• Title/Summary/Keyword: intelligent walking

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A Study on the Criteria Establishment for One-way road using AHP (AHP분석을 활용한 일방통행 선정기준 정립에 관한 연구)

  • Park, Je Jin;Kim, Min Chul;Kim, Jae Gon;Ha, Tae Jun
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.16 no.3
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    • pp.39-49
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    • 2017
  • Standards suitable for local conditions on deciding one-way road are desperately required to solve traffic congestions at the backside roads in the old downtown areas which were not designated as a road by urban planning. Therefore, this study intends to re-establish a standard to decide one-way road which is regarded to be of the greatest effect among traffic system control methods in order to control one-way road system more efficiently. Also, this paper suggests a standard for such decision to improve efficiency of using backside roads and expand designation of one-way road. AHP (analytic hierarchy process) was carried out among the traffic experts to find out the factors to decide one-way road system. Its result reveals that importance of causing accident to walking quantity and traffic was high. 10,000 cases out of all the possible scenarios of accident by combining detailed evaluation items and scales were extracted to draw the outcomes of analyzing the scenarios, which were schematized in a graph. As a result, division by three sections of point of inflection was verified into $1{\leq}$ section A<1.91, 1.9$1{\leq}$ section B<2.08, and $2.08{\leq}$ section C<3. In other words, priority of deciding one-way road should be given to section C, the highest total point, while posterior to section A, where relatively low points are distributed. The standard on deciding one-way road suggested in this paper may be used for designating one-way road and basic data to re-establish the relevant system in the future.

Implementation of Multiple Nonlinearities Control for Stable Walking of a Humanoid Robot (휴머노이드 로봇의 안정적 보행을 위한 다중 비선형 제어기 구현)

  • Kong, Jung-Shik;Kim, Jin-Geol;Lee, Bo-Hee
    • Journal of the Korean Institute of Intelligent Systems
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    • v.16 no.2
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    • pp.215-221
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    • 2006
  • This paper is concerned with the control of multiple nonlinearities included in a humanoid robot system. A humanoid robot has some problems such as the structural instability, which leads to consider the control of multiple nonlinearities caused by driver parts as well as gear reducer. Saturation and backlash are typical examples of nonlinearities in the system. The conventional algorithms of backlash control were fuzzy algorithm, disturbance observer and neural network, etc. However, it is not easy to control the system by employing only single algorithm since the system usually includes multiple nonlinearities. In this paper, a switching Pill is considered for a control of saturation and a dual feedback algorithm is proposed for a backlash control. To implement the above algorithms, the system identification is firstly performed for the minimization of the difference between the results of simulation and experiment, and then the switching Pill gains are determined using genetic algorithm with some heuristic approach. The performance of the switching Pill controller for saturation and the dual feedback for backlash control is investigated through the simulation. Finally, it is shown that the implemented control system has good results and can be applied to the real humanoid robot system ISHURO.

An Analysis Model on Passenger Pedestrian Flow within Subway Stations - Using Smart Card Data - (지하철역사내 승객보행흐름 분석모형 - 교통카드자료를 활용하여 -)

  • Lee, Mee Young;Shin, Seongil;Kim, Boo Won
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.17 no.6
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    • pp.14-24
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    • 2018
  • Pedestrian movement of passengers using smart card within stations can be divided into three types of activities - straight ride and alight, line transfer, and station transfer. Straight ride and alight is transfer activity for which the card terminal and embarking line are identical. In this case, straight ride occurs at the origin station and straight alight occurs at the destination station. Line transfer refers to activity in which the subway line embarked on by the passenger is different from that which is disembarked. Succinctly, line transfer is transfer at a middle station, rather than at origin or destination stations. Station transfer occurs when the card terminal line and embarking line are different. It appears when station transfer happens at the origin station as starting transfer, and at the destination station as destination transfer. In the case of Metropolitan smart card data, origin and destination station card terminal line number data is recorded, but subway line data does not exist. Consequently, transportation card data, as it exists, cannot adequately be used to analyze pedestrian movement as a whole in subway stations. This research uses the smart card data, with its constraints, to propose an analysis model for passenger pedestrian movement within subway stations. To achieve this, a path selection model is constructed, which links origin and destination stations, and then applied for analysis. Finally, a case study of the metropolitan subway is undertaken and pedestrian volume analyzed.

