• The KIPS Transactions:PartB
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• v.15B no.3
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• pp.197-204
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• 2008

It is well known that the tracking a certain person is a vary needed technic in the humanoid robot. In robot technic, we should consider three aspects that is cloth color matching, face recognition and motion analysis. Because a robot technic use some sensors, it is many different with the robot technic to track a certain person through the CCTV images. A system speed should be fast in CCTV images, hence we must have small calculation numbers. We need the statistical variable for color matching and we adapt the eigen-face for face recognition to speed up the system. In this situation, motion analysis have to added for the propose of the efficient detecting system. But, in many motion analysis systems, the speed and the recognition rate is low because the system operates on the all image area. In this paper, we use the moving energy only on the face area which is searched when the face recognition is processed, since the moving energy has low calculation numbers. When the proposed algorithm has been compared with Girondel, V. et al's method for experiment, we obtained same recognition rate as Girondel, V., the speed of the proposed algorithm was the more faster. When the LDA has been used, the speed was same and the recognition rate was better than Girondel, V.'s method, consequently the proposed algorithm is more efficient for tracking a certain person.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.11
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• pp.2645-2652
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• 2013

For a variety of vision systems such as car omni-directional surveillance systems and robot vision systems, many cameras have been equipped and used. In order to detect corners of grid pattern in AVM(Around View Monitoring) systems, after the non-linear radial distortion image obtained from wide-angle camera is corrected, corners of grids of the distortion corrected image must be detected. Though there are transformations such as Sub-Pixel and Hough transformation as corner detection methods for AVM systems, it is difficult to achieve automatic detection by Sub-Pixel and accuracy by Hough transformation. Therefore, we showed that the automatic detection proposed in this paper, which detects corners accurately from the distortion corrected image could be applied for AVM systems, by designing and implementing it, and evaluating its performance.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.833-838
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• 2016

This paper presents a performance evaluation of various feature-initialization algorithms for forward-viewing mono-camera based simultaneous localization and mapping (SLAM), specifically in indoor environments. For mono-camera based SLAM, the position of feature points cannot be known from a single view; therefore, it should be estimated from a feature initialization method using multiple viewpoint measurements. The accuracy of the feature initialization method directly affects the accuracy of the SLAM system. In this study, four different feature initialization algorithms are evaluated in simulations, including linear triangulation; depth parameterized, linear triangulation; weighted nearest point triangulation; and particle filter based depth estimation algorithms. In the simulation, the virtual feature positions are estimated when the virtual robot, containing a virtual forward-viewing mono-camera, moves forward. The results show that the linear triangulation method provides the best results in terms of feature-position estimation accuracy and computational speed.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.667-672
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• 2003

In this paper, we propose a systematic method for intelligent digital redesign of a fuzzy-model-based controller for continuous-time nonlinear dynamical systems which may also contain uncertainties. The continuous-time uncertain TS fuzzy model is first constructed to represent the uncertain nonlinear systems. An extended parallel distributed compensation(EPDC) technique is then used to design a fuzzy-model-based controller for both stabilization and tracking. The designed continuous-time controller is then converted to an equivalent discrete-time controller by using an integrated intelligent digital redesign method. This new design technique provides a systematic and effective framework for integration of the fuzzy-model-based control theory and the advanced digital redesign technique for nonlinear dynamical systems with uncertainties. Finally, The single link flexible-joint robot arm is used as an illustrative example to show the effectiveness and the feasibility of the developed design method.

• Journal of Digital Convergence
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• v.17 no.12
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• pp.211-217
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• 2019

Location positioning systems are available in applications such as mobile, robotic tracking systems and Wireless location-based service (LBS) applications. The GPS system is the most well-known location tracking system, but it is not easy to use indoors. The method of radio frequency identification (RFID) location tracking was studied in terms of cost-effectiveness for indoor location tracking systems. Most RFID systems use active RFID tags using expendable batteries, but in this paper, an inexpensive indoor location tracking system using passive RFID tags has been developed. A pattern matching method and a system for tracing location by generating regression curves were studied to use precision tracking algorithms. The system was tested by verifying the level of error caused by noise. The three-dimensional curves are produced by the regression equation estimated the statistically meaningful coordinates by the differential equation. The proposed system could also be applied to mobile robot systems, AGVs and mobile phone LBSs.

• Journal of Korea Society of Industrial Information Systems
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• v.19 no.5
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• pp.15-24
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• 2014

In 2005, there was a partial revision of the Act on the Promotion of Education for the Handicapped people, so that students with health impairments would be able to receive special education support. Since the amendment of the bill, to support them classified into weak people in education, education support systems have been proposed and settled so that they may receive the support for free. According to the pre-study, after the amendment of this bill, there has been many studies on the form of educational service to support them, and recently, there have been a lot of researches to investigate their satisfaction with the current services and draw its problems. And yet these studies have been carried out by the preceeding researchers at the drawing of problems, but have a limitation to present fundamental countermeasures to the problems. Therefore, this study attempted to understand the meaning of health impairment through the pre-study and investigate the forms of the services currently supporting them and analyze the problem of each service. In addition, to solve the identified problems, a new support system was proposed. In order to confirm the performance of the system, we design the user satisfaction survey composed of a Likert 5-point scale per each question, and to make the task, comparing stories and clapping for increasing quality of their subjective evaluation about the image and voice transmission when the user uses it. As a result, in the overall evaluation of the robot system, the average score of each question was recorded to 4.31 points, and through the two tasks, it was found that there were effective data transmission of image and voice.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.3
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• pp.18-29
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• 2022

Recently, cooperative intelligent transport systems (C-ITS) testbeds have been deployed in great numbers, and advanced autonomous driving research using V2X communication technology has been conducted actively worldwide. In particular, the broadcasting services in their beginning days, giving warning messages, basic safety messages, traffic information, etc., gradually developed into advanced network services, such as platooning, remote driving, and sensor sharing, that need to perform real-time. In addition, technologies improving these advanced network services' throughput and latency are being developed on many fronts to support these services. Notably, this research analyzed the network latency requirements of the advanced network services to develop a remote driving service for the droid type low-speed robot based on the 3GPP C-V2X communication technology. Subsequently, this remote driving service's performance was evaluated using system modeling (that included the operator behavior) and simulation. This evaluation showed that a respective core and access network latency of less than 30 ms was required to meet more than 90 % of the remote driving service's performance requirements under the given test conditions.

• Journal of Intelligence and Information Systems
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• v.29 no.3
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• pp.185-209
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• 2023

With the advent of the 4th industrial revolution, various technologies have received much attention. Technologies related to the 4th industry include the Internet of Things (IoT), big data, artificial intelligence, virtual reality (VR), 3D printers, and robotics, and these technologies are often converged. In particular, the robotics field is combined with technologies such as big data, artificial intelligence, VR, and digital twins. Accordingly, much research using robotics is being conducted, which is applied to distribution, airports, hotels, restaurants, and transportation fields. In the given situation, research on human-robot interaction is attracting attention, but it has not yet reached the level of user satisfaction. However, research on robots capable of perfect communication is steadily being conducted, and it is expected that it will be able to replace human emotional labor. Therefore, it is necessary to discuss whether the current human-robot interaction technology can be applied to business. To this end, this study first examines the trend of human-robot interaction technology. Second, we compare LDA (Latent Dirichlet Allocation) topic modeling and BERTopic topic modeling methods. As a result, we found that the concept of human-robot interaction and basic interaction was discussed in the studies from 1992 to 2002. From 2003 to 2012, many studies on social expression were conducted, and studies related to judgment such as face detection and recognition were conducted. In the studies from 2013 to 2022, service topics such as elderly nursing, education, and autism treatment appeared, and research on social expression continued. However, it seems that it has not yet reached the level that can be applied to business. As a result of comparing LDA (Latent Dirichlet Allocation) topic modeling and the BERTopic topic modeling method, it was confirmed that BERTopic is a superior method to LDA.

• Journal of Mechanical Science and Technology
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• v.20 no.4
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• pp.437-446
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• 2006

Laser vision inspection systems are becoming popular for automated inspection of manufactured components. The performance of such systems can be enhanced by improving accuracy of the hardware and robustness of the software used in the system. This paper presents a new approach for enhancing the capability of a laser vision system by applying hardware compensation and using efficient analysis software. A 3D geometrical model is developed to study and compensate for possible distortions in installation of gantry robot on which the vision system is mounted. Appropriate compensation is applied to the inspection data obtained from the laser vision system based on the parameters in 3D model. The present laser vision system is used for dimensional inspection of car chassis sub frame and lower arm assembly module. An algorithm based on simplex search techniques is used for analyzing the compensated inspection data. The details of 3D model, parameters used for compensation and the measurement data obtained from the system are presented in this paper. The details of search algorithm used for analyzing the measurement data and the results obtained are also presented in the paper. It is observed from the results that, by applying compensation and using appropriate algorithms for analyzing, the error in evaluation of the inspection data can be significantly minimized, thus reducing the risk of rejecting good parts.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.11a
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• pp.415-418
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• 2007

가까운 미래에 인간생활에 활용될 지능형 로봇은 인간과 공존하면서도 효과적으로 인간을 도와줄 수 있는 인간친화형 로봇이라 할 수 있다. 이러한 것을 실현하기 위해서 로봇은 미지의 환경 내에서 자신의 위치 및 방향을 인식해야 할 필요가 있다. 더욱이, 이것은 일상생활에서 자연스럽게 이뤄지는 것이 당연하다. 로봇을 제어하는 가장 중요한 문제중의 하나로서 이동로봇의 주행에서의 위치불확실성을 해결함으로서 로봇의 위치를 추정하는 것이 바람직하다 할 수 있다. 본 논문에서는 실내외 공간에서 인간을 포한함 이동물체의 영상정보를 이용하여 이동로봇의 자기위치를 인식하기 위한 방법을 제시하고 있다. 제시한 방법은 로봇자체의 DR센서 정보와 카메라에서 얻은 영상정보로부터 로봇의 위치추정방법을 결합 한 것이다. 그리고 이동물체의 이전 위치정보와 관측 카메라의 모델을 사용하여 이동물체에 대한 영상프레임 좌표와 추정된 로봇위치 간의 관계를 표현할 수 있는 식을 제시하고 있다. 또한 이동하는 인간과 로봇의 위치와 방향을 추정하기 위한 제어방법을 제시하고 이동로봇의 위치를 추정하기위해서 칼만필터 방법을 적용하였다. 그리고 시뮬레이션 및 실험을 통하여 제시한 방법을 검증하였다.