• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.38 no.4
• /
• pp.345-354
• /
• 2014

In this paper, we propose a real-time algorithm for estimating the relative position and velocity of a person with respect to a robot using a Kinect sensor and an extended Kalman filter (EKF). Additionally, we propose an algorithm for controlling the robot in the proximity of a person in a variety of modes. The algorithm detects the head and shoulder regions of the person using a histogram of oriented gradients (HOG) and a support vector machine (SVM). The EKF algorithm estimates the relative positions and velocities of the person with respect to the robot using data acquired by a Kinect sensor. We tested the various modes of proximity movement for a human in indoor situations. The accuracy of the algorithm was verified using a motion capture system.

• Journal of Digital Convergence
• /
• v.11 no.10
• /
• pp.95-102
• /
• 2013

The paradigm of SW industry has been rapidly changing into mobile and cloud technology environment. Research model based on PEST-SWOT analysis was employed to derive internal and external factors connected with PEST factors through analyzing the current status and problems of SW HRD system in Korea. Survey was conducted by 20 experts who are involved in SW companies, university, and R&D research institute using AHP(Analytic Hierarchy Process) model. The empirical result showed that SW fusion HRD, creativity-oriented university education in the field of software, global education and exchange, and revitalization of SW venture ecosystem are derived as policy visions of SW HRD for smart industry ecosystem. Another findings are that SW fusion HRD, revitalization of SW venture ecosystem, Job Creation through revitalization of SW start-up, Creation of coexistence between SW large enterprises and SMEs, creativity-oriented university education in the field of software, and global education and exchange are presented in order in terms of the importance of policy priority.

• The KIPS Transactions:PartB
• /
• v.12B no.4 s.100
• /
• pp.387-394
• /
• 2005

This paper describes an idea for determining self-localization using visual landmark. The critical geometric dimensions of a pentagon are used here to locate the relative position of the mobile robot with respect to the pattern. This method has the advantages of simplicity and flexibility. This pentagon is also provided nth a unique identification, using invariant features and colors that enable the system to find the absolute location of the patterns. This algorithm determines both the correspondence between observed landmarks and a stored sequence, computes the absolute location of the observer using those correspondences, and calculates relative position from a pentagon using its (ive vortices. The algorithm has been implemented and tested. In several trials it computes location accurate to within 5 centimeters in less than 0.3 second.

• International Journal of Contents
• /
• v.18 no.2
• /
• pp.47-57
• /
• 2022

e-Learning content can be defined as digital content to achieve educational goals. Since it is an educational material that can be distributed in offline, online, and mobile environments, it is important to create content that meets the learner's education environment and educational goals. In particular, if the learner is a public official, the vision, philosophy, and characteristics of each local government must reflect. As non-face-to-face online education expands further due to the COVID-19 pandemic, local governments that have relied on onsite education in the past urgently require developing strong basic competency education and special task competency content that reflect regional characteristics. Such e-learning content, however, hardly exists and the ability to independently develop them is also insufficient. In this circumstance, this case study describes the process of self-production of e-learning content suitable for Busan's characteristics by the Human Resource Development (HRD) Institute of Busan City, a local government. The field of instructional design and instructional technology is always evolving and growing by blending technological innovation into instructional platform design and adapting to the changes in society. Busan HRD Institute (BHI), therefore, tried to implement blended learning by developing content that reflected the recent trend of micro-learning in e-learning through a detailed analysis. For this, an e-learning content developer with certain requirements was selected and contracted, and the process of developing content through a collaboration between the client and developer was described in this study according to the ADDIE model of Instructional Systems Development (ISD).

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.48 no.4
• /
• pp.49-58
• /
• 2011

Typically, vision-based AR systems operate on the basis of prior knowledge of the environment such as a square marker. The traditional marker-based AR system has a limitation that the marker has to be located in the sensing range. Therefore, there have been considerable research efforts for the techniques known as real-time camera tracking, in which the system attempts to add unknown 3D features to its feature map, and these then provide registration even when the reference map is out of the sensing range. In this paper, we describe a real-time camera tracking framework specifically designed to track a monocular camera in a desktop workspace. Basic idea of the proposed scheme is that a real-time camera tracking is achieved on the basis of a plane tracking algorithm. Also we suggest a method for re-detecting features to maintain registration of virtual objects. The proposed method can cope with the problem that the features cannot be tracked, when they go out of the sensing range. The main advantage of the proposed system are not only low computational cost but also convenient. It can be applicable to an augmented reality system for mobile computing environment.

• Journal of Astronomy and Space Sciences
• /
• v.29 no.4
• /
• pp.381-387
• /
• 2012

The planetary exploration rover executes various missions after moving to the target point in an unknown environment in the shortest distance. Such missions include the researches for geological and climatic conditions as well as the existence of water or living creatures. If there is any obstacle on the way, it is detected by such sensors as ultrasonic sensor, infrared light sensor, stereo vision, and laser ranger finder. After the obtained data is transferred to the main controller of the rover, decisions can be made to either overcome or avoid the obstacle on the way based on the operating algorithm of the rover. All the planetary exploration rovers which have been developed until now receive the information of the height or width of the obstacle from such sensors before analyzing it in order to find out whether it is possible to overcome the obstacle or not. If it is decided to be better to overcome the obstacle in terms of the operating safety and the electric consumption of the rover, it is generally made to overcome it. Therefore, for the purpose of carrying out the planetary exploration task, it is necessary to design the proper suspension system of the rover which enables it to safely overcome any obstacle on the way on the surface in any unknown environment. This study focuses on the design of the new double 4-bar linkage type of suspension system applied to the Korea Aerospace Research Institute rover (a tentatively name) that is currently in the process of development by our institute in order to develop the planetary exploration rover which absolutely requires the capacity of overcoming any obstacle. Throughout this study, the negative moment which harms the capacity of the rover for overcoming an obstacle was induced through the dynamical modeling process for the rocker-bogie applied to the Mars exploration rover of the US and the improved version of rocker-bogie as well as the suggested double 4-bar linkage type of suspension system. Also, based on the height of the obstacle, a simulation was carried out for the negative moment of the suspension system before the excellence of the suspension system suggested through the comparison of responding characteristics was proved.

• Journal of the Korea Convergence Society
• /
• v.11 no.5
• /
• pp.19-25
• /
• 2020

As the number of mobile device users increases, research on various user authentication methods has been actively conducted to protect sensitive personal information. Knowledge-based techniques have the disadvantage that security is deteriorated due to easy exposure of authentication means, and proprietary-based techniques have a problem of increasing construction cost and low user convenience to use the service. In order to solve this problem, a FIDO authentication system, which is a user authentication method using a smart device, has been proposed. Since the FIDO authentication system performs authentication based on the biometric information of the user, the risk of the authentication means being leaked is low, and since the authentication information is stored in the user's smart device, the user information due to server hacking is solved. Through this, it is possible to select and utilize user authentication technology suitable for the security level of the service. In this paper, we introduce the FIDO authentication system, explain the main parts required for FIDO UAF client-server development, and show examples of implementation using UAF open source provided by ebay.

• The KIPS Transactions:PartB
• /
• v.14B no.4
• /
• pp.249-254
• /
• 2007

A mobile 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%. We focus on how to detect a object region well using image processing algorithm because it gives robots the ability of working for human. 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. Shape information and signature algorithm are used to segment the objects from background regardless of shape changes. 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.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.37C no.9
• /
• pp.802-810
• /
• 2012

This paper describes RFID(Radio Frequency Identification) based target acquisition and docking system. RFID is non-contact identification system, which can send relatively large amount of information using RF signal. Robot employing RFID reader can identify neighboring tag attached objects without any other sensing or supporting systems such as vision sensor. However, the current RFID does not provide spatial information of the identified object, the target docking problem remains in order to execute a task in a real environment. For the problem, the direction sensing RFID reader is developed using a dual-directional antenna. The dual-directional antenna is an antenna set, which is composed of perpendicularly positioned two identical directional antennas. By comparing the received signal strength in each antenna, the robot can know the DOA (Direction of Arrival) of transmitted RF signal. In practice, the DOA estimation poses a significant technical challenge, since the RF signal is easily distorted by the surrounded environmental conditions. Therefore, the robot loses its way to the target in an electromagnetically disturbed environment. For the problem, the g-filter based error correction algorithm is developed in this paper. The algorithm reduces the error using the difference of variances between current estimated and the previously filtered directions. The simulation and experiment results clearly demonstrate that the robot equipped with the developed system can successfully dock to a target tag in obstacles-cluttered environment.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.40 no.5
• /
• pp.312-321
• /
• 2003

In this paper, we implement robot which are ability to recognize obstacles and moving automatically to destination. we present two results in this paper; hardware implementation of image processing board and software implementation of visual feedback algorithm for a self-controlled robot. In the first part, the mobile robot depends on commands from a control board which is doing image processing part. We have studied the self controlled mobile robot system equipped with a CCD camera for a long time. This robot system consists of a image processing board implemented with DSPs, a stepping motor, a CCD camera. We will propose an algorithm in which commands are delivered for the robot to move in the planned path. The distance that the robot is supposed to move is calculated on the basis of the absolute coordinate and the coordinate of the target spot. And the image signal acquired by the CCD camera mounted on the robot is captured at every sampling time in order for the robot to automatically avoid the obstacle and finally to reach the destination. The image processing board consists of DSP (TMS320VC33), ADV611, SAA7111, ADV7l76A, CPLD(EPM7256ATC144), and SRAM memories. In the second part, the visual feedback control has two types of vision algorithms: obstacle avoidance and path planning. The first algorithm is cell, part of the image divided by blob analysis. We will do image preprocessing to improve the input image. This image preprocessing consists of filtering, edge detection, NOR converting, and threshold-ing. This major image processing includes labeling, segmentation, and pixel density calculation. In the second algorithm, after an image frame went through preprocessing (edge detection, converting, thresholding), the histogram is measured vertically (the y-axis direction). Then, the binary histogram of the image shows waveforms with only black and white variations. Here we use the fact that since obstacles appear as sectional diagrams as if they were walls, there is no variation in the histogram. The intensities of the line histogram are measured as vertically at intervals of 20 pixels. So, we can find uniform and nonuniform regions of the waveforms and define the period of uniform waveforms as an obstacle region. We can see that the algorithm is very useful for the robot to move avoiding obstacles.