Trip Assignment for Transport Card Based Seoul Metropolitan Subway Using Monte Carlo Method (Monte Carlo 기법을 이용한 교통카드기반 수도권 지하철 통행배정)

  • Meeyoung Lee;Doohee Nam
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.22 no.2
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    • pp.64-79
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    • 2023
  • This study reviewed the process of applying the Monte Carlo simulation technique to the traffic allocation problem of metropolitan subways. The analysis applied the assumption of a normal distribution in which the travel time information of the inter-station sample is the basis of the probit model. From this, the average and standard deviation are calculated by separating the traffic between stations. A plan was proposed to apply the simulation with the weights of the in-vehicle time of individual links and the walking and dispatch interval of transfer. Long-distance traffic with a low number of samples of 50 or fewer was evaluated as a way to analyze the characteristics of similar traffic. The research results were reviewed in two directions by applying them to the Seoul Metropolitan Subway Network. The travel time between single stations on the Seolleung-Seongsu route was verified by applying random sampling to the in-vehicle time and transfer time. The assumption of a normal distribution was accepted for sample sizes of more than 50 stations according to the inter-station traffic sample of the entire Seoul Metropolitan Subway. For long-distance traffic with samples numbering less than 50, the minimum distance between stations was 122Km. Therefore, it was judged that the sample deviation equality was achieved and the inter-station mean and standard deviation of the transport card data for stations at this distance could be applied.

A Study on Infra-Technology of RCP Interaction System

  • Kim, Seung-Woo;Choe, Jae-Il
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.1121-1125
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    • 2004
  • The RT(Robot Technology) has been developed as the next generation of a future technology. According to the 2002 technical report from Mitsubishi R&D center, IT(Information Technology) and RT(Robotic Technology) fusion system will grow five times larger than the current IT market at the year 2015. Moreover, a recent IEEE report predicts that most people will have a robot in the next ten years. RCP(Robotic Cellular Phone), CP(Cellular Phone) having personal robot services, will be an intermediate hi-tech personal machine between one CP a person and one robot a person generations. 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 interaction system is really focused in this paper. The $RCP^{interaction}$(Robotic Cellular Phone for Interaction) is to be developed as an emotional model CP as shown in figure 1. $RCP^{interaction}$ refers to the sensitivity expression and the link technology of communication of the CP. It is interface technology between human and CP through various emotional models. The interactive emotion functions are designed through differing patterns of vibrator beat frequencies and a feeling system created by a smell injection switching control. As the music influences a person, one can feel a variety of emotion from the vibrator's beats, by converting musical chord frequencies into vibrator beat frequencies. So, this paper presents the definition, the basic theory and experiment results of the RCP interaction system. We confirm a good performance of the RCP interaction system through the experiment results.

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Action Realization of Modular Robot Using Memory and Playback of Motion (동작기억 및 재생 기능을 이용한 모듈라 로봇의 다양한 동작 구현)

  • Ahn, Ki-Sam;Kim, Ji-Hwan;Lee, Bo-Hee
    • Journal of Convergence for Information Technology
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    • v.7 no.6
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    • pp.181-186
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    • 2017
  • In recent years, robots have been actively used for children's creativity learning and play, but most robots have a stereotyped form and have a high dependency on the program, making it difficult to learn creativity and play. In order to compensate for these drawbacks, We have created a robot that can easily and reliably combine each other. The robot can memorize the desired operation and execute the memorized operation by using one button. Also, in case multiple modules are combined, pressing the button once on any module makes it possible to easily adjust the operation of all the combined modules. In order to verify the actual operation, two, three, and five modules are combined to demonstrate the usefulness of the proposed structure and algorithm by implementing a gobbling motion and a walking robot. It is required to study intelligent modular robots that can control over the Internet by supplementing the wireless connection method.

