• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.126-129
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• 2003

The robot has recently emerged as a factor in the daily lives of humans, taking the form of a mechanical pet or similar source of entertainment. A robot system that is designed to co-exist with humans, i.e., a coexistence-type robot system, is important to be "it exists in various environments with the person, and robot system by which the interaction of n physical, informational emotion with the person etc. was valued". When studying the impact of intimacy in the human/robot relationship, we have to examine the problems that can arise as a result of physical intimacy(coordination on safety in the hardware side and a soft side). Furthermore, We should also consider the informational aspects of intimacy (recognition technology, and information transport and sharing).

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2780-2782
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• 2005

In this paper, we present a mobile robot localization solution by using a Ubiquitous Vision System (UVS). The collective information gathered by multiple cameras that are strategically placed has many advantages. For example, aggregation of information from multiple viewpoints reduces the uncertainty about the robots' positions. We construct UVS as a multi-agent system by regarding each vision sensor as one vision agent (VA). Each VA performs target segmentation by color and motion information as well as visual tracking for multiple objects. Our modified identified contractnet (ICN) protocol is used for communication between VAs to coordinate multitask. This protocol raises scalability and modularity of thesystem because of independent number of VAs and needless calibration. Furthermore, the handover between VAs by using ICN is seamless. Experimental results show the robustness of the solution with respect to a widespread area. The performance in indoor environments shows the feasibility of the proposed solution in real-time.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.5
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• pp.741-747
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• 2008

This paper proposes a new concept of IDSP(Intelligent Digital Switchgear Panel) which can solve the problem of the safety, the reliability and the convenience to correspond to the requirement of the general electric customer or electric power company under the ubiquitous-based home automation environments. By analyzing their requirement functions, a 32-bit micro processor is adopted as main controller to support the designed functions efficiently. The DSP-based single phase power management device is utilized to collect the electric power information and the ethernet convertor to communicate through internet among the IDSPs and the remote computer system. In the proposed IDSP, the several functions are implemented such as the earth leakage level display and waveform transmission, the electric fee display, the voltage management, the load management and the load control function. Finally, the prototype of the IDSP is made experimently based on the designed results, and then the effectiveness is verified by testing its basic functions.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.8
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• pp.701-708
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• 2001

Recently, the research on intelligence of computer has actively been under way in various areas and gradually extended to adapt to uncertain and complex environments. In this paper, we propose the MVL-Neural Valued Logic. Also, we verify that the MVL-Automata can be implemented to Neural Network and the MVL-Neural Network Model can be a simulator by MVL-Automata. Therefore, we propose that the MVL-Neural Network Model can be widely used in such area, as intelligent system or modeling of brain. In particular, the MVL-Neural Network is expected to be used as core technology of next generation computer.

• Electronics and Telecommunications Trends
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• v.34 no.1
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• pp.23-35
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• 2019

In the upcoming post-app era, real-time, intelligent and immersive services such as autonomous vehicles, virtual secretaries, virtual reality, and augmented reality are expected to dominate. However, there is a growing demand for new networking and computing infrastructure capabilities because existing physical connection-oriented networks and centralized cloud-based service environments have inherent limitations to effectively accommodate these services. To this end, research on intelligent edge network computing technology is underway to analyze the contextual situation of human and things and to configure the service environment on the network edge so that the application services can be performed optimally. In this article, we describe the technology issues for edge network intelligence and introduce related research trends.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.48-52
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• 2023

Many studies have been conducted to ensure that Visual Place Recognition is reliable in various environments, including edge cases. However, existing approaches use visible imaging sensors, RGB cameras, which are greatly influenced by illumination changes, as is widely known. Thus, in this paper, we use an invisible imaging sensor, a long wave length infrared camera (LWIR) instead of RGB, that is shown to be more reliable in low-light and highly noisy conditions. In addition, although the camera sensor used to solve this problem is an LWIR camera, but since the thermal image is converted into RGB image the proposed method is highly compatible with existing algorithms and databases. We demonstrate that the proposed method outperforms the baseline method by about 0.19 for recall performance.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.67-76
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• 2005

In this paper, An analysis on the intelligence system for a biped walking robot(BWR) was made and its results were applied to the BWR. Various sensors were applied to the developed BWR for autonomous and intelligent walk in unknown environments. To measure the distance between the object and BWR, ultrasonic sensor and infrared-rays sensor were used. To identity surrounding environments, vision system was used. Gyro sensor was used to control the posture of BWR. Also, piezoelectricity sensor was used to identity the pressure of foot landing on the surface. Sensors applied to the robot have measurement errors according to noises or walking environments. To improve the function of these sensors, influences of noise or sensing errors were minimized using a sensor fusion scheme. A gait test using the sensor fusion system was performed, and its results are presented.

• Journal of information and communication convergence engineering
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• v.11 no.1
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• pp.24-29
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• 2013

In this paper, we propose a fuzzy inference model for a navigation algorithm for a mobile robot that intelligently searches goal location in unknown dynamic environments. Our model uses sensor fusion based on situational commands using an ultrasonic sensor. Instead of using the "physical sensor fusion" method, which generates the trajectory of a robot based upon the environment model and sensory data, a "command fusion" method is used to govern the robot motions. The navigation strategy is based on a combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance based on a hierarchical behavior-based control architecture. To identify the environments, a command fusion technique is introduced where the sensory data of the ultrasonic sensors and a vision sensor are fused into the identification process. The result of experiment has shown that highlights interesting aspects of the goal seeking, obstacle avoiding, decision making process that arise from navigation interaction.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.135-142
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• 2023

Light detection and ranging (LiDAR) sensors have been most widely used in terrestrial robotic applications because they can provide dense and precise measurements of the surrounding environments. However, the reliability of LiDAR measurements can considerably vary due to the different reflectivities of laser beams to the reflecting surface materials. This study presents a robust LiDAR-based mapping method for the varying laser reflectivities in indoor environments using the framework of simultaneous localization and mapping (SLAM). The proposed method can minimize the performance degradations in the SLAM accuracy by checking and discarding potentially unreliable LiDAR measurements in the SLAM front-end process. The gaps in point-cloud maps created by the proposed approach are filled by a Gaussian process regression method. Experimental results with a mobile robot platform in an indoor environment are presented to validate the effectiveness of the proposed methodology.

• International Journal of Internet, Broadcasting and Communication
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• v.15 no.4
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• pp.134-141
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• 2023

As robotic technology expands into various fields, robots need to execute some complicated tasks in diverse environments. However, the previous robotic software solutions were limited to independent systems. We can not adapt to diverse functionalities and environments. This makes it hard to provide rapid and effective services and leads to costs and losses in the development process. To overcome these problems, we propose a robot software framework with behavior trees based on ROS2. This framework simplifies complex robot behaviors through behavior trees and makes it easy to modify, extend, and reuse robot behaviors. Furthermore, ROS2 standardizes connections between software modules, enhances the robot's flexibility, and enables independent development and testing of software. Our framework aims to provide a foundation for high-quality robot service provision by supporting the modularity, reusability, independent development, and testing required by intelligent robots that need to provide services in various environments.