for intelligent service robots, we are developing a cell-based distributed repository system that allows robots and developers transparently to share robot functionalities. To accomplish the creation of evolutionary repositories, we invented the concept of a cell, which is a logical group of distributed repositories based upon the functionalities of components. In addition, a cell can be used as a unit for the evolutionary growth of the components within the repositories. In this paper, we describe the requirements and architecture of the cell-based repository system for self-growing software. We also present a prototype implementation and experiment of the repository system. Through the cell-based repositories, we achieve improved performance of self-growing actions for robots and efficient sharing of components among robots and developers.

• Journal of Intelligence and Information Systems
• /
• v.29 no.3
• /
• pp.185-209
• /
• 2023

With the advent of the 4th industrial revolution, various technologies have received much attention. Technologies related to the 4th industry include the Internet of Things (IoT), big data, artificial intelligence, virtual reality (VR), 3D printers, and robotics, and these technologies are often converged. In particular, the robotics field is combined with technologies such as big data, artificial intelligence, VR, and digital twins. Accordingly, much research using robotics is being conducted, which is applied to distribution, airports, hotels, restaurants, and transportation fields. In the given situation, research on human-robot interaction is attracting attention, but it has not yet reached the level of user satisfaction. However, research on robots capable of perfect communication is steadily being conducted, and it is expected that it will be able to replace human emotional labor. Therefore, it is necessary to discuss whether the current human-robot interaction technology can be applied to business. To this end, this study first examines the trend of human-robot interaction technology. Second, we compare LDA (Latent Dirichlet Allocation) topic modeling and BERTopic topic modeling methods. As a result, we found that the concept of human-robot interaction and basic interaction was discussed in the studies from 1992 to 2002. From 2003 to 2012, many studies on social expression were conducted, and studies related to judgment such as face detection and recognition were conducted. In the studies from 2013 to 2022, service topics such as elderly nursing, education, and autism treatment appeared, and research on social expression continued. However, it seems that it has not yet reached the level that can be applied to business. As a result of comparing LDA (Latent Dirichlet Allocation) topic modeling and the BERTopic topic modeling method, it was confirmed that BERTopic is a superior method to LDA.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1458-1463
• /
• 2004

Tracking is one of the most important pre-required task for many application such as human-computer interaction through gesture and face recognition, motion analysis, visual servoing, augment reality, industrial assembly and robot obstacle avoidance. Recently, 3D information of object is required in realtime for many aforementioned applications. 3D tracking is difficult problem to solve because during the image formation process of the camera, explicit 3D information about objects in the scene is lost. Recently, many vision system use stereo camera especially for 3D tracking. The 3D feature based tracking(3DFBT) which is on of the 3D tracking system using stereo vision have many advantage compare to other tracking methods. If we assumed the correspondence problem which is one of the subproblem of 3DFBT is solved, the accuracy of tracking depends on the accuracy of camera calibration. However, The existing calibration method based on accurate camera model so that modelling error and weakness to lens distortion are embedded. Therefore, this thesis proposes 3D feature based tracking method using SVM which is used to solve reconstruction problem.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.663-668
• /
• 2003

This paper presents a new observation system which is useful to observe the scene of the remote controlled robot vision. This system is composed of a motionless camera and head motion detector with a motion sensor. The motionless camera has a fish eye lens and is for observing a hemisphere space. The head motion detector has a motion sensor is for defining an arbitrary subspace of the hemisphere space from fish eye lens. Thus processing the angular information from the motion sensor appropriately, the direction of face is estimated. However, since the fisheye image is distorted, it is unclear image. The partial domain of a fish eye image is selected by head motion, and this is converted to perspective image. However, since this conversion enlarges the original image spatially and is based on discrete data, crevice is generated in the converted image. To solve this problem, interpolation based on an intensity of the image is performed for the crevice in the converted image (space problem). This paper provides the experimental results of the proposed observation system with the head motion detector and perspective image conversion using the proposed conversion and interpolation methods, and the adequacy and improving point of the proposed techniques are discussed.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.20 no.2
• /
• pp.180-186
• /
• 2011