A Study on the Development of In-Socket Pressure Change Measurement Sensor for Estimation Locomotion Intention of Intelligent Prosthetic leg User (지능형 대퇴의족 사용자의 보행 의도 추정을 위한 소켓 내 압력 변화 측정 센서 개발에 관한 연구)

  • Park, Na-Yeon;Eom, Su-Hong;Lee, Eung-Hyuk
    • Journal of IKEEE
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    • v.26 no.2
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    • pp.249-256
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    • 2022
  • The prosthetic leg is a device that performs walking instead of a amputated lower limb, and require a change in locomotion mode by providing the user's intention to respond to a discontinuous locomotion environment. Research has been conducted to detect the users' intentions through biomechanical features inside the socket that directly contacts the cut site in demand for natural locomotion mode changes without external control equipment. However, there is still a need for a sensor system that is suitable for the internal environment of the main body and socket of the cut site. Accordingly, this paper proposed a film-type sensor system that is suitable for the main body characteristics of the cut site, is not affected by the temperature and humidity conditions inside the socket, and is easy to manufacture in various sizes. The proposed sensor is manufactured base on Velostat film and takes into account the pressure measurement characteristics that vary with size. Through the experiment, the change in the internal pressure of the socket due to the intentional posture performance of the wearer was measured, and the possibility of detecting the intention to change the locomotion mode was confirmed.

Ensemble of Nested Dichotomies for Activity Recognition Using Accelerometer Data on Smartphone (Ensemble of Nested Dichotomies 기법을 이용한 스마트폰 가속도 센서 데이터 기반의 동작 인지)

  • Ha, Eu Tteum;Kim, Jeongmin;Ryu, Kwang Ryel
    • Journal of Intelligence and Information Systems
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    • v.19 no.4
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    • pp.123-132
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    • 2013
  • As the smartphones are equipped with various sensors such as the accelerometer, GPS, gravity sensor, gyros, ambient light sensor, proximity sensor, and so on, there have been many research works on making use of these sensors to create valuable applications. Human activity recognition is one such application that is motivated by various welfare applications such as the support for the elderly, measurement of calorie consumption, analysis of lifestyles, analysis of exercise patterns, and so on. One of the challenges faced when using the smartphone sensors for activity recognition is that the number of sensors used should be minimized to save the battery power. When the number of sensors used are restricted, it is difficult to realize a highly accurate activity recognizer or a classifier because it is hard to distinguish between subtly different activities relying on only limited information. The difficulty gets especially severe when the number of different activity classes to be distinguished is very large. In this paper, we show that a fairly accurate classifier can be built that can distinguish ten different activities by using only a single sensor data, i.e., the smartphone accelerometer data. The approach that we take to dealing with this ten-class problem is to use the ensemble of nested dichotomy (END) method that transforms a multi-class problem into multiple two-class problems. END builds a committee of binary classifiers in a nested fashion using a binary tree. At the root of the binary tree, the set of all the classes are split into two subsets of classes by using a binary classifier. At a child node of the tree, a subset of classes is again split into two smaller subsets by using another binary classifier. Continuing in this way, we can obtain a binary tree where each leaf node contains a single class. This binary tree can be viewed as a nested dichotomy that can make multi-class predictions. Depending on how a set of classes are split into two subsets at each node, the final tree that we obtain can be different. Since there can be some classes that are correlated, a particular tree may perform better than the others. However, we can hardly identify the best tree without deep domain knowledge. The END method copes with this problem by building multiple dichotomy trees randomly during learning, and then combining the predictions made by each tree during classification. The END method is generally known to perform well even when the base learner is unable to model complex decision boundaries As the base classifier at each node of the dichotomy, we have used another ensemble classifier called the random forest. A random forest is built by repeatedly generating a decision tree each time with a different random subset of features using a bootstrap sample. By combining bagging with random feature subset selection, a random forest enjoys the advantage of having more diverse ensemble members than a simple bagging. As an overall result, our ensemble of nested dichotomy can actually be seen as a committee of committees of decision trees that can deal with a multi-class problem with high accuracy. The ten classes of activities that we distinguish in this paper are 'Sitting', 'Standing', 'Walking', 'Running', 'Walking Uphill', 'Walking Downhill', 'Running Uphill', 'Running Downhill', 'Falling', and 'Hobbling'. The features used for classifying these activities include not only the magnitude of acceleration vector at each time point but also the maximum, the minimum, and the standard deviation of vector magnitude within a time window of the last 2 seconds, etc. For experiments to compare the performance of END with those of other methods, the accelerometer data has been collected at every 0.1 second for 2 minutes for each activity from 5 volunteers. Among these 5,900 ($=5{\times}(60{\times}2-2)/0.1$) data collected for each activity (the data for the first 2 seconds are trashed because they do not have time window data), 4,700 have been used for training and the rest for testing. Although 'Walking Uphill' is often confused with some other similar activities, END has been found to classify all of the ten activities with a fairly high accuracy of 98.4%. On the other hand, the accuracies achieved by a decision tree, a k-nearest neighbor, and a one-versus-rest support vector machine have been observed as 97.6%, 96.5%, and 97.6%, respectively.

