• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.6
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• pp.668-672
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• 2005

In this paper, a distance measuring system using a PSD sensor in proposed, which in suitable for low-cost localization sensor of a mobile robot. Because the distance-voltage output of PSD sensor has a non-linear property, the linearizing function is proposed through the experimental characteristics of the sensor. And the characteristics are tested and the distance-voltage data are measured in various colors and materials of object. The parameters of the proposed function are extracted by using the measured data. Finally, the performance and the accuracy of the developed system are verified according to the comparison of the distance by the proposed function with the real distance.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.539-544
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• 2004

We investigate a visual object tracking algorithm based upon particle filters, namely CONDENSATION, in order to combine multiple observation models such as active contours of digitally subtracted image and the particle measurement of object color. The former is applied to matching the contour of the moving target and the latter is used to independently enhance the likelihood of tracking a particular color of the object. Particle filters are more efficient than any other tracking algorithms because the tracking mechanism follows Bayesian inference rule of conditional probability propagation. In the experimental results, it is demonstrated that the suggested contour tracking particle filters prove to be robust in the cluttered environment of robot vision.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.5
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• pp.395-400
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• 2000

In this paper, we propose a new neuro-fuzzy controller based on reinforcement learning. The proposed system is composed of neuro-fuzzy controller which decides the behaviors of an agent, and dynamic recurrent neