• 한국정보처리학회논문지
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• 제7권4호
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• pp.1050-1061
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• 2000

This paper presents a new object model, LOM(Lightweight Object Model) and an implementation method for the distributed trader in heterogeneous distributed computing environment including mobile network. Trader is third party object that enables clients to find suitable servers, which provide the most appropriate services to client in distributed environment including dynamic reconfiguration of services and servers. Trading service requires simpler and more specific object model than genetic object models which provide richer multimedia data types and semantic characteristics with complex data structures. LOM supports a new reference attribute type instead of the relationship, inheritance and composite attribute types of the general object oriented models and so LOM has simple data structures. Also in LOM, the modelling step includes specifying of the information about users and the access right to objects for security in the mobile environment and development of the distributed storage for trading service. Also, we propose and implementation method of the distributed trader, which integrates the LOM-information object model and the OMG (object Management Group) computational object model.

• 로봇학회논문지
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• 제3권3호
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• pp.212-218
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• 2008

Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.50.5-50
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• 2002

In this paper, we propose a method using neural network (NN) to improve the motion control of a decentralized control system for cooperative transportation. In our former work, a decentralized control system for transporting a single object by multiple nonholonomic mobile robots has been developed. One of these mobile robots acts as a leader, who is assumed to be able to plan and to manipulate the omnidirectional motion of the object. Other robots, referred to as followers, cooperatively transport the object by keeping a constant position relative to the object. in this work, it is assumed that the leader can not only plan but also broadcast the local velocity of the object. Then...

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.415-425
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• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2013년도 추계학술발표대회
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• pp.1404-1407
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• 2013

Mobile phone GPS positioning system is a function we often use, which can make user locate his own position all time. But due to lots of inconvenience brought to us by some error existing in mobile phone positioning system, how to accurately position becomes a hot research topic at home and abroad. This paper puts forward a way of precise calculating position. Firstly, take object's image with mobile phone camera; then, process the image to extract and identify object inside; finally, calculate the distance between the object and user with the object's information stored in the database.

• 정보처리학회논문지D
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• 제14D권3호
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• pp.355-362
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• 2007

이동 통신 단말기의 발달과 모바일 인터넷의 확산으로 많은 사용자들은 언제 어디서나 모바일 웹 콘텐츠를 이용 할 수 있게 되었으며 나아가 더 많은 콘텐츠의 서비스를 요구하게 될 것이다. 이러한 요구로 인하여 유선 웹 콘텐츠를 모바일 웹에 사용할 수 있도록 콘텐츠를 변환하는 연구들이 많이 진행되고 있으나, 통신사 및 모바일 단말기들의 지원사양이 표준화되지 않아 모바일 웹 콘텐츠의 변환 및 생성에 많은 어려움이 따르고 있다. 특히나 유선 웹 페이지의 내용 중에 시간이나 사용자에 따라 그 내용이 동적으로 변화하는 다이나믹 오브젝트를 모바일 웹에 서비스하기 위해서는 각각의 단말기에 맞도록 스크립트를 프로그래밍 해야 할 뿐 아니라 사용되는 리소스의 선 변환이 요구되어진다. 이러한 어려움을 해결하기 위해 본 논문에서는 유선 웹 페이지의 구조적 특성을 나타내는 DOM(Document Object Model)의 계층구조를 이용한다. 즉 유선 웹페이지를 분석하여 이를 자료구조화 하고, 이 가운데에서 다이나믹 오브젝트를 추출하여 그 영역을 인덱싱 하였다가, 모바일 웹 페이지를 서비스 할 때 인덱싱 된 위치에서 정보를 추출하여 실시간으로 모바일 웹 콘텐츠를 생성하여 서비스하는 기법을 제시한다. 또한 본 논문은 이 기법을 적용하여 모바일 웹 콘텐츠를 편집하는 편집기와 이를 서비스하는 모바일 웹 서비스 서버를 개발하는 데 그 목표가 있다.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.82-89
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• 2015

This study proposes a new approach to design and control for autonomous mobile robots. In this paper, we describes a fuzzy logic based visual servoing system for an autonomous mobile robot. An existing system always needs to keep a moving object in overall image. This mes difficult to move the autonomous mobile robot spontaneously. In this paper we first explain an autonomous mobile robot and fuzzy logic system. And then we design a fuzzy logic based visual servoing system. We extract some features of the object from an overall image and then design a fuzzy logic system for controlling the visual servoing system to an exact position. We here introduce a shooting robot that can track an object and hit it. It is illustrated that the proposed system presents a desirable performance by a computer simulation and some experiments.

• 한국정보기술응용학회:학술대회논문집
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• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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• pp.113-117
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• 2005

This paper describes a visual control scheme, fuzzy logic system for visual servoing of an autonomous mobile robot. An existing communication autonomous mobile robot always needs to keep the object in image to detect the moving object. This is a problem in an autonomous mobile robot for spontaneous activity. To solve it, some features for an object are taken from an image and then use in the design of fuzzy logic system for decision of moving location and direction of visual servoing contrivance(apparatus). So continuous tracking is possible by moving the visual servoing contrivance. We present some simulation results and further studies in the Section of Simulation and Concluding Remarks.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제7권4호
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• pp.159-168
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• 2018

최근 높은 관심을 모으고 있는 모바일 증강현실 게임은 몰입감을 높이기 위한 접근 방법으로 손꼽히고 있다. 모바일 디바이스의 카메라를 이용하여 대상 물체를 인식하고 게임 캐릭터가 등장하도록 하는 기존 증강현실 기반의 게임에서는 대부분이 터치 기반의 인터랙션만을 사용하고 있다. 본 논문에서는 게임의 몰입도를 높이기 위하여 증강현실 타겟 이미지를 움직임으로써 게임 속 변형 객체를 직관적으로 조작하는 기법을 제안한다. 제안 방법에서는 타겟 이미지들 사이의 거리와 방향을 계산하고, 이에 따라 변형객체에 주어지는 외부력(external force)의 크기를 조정함으로써, 직관적 방법으로 변형 객체의 움직임을 조작할 수 있도록 하였다. 본 논문에서는 게임 콘텐츠에서 자연스러운 객체 표현을 위하여 많이 사용되고 있는 변형 직물(cloth) 모델에 초점을 맞추었고, 바람(wind)과 강체(rigid object)로 표현되는 게임 객체들과 상호작용하는 자연스러운 직물의 움직임을 표현하였다. 실험에서는 유니티 에셋 스토어에서 판매하는 기존 유료 직물 모델의 적용 결과와의 비교를 통하여 제안 기법이 보다 현실감 있는 직물의 움직임을 표현하고 있는 것을 보였다.

• JSTS:Journal of Semiconductor Technology and Science
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• 제16권2호
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• pp.251-254
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• 2016

An energy-efficient object matching accelerator is proposed for mobile object recognition based on matching prediction scheme. Conventionally, vocabulary tree has been used to save the external memory bandwidth in object matching process but involved massive internal memory transactions to examine each object in a database. In this paper, a novel object matching accelerator is proposed based on matching predictions to reduce unnecessary internal memory transactions by mitigating non-target object examinations, thereby improving the energy-efficiency. Experimental results show a 26% reduction in power-delay product compared to the prior art.