A Study on Driving Safety Evaluation Criteria of Personal Mobility (퍼스널 모빌리티(Personal Mobility)의 주행안전성 평가지표 연구)

  • Park, Bumjin;Roh, Chang-gyun;Kim, Jisoo
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.17 no.5
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    • pp.1-13
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    • 2018
  • Divers types of Personal Mobility(PM) are appeared on the market after the Segway is introduced. PMs have propagated very rapidly with their ease of use, and accidents related with PM show a sudden increase. Many studies on the PM are performed as its trend, but dring safety of passengers are excluded. In this study, criteria which can be adopted for PM's driving safety evaluation are reviewed. Also result of driving safety evaluation on 3 types of PM(wheel chair, kickboard, scooter(seating/standing) and walking using deducted criteria is given. COG(Center of the gravity) and SM(Stability Metric) are finally selected two criteria among many of them used in other fields. COG indicates how the center of mass deviates from the direction of the gravity. SM is a normalized value of generated force when PM moves as internal force, angular momentum, and ground reaction force. 0 means stop, and negative value means rollover, so it can be used for safety evaluation of PM. Average and standard deviation of measurement are standard of safety on the COG analysis. Wheel chair is the most safe and kickboard is the most unstable on the COG analysis. Wheel chair is also ranked as top safe on the SM analysis. Among two riding types(seating and standing) on the scooter, seating type is evaluated more safer than standing type. It is proposed that more various type of PMs are need to get safety evaluation for drivers and devices themselves together.

Development of a water quality prediction model for mineral springs in the metropolitan area using machine learning (머신러닝을 활용한 수도권 약수터 수질 예측 모델 개발)

  • Yeong-Woo Lim;Ji-Yeon Eom;Kee-Young Kwahk
    • Journal of Intelligence and Information Systems
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    • v.29 no.1
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    • pp.307-325
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    • 2023
  • Due to the prolonged COVID-19 pandemic, the frequency of people who are tired of living indoors visiting nearby mountains and national parks to relieve depression and lethargy has exploded. There is a place where thousands of people who came out of nature stop walking and breathe and rest, that is the mineral spring. Even in mountains or national parks, there are about 600 mineral springs that can be found occasionally in neighboring parks or trails in the metropolitan area. However, due to irregular and manual water quality tests, people drink mineral water without knowing the test results in real time. Therefore, in this study, we intend to develop a model that can predict the quality of the spring water in real time by exploring the factors affecting the quality of the spring water and collecting data scattered in various places. After limiting the regions to Seoul and Gyeonggi-do due to the limitations of data collection, we obtained data on water quality tests from 2015 to 2020 for about 300 mineral springs in 18 cities where data management is well performed. A total of 10 factors were finally selected after two rounds of review among various factors that are considered to affect the suitability of the mineral spring water quality. Using AutoML, an automated machine learning technology that has recently been attracting attention, we derived the top 5 models based on prediction performance among about 20 machine learning methods. Among them, the catboost model has the highest performance with a prediction classification accuracy of 75.26%. In addition, as a result of examining the absolute influence of the variables used in the analysis through the SHAP method on the prediction, the most important factor was whether or not a water quality test was judged nonconforming in the previous water quality test. It was confirmed that the temperature on the day of the inspection and the altitude of the mineral spring had an influence on whether the water quality was unsuitable.