• 한국컴퓨터정보학회논문지
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• 제10권6호
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• pp.345-354
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• 2005

이동매니퓰레이터는 -이동로봇과 작업로봇이 직렬로 결합된 형태 - 작업 공간 밖에 존재하는 작업에 대하여 높은 성능으로 작업을 수행할 수 있으므로 고정 베이스 구조의 매니이퓰레이터에 비하여 다양한 작업 환경에서 유용하다. 임의의 위치에 있는 물체를 인식하기 위하여 이동매니퓰레이터에 부착된 2자유도의 능동카메라에 의해 입력되는 영상과 능동카메라의 기구학적 관계에 기초를 두는 직각좌표계를 이용하여 물체의 위치와 이동로봇의 위치를 구하는 방법을 제시한다. 동차행렬을 이용하여 이미지정보와 물체의 위치를 해석하므로 이동매니퓰레이터의 최적경로를 생성한다. 최종적으로, 물체의 인식을 통하여 작업로봇을 제어할 수 있는 조인트변수의 값을 계산한다. 제안된 방법은 제작된 이동매니퓰레이터로 시뮬레이션과 실험을 통하여 확인되어지고 논의된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2519-2523
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• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• 한국항행학회논문지
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• 제15권3호
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• pp.355-363
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• 2011

무선 모바일 네트워크상에서 트랜스코딩은 지연을 줄이고, 스트림의 처리 성능을 향상시키는 중요한 메커니즘이다. 그러나 무선 모바일 스트리밍 미디어 서비스는 제한된 네트워크 대역폭과 자원 등으로 인하여 혼잡, 간섭 및 지연등과 같은 문제점이 발생하고 있다. 간섭과 지연은 QoS를 떨어뜨릴 뿐만 아니라 스트리밍 미디어 서비스의 응답성을 떨어뜨린다. 본 논문에서는 객체 버전 트랜스코딩 기법을 제안한다. 제안된 기법은 객체 버전들을 분석하여 트랜스코딩 그래프를 구축한다. 스트리밍을 효율적으로 제어하기 위하여 참조율 기반 제어 함수를 이용하며, 지연 절약을 위해 MVDS(Multiple Version Delay Saving)를 측정한다. 시뮬레이션 결과 제안된 기법이 다른 비교 결과 기법들에 비해서 지연율, 캐시 히트율이 증가됨을 보인다.

• 로봇학회논문지
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• 제1권1호
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• pp.36-45
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• 2006

In this paper, we introduce visual contexts in terms of types and utilization methods for robust object recognition with intelligent mobile robots. One of the core technologies for intelligent robots is visual object recognition. Robust techniques are strongly required since there are many sources of visual variations such as geometric, photometric, and noise. For such requirements, we define spatial context, hierarchical context, and temporal context. According to object recognition domain, we can select such visual contexts. We also propose a unified framework which can utilize the whole contexts and validates it in real working environment. Finally, we also discuss the future research directions of object recognition technologies for intelligent robots.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 1998년도 가을 학술발표논문집 Vol.25 No.2 (1)
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• pp.585-587
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• 1998

본 논문은 분산 환경에서 의미상의 클라이언트가 서버에게 서비스를 요청하는 방법인 Java의 RMI, CORBA 등에서 사용하는 원격 호출 방법과 Mobile Agent를 이용하여 서버상으로 직접 이동하여 서비스를 요청하는 방법을 비교하고 분산 시스템상에서의 두 가지 커뮤니케이션 메커니즘 중 상황에 따라 어느것을 사용하는 것이 더 나은 효율을 나타낼 수 있는가를 판단하고 이를 이용하여 구현 패러다임을 결정할 수 있는 메트릭을 제시하는 것을 그 목적으로 한다.

• 로봇학회논문지
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• 제15권4호
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• pp.350-356
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• 2020

Workers have been replaced by mobile manipulators for factory automation in recent years. One of the typical tasks for automation is that a mobile manipulator moves to a target location and picks and places an object on the worktable. However, due to the pose estimation error of the mobile platform, the robot cannot reach the exact target position, which prevents the manipulator from being able to accurately pick and place the object on the worktable. In this study, we developed an automatic alignment system using a low-cost camera mounted on the end-effector of a collaborative robot. Camera calibration and pose estimation methods were also proposed for the automatic alignment system. This algorithm uses a markerboard composed of markers to calibrate the camera and then precisely estimate the camera pose. Experimental results demonstrate that the mobile manipulator can perform successful pick and place tasks on various conditions.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.915-919
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• 2003

This paper presents a fuzzy-motion-control based tracking algorithm of mobile robots, which uses the geometrical information derived from the active stereo-vision system mounted on the mobile robot. The active stereo-vision system consists of two color cameras that rotates in two angular dimensions. With the stereo-vision system, the center position and depth information of the target object can be calculated. The proposed fuzzy motion controller is used to calculate the tracking velocity and angular position of the mobile robot, which makes the mobile robot keep following the object with a constant distance and orientation.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2009년도 춘계학술발표대회
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• pp.706-709
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• 2009

The informatization of Korea is accompanied by the great growth of new strategic export industry, as of mobile phone or semiconductor LCD. Speaking to the situation of mobile phone, Motorola swept over the American domestic market in the beginning of 1990s, digital mobile communication as CDMA developed swiftly in Korea. In 1996, the first year's CDMA users of Samsung were merely one million, nevertheless, the world's sales in the first half of this year is up to 92 million. In this p aper I design 3D application based on J2ME and implement a freely removable 3D object which happened in a 3D scen e by receiving the keyboard response of mobile device with WTK (Wireless ToolKit) simulator. It contains benefits of improvement of relative speed and high-level functionality such as scene graph, keyframe animation, etc.

• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.365-371
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• 2009

A intelligent mobile hexapod robot with various types of sensors and wireless camera is introduced. We show this mobile robot can detect objects well by combining the results of active sensors and image processing algorithm. First, to detect objects, active sensors such as infrared rays sensors and supersonic waves sensors are employed together and calculates the distance in real time between the object and the robot using sensor's output. The difference between the measured value and calculated value is less than 5%. This paper suggests effective visual detecting system for moving objects with specified color and motion information. The proposed method includes the object extraction and definition process which uses color transformation and AWUPC computation to decide the existence of moving object. We add weighing values to each results from sensors and the camera. Final results are combined to only one value which represents the probability of an object in the limited distance. Sensor fusion technique improves the detection rate at least 7% higher than the technique using individual sensor.

• Journal of Information Processing Systems
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• 제16권5호
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• pp.1214-1222
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• 2020

Pervasive augmented reality (AR) technology can be used to efficiently search for the required information regarding products in stores through text augmentation in an Internet of Things (IoT) environment. The evolution of context awareness and image processing technologies are the main driving forces that realize this type of AR service. One of the problems to be addressed in the service is that augmented objects are fixed and cannot be replaced efficiently in real time. To address this problem, a real-time mobile AR framework is proposed. In this framework, an optimal object to be augmented is selected based on object similarity comparison, and the augmented objects are efficiently managed using distributed metadata servers to adapt to the user requirements, in a given situation. To evaluate the feasibility of the proposed framework, a prototype system was implemented, and a qualitative evaluation based on questionnaires was conducted. The experimental results show that the proposed framework provides a better user experience than existing features in smartphones, and through fast AR service, the users are able to conveniently obtain additional information on products or objects.