• Proceedings of the Korean Society of Computer Information Conference
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• 2022.07a
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• pp.509-510
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• 2022

한 해 100만건 이상의 모바일 게임이 출시되고 있으며, 게임 수가 많은 만큼 게임물 등급 관리에 있어서 객관적이고 투명한 업무처리는 필수적이다. 그러나 현재 사업자 자체 등급분류는 오직 게임 개발사가 제출한 서류에 의존하며, 사후 모니터링을 통해 제재하는 실정이다. 이에 따라, 사전에 폭력성 유뮤를 식별할 수 있는 기술이 필요하다. 본 논문에서는 Cloud Vision API를 활용하여 프레임 수를 설정하고 해당 프레임에 대한 폭력성 정도를 수치로 출력하여 해당 영상에 문제 유무를 사전에 식별할 수 있도록 돕는 시스템에 대해 기술한다. 이 시스템을 통해 게임물관리위원회 인력과 예산 한계로 인해 계속 불거지고 있는 연 100만 건에 달하는 등급분류 처리의 정확성과 사후 모니터링에 효과가 있을 것이다.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1122-1131
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• 2012

This paper presents obstacle avoidance method for scout robot or industrial robot in unknown environment by using IR sensor and vision system. In the proposed method, robots share the information where the obstacles are located in real-time, thus the robots can choose the best path for obstacle avoidance. Using IR sensor and vision system, multiple robots efficiently evade the obstacles by the proposed cooperation method. No landmark is used at wall or floor in experiment environment. The obstacles don't have specific color or shape. To get the information of the obstacle, vision system extracts the obstacle coordinate by using an image labeling method. The information obtained by IR sensor is about the obstacle range and the locomotion direction to decide the optimal path for avoiding obstacle. The experiment was conducted in $7m{\times}7m$ indoor environment with two-wheeled mobile robots. It is shown that multiple robots efficiently move along the optimal path in cooperation with each other in the space where obstacles are located.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.54-61
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• 2012

In this paper, the pose estimation method for the satellite GTB (Ground Test Bed) using vision/MEMS IMU (Inertial Measurement Unit) integrated system is presented. The GTB for verifying a satellite system on the ground is similar to the mobile robot having thrusters and a reaction wheel as actuators and floating on the floor by compressed air. The EKF (Extended Kalman Filter) is also used for fusion of MEMS IMU and vision system that consists of a single camera and infrared LEDs that is ceiling landmarks. The fusion filter generally utilizes the position of feature points from the image as measurement. However, this method can cause position error due to the bias of MEMS IMU when the camera image is not obtained if the bias is not properly estimated through the filter. Therefore, it is proposed that the fusion method which uses the position of feature points and the velocity of the camera determined from optical flow of feature points. It is verified by experiments that the performance of the proposed method is robust to the bias of IMU compared to the method that uses only the position of feature points.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.631-632
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• 2006

The assembly of camera lens modules fur the mobile phone has not been automated so far. They are still assembled manually because of high precision of all parts and hard-to-recognize lens by vision camera. In addition, the very short life cycle of the camera phone lens requires flexible and intelligent automation. This study proposes a fast and accurate identification system of the parts by distributing the camera for 4 degree of freedom assembly robot system. Single or multi-cameras can be installed according to the part's image capture and processing mode. It has an agile structure which enables adaptation with the minimal job change. The framework is proposed and the experimental result is shown to prove the effectiveness.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.5
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• pp.641-647
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• 2003

The use of infrared range-finder sensor as the environment recognition system for mobile robot have the advantage of low sensing cost compared with the use of other vision sensor such as laser finder CCD camera. However, it is not easy to find the previous works on the use of infrared range-finder sensor for a mobile robot because of the non-linear characteristic of that. This paper describes the error due to non-linearity of a sensor and the correction of it using neural network. The neural network consists of multi-layer perception and Levenberg-Marquardt algorithm is applied to learning it. The effectiveness of the proposed algorithm is verified from experiment.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.261-265
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• 2005

In this paper, we constructed the infrastructure with wireless LAN and Access Point in the indoor environment and implemented the teleoperation. Wireless LAN based teleoperation system is irregular communication delay according to environment condition and occurrence possibility of blackout is very high. In this paper, In case these problem happened, we measured communication delay time by real time, and did mobile robot to control harmoniously through vision and force reflection information. Also, we present obstacle-avoidance mode that mobile robot can travel without collision using direction information in case communication delay time is large. We proved usefulness of presented algorithm through teleoperation experiment to apply presented algorithm.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.1
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• pp.184-191
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• 2008

In order for a mobile robot to move under unknown or uncertain environment, it must have an environmental information. In collecting environmental information, the mobile robot can use various sensors. In case of using ultrasonic sensors to collect an environmental information, it is able to comprise a low-cost environmental recognition system compared with using other sensors such as vision and laser range-finder. This paper proposes a map building algorithm which can collect environmental information using ultrasonic sensors. And also this paper suggests a traveling algorithm using environmental information which leads to the map building algorithm. In order to accomplish the proposed traveling algorithm, this paper additionally discusses a position revision algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.4
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• pp.301-306
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• 2016

This paper presents the results of a study for robust self-localization and indoor slam using external cameras (such as a CCTV) and odometry of mobile robot. First, a position of mobile robot was estimated by using maker and odometry. This data was then fused with camera data and odometry data using an extended kalman filter. Finally, indoor slam was realized by applying the proposed method. This was demonstrated in the actual experiment.

• Electronics and Telecommunications Trends
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• v.37 no.4
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• pp.60-69
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• 2022

So far, artificial intelligence (AI)/machine learning (ML) has produced impressive results in speech recognition, computer vision, and natural language processing. AI/ML has recently begun to show promise as a viable means for improving the performance of 5G mobile telecommunication systems. This paper investigates standardization activities in 3GPP and O-RAN Alliance regarding AI/ML applications on mobile telecommunication system. Future trends in AI/ML technologies are also summarized. As an overarching technology in 6G, there appears to be no doubt that AI/ML could contribute to every part of mobile systems, including core, RAN, and air-interface, in terms of performance enhancement, automation, cost reduction, and energy consumption reduction.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.543-545
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• 1998

Robotic soccer is multi-agent system playing soccer game under given rule. This system consists of three mobile robots, vision sensor, action decision module, action execution module and communication module. This paper presents new action decision method using multi-layer neural networks.