This paper describes a micro electrical discharge machining (MEDM) technique that uses an insulated tool in combination with ultrasonic vibration to drill micro holes. As the machining depth becomes deeper, the dispersion of debris and circulation of the dielectric fluid are difficult to occur. Consequently, machining becomes unstable in the machining region and unnecessary electrochemical dissolution and secondary discharge sparking occur at the tool side face. To reduce the amount of unnecessary side machining, an insulated tool was used. Ultrasonic vibration was applied to the MEDM work fluid to better remove debris. Through these methods, a $1000\;{\mu}m$ thick stainless steel plate was machined by using a $73\;{\mu}m$ diameter electrode. The diameters of the hole entrance and exit were $96\;{\mu}m$ and $88\;{\mu}m$, respectively. It took only 351s to completely drill one hole.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
• /
• v.40 no.1
• /
• pp.27-31
• /
• 2014

Various surgical techniques, such as endoscopic surgery and robotic surgery, are developed to optimize the esthetic outcome even in operations for malignancy. A modified face-lift or retroauricular approach are used to minimize postoperative scarring. Recently, robot-assisted surgery is being done in various fields and considered as favorable treatment method by many surgeons. However its high cost is a nonnegligible fraction for many patients. On the other hand, endoscopic surgery, which is cheaper than robotic surgery, is minimally invasive with contentable neck dissection. Although it is a difficult technique for a beginner surgeon due to its limited operation view, we suppose it as an alternative method for robotic surgery. Herein, we report two cases of endoscopic neck dissection via retroauricular incision with a discussion regarding the pros and cons of endoscopic neck dissection.

• Journal of Korea Society of Digital Industry and Information Management
• /
• v.5 no.4
• /
• pp.169-177
• /
• 2009

In come cases, people differently respond on the same joke or thoughtless behavior - sometimes like it and laugh, another time feel annoyed or angry. This fact is explained that experiences which we had in the past are remembered by emotional memory, so they cause different responses. When people face similar situation or feel similar emotion, they evoke the emotion experienced in the past and the emotional memory affects current emotion. This paper suggested the mechanism of the emotional memory using SOM through the similarity between the emotional memory and SOM learning algorithm. It was assumed that the mechanism of the emotional memory has also the characteristics of association memory, long-term memory and short-term memory in its process of remembering emotional experience, which are known as the characteristics of the process of remembering factual experience. And then these characteristics were applied. The mechanism of the emotional memory designed like this was applied to toy hammer game and I measured the change in the power of toy hammer caused by differently responding on the same stimulus. The mechanism of the emotional memory suggest in above is expected to apply to the fields of game, robot engineering, because the mechanism can express various emotions on the same stimulus.

• Journal of the Korea Institute of Building Construction
• /
• v.13 no.4
• /
• pp.416-423
• /
• 2013

An adjusted assessment model based on benefit-cost analysis (BCA) is proposed for evaluating the economic efficiency of automated construction technologies. In contrast to conventional BCA, the model does not compare monetary values, but the differences in benefits and costs between traditional and automated construction methods. To verify the usefulness of the model, it was applied to a real-scale building construction project that used a fully automated building construction system, and the face validity of the model was confirmed. The results indicate that the model can support decision makers in identifying valuable benefit factors and in assessing the cost effectiveness of the system.

• Proceedings of the Korean Information Science Society Conference
• /
• 2005.07b
• /
• pp.670-672
• /
• 2005

본 논문은 비전을 기반으로 한 감정인식 로봇에 관한 논문이다. 피부스킨칼라와 얼굴의 기하학적 정보를 이용한 얼굴검출과 감정인식 알고리즘을 제안하고, 개발한 로봇 시스템을 설명한다. 얼굴 검출은 RGB 칼라 공간을 CIElab칼라 공간으로 변환하여, 피부스킨 후보영역을 추출하고, Face Filter로 얼굴의 기하학적 상관관계를 통하여 얼굴을 검출한다. 기하학적인 특징을 이용하여 눈, 코, 입의 위치를 판별하여 표정 인식의 기본 데이터로 활용한다. 눈썹과 입의 영역에 감정 인식 윈도우를 적용하여, 윈도우 내에서의 픽셀값의 변화와 크기의 변화로 감정인식의 특징 칼을 추출한다. 추출된 값은 실험에 의해서 미리 구해진 샘플과 비교를 통해 강정을 표현하고, 표현된 감정은 Serial Communication을 통하여 로봇에 전달되고, 감정 데이터를 받은 얼굴에 장착되어 있는 모터를 통해 표정을 표현한다.