• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.7
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• pp.907-913
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• 2004

The major interest of general mobile robot is making a route and following a maked route. But, In the case of robot that is in need of movement of partial high speed, the condition of dynamic limitation is exist, and in these conditions, it demands controlling against movements we want. In this paper, in respect of the following a route at the situation that don't have the environmental map, that is, unknown environments, to prevent the slide of moving robot or the overturn that can happen for it moves fast, we organize the dynamic condition of limitation using the fuzzy logic, and we obtain more safe and fast route tracing ability by changing the standard velocity. Especially, by modeling the line tracing mobile robot, we design the tracing controller against a realtime changing target, and using the fuzzy optimized velocity limitation controller, we confirm that our robot shows its stable tracing ability by limiting its velocity intelligently against the continuously changing line.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.46 no.3
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• pp.86-95
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• 2009

SIFT is an algorithm to extract vectors at pixels around keypoints, in which the pixel colors are very different from neighbors, such as vertices and edges of an object. The SIFT algorithm is being actively researched for various image processing applications including 3D image reconstructions and intelligent vision system for robots. In this paper, we implement a hardware to sift feature detection algorithm for real time processing in embedded systems. We estimate that the hardware implementation give a performance 25ms of $1,280{\times}960$ image and 5ms of $640{\times}480$ image at 100MHz. And the implemented hardware consumes 45,792 LUTs(85%) with Synplify 8.li synthesis tool.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.227-234
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• 2012

Development of Computer science and internet technoloy have led changes all over the social area. Educational markets based on this circumstance are offering various services named remote education, cyber lecture, e-Learning, etc. Due to these products, systems for computer based teaching and evaluating student's achievement are wide spread. But in many systems we can find functional restrictions. In this paper we propose a RTE system offering interactive self control mode based education so as to provide customized education for each individual by realtime feedback of the level of the student's comprehension we expect that this system provides customized education environment considering student's achievement level and maximizes their motivation.

• Journal of Broadcast Engineering
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• v.16 no.3
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• pp.462-470
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• 2011

We proposed a realtime object tracking system that detects the abandoned or disappeared objects. Because these events are caused by human, we used the tracking based algorithm. After the background subtraction by Gaussian mixture model, the shadow removal is applied for accurate object detection. The static object is classified as either of abandoned objects or disappeared object. We assigned monitoring time to the static object to overcome a situation that it is being overlapped by other object. We obtained more accurate detection by using region growing method. We implemented our algorithm by DSP processor and obtained an excellent result throughout the experiment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.437-440
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• 2007

Recently embedded system developed a lot. Physically, embedded systems range from portable devices such as digital watches and MP3 players, to large stationary installations like traffic lights, factory controllers, or the systems controlling nuclear power plants. This paper focuses on implementation of portable device which is applicable to the child-kidnap or missing child prevention system in residential area or public area. To be specific, this device is to transmit video data which comes from the camera in the device into the host PC via WLAN. Embedded hardware platform consists of s3c2440 with ARM9 core, WindowsCE OS and other sensors. OS enables the platform to do multitasking jobs which are handling GPS data, taking video, capturing audio via microphone in the device and transfer all kind of realtime data to the host PC.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.70-75
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• 2016

Nowadays, there are many research for recognizing face of people using the machine vision. the machine vision is classification and analysis technology using machine that has sight such as human eyes. In this paper, we propose algorithm for classifying human face using this machine vision system. This algorithm consist of Convolutional Neural Network and cascade face detector. And using this algorithm, we classified the face of subjects. For training the face classification algorithm, 2,000, 3,000, and 4,000 images of each subject are used. Training iteration of Convolutional Neural Network had 10 and 20. Then we classified the images. In this paper, about 6,000 images was classified for effectiveness. And we implement the system that can classify the face of subjects in realtime using USB camera.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.396-405
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• 2009

An interlocking equipment of railway signalling systems should have very high functional safety and reliability properties because of its vital railway protection functionality. In order to achieve the required safety and reliability level, an engineer, in general, designs and implements the interlocking equipment to operate under RTOS(Realtime Operating System) environment, and the control hardware architecture redundant to cope with the random failures of system or subsystem. In such an architecture, it's very difficult to implement the interlocking equipment to communicate with various interface systems including the signal operator's terminal. In this paper, we propose a dual ethernet network topology and dual packet seamless transfer protocol algorithm for railway signaling system such as the interlocking equipment. We verify in this paper that the proposed DPST protocol algorithm has the evidence of its robust properties against the random hardware faults and communication errors. The proposed communication structure and algorithm is implemented in the electronic interlocking equipment for the private railway system of Hyundai Steel Company and its performance and properties are validated on the guideline of European Railway Standard EN50159.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.806-813
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• 2010

Human facial expression shows human's emotion most exactly, so it can be used as the most efficient tool for delivering human's intention to computer. For fast and exact recognition of human's facial expression on a 2D image, this paper proposes a new method which integrates an Discrete Adaboost classification algorithm and a neural network based recognition algorithm. In the first step, Adaboost algorithm finds the position and size of a face in the input image. Second, input detected face image into 5 Adaboost strong classifiers which have been trained for each facial expressions. Finally, neural network based recognition algorithm which has been trained with the outputs of Adaboost strong classifiers determines final facial expression result. The proposed algorithm guarantees the realtime and enhanced accuracy by utilizing fastness and accuracy of Adaboost classification algorithm and reliability of neural network based recognition algorithm. In this paper, the proposed algorithm recognizes five facial expressions such as neutral, happiness, sadness, anger and surprise and achieves 86~95% of accuracy depending on the expression types in real time.

• Spatial Information Research
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• v.16 no.1
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• pp.65-77
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• 2008

There have been many studies and technologies that define a current location of a moving vehicle with GPS(Global Positioning System). However, the navigation system with GPS has troubles to search an optimized route considering data such as realtime parking status and road conditions. Moreover, the GPS systems show malfunction in the downtown with very tall buildings, underground parking lot and the inside of buildings. On the contrary, the RFID systems are able to reflect real-time status of parking lots and roads in the downtown. This paper proposes a system of guiding path for parking lots to consider real-time constraints based on RFID. The results obtained from the implemented system show smooth guiding of a new route after immediately sensoring the change of the information of parking lots and roads: if a parking lot that a vehicle is heading to is fully occupied, the system re-searches a new route for a neighbor parking lot and immediately transfers it to customer's mobile, and if the designated route is under construction, the system guides a detour path. The proposed method will be useful for advanced integrated parking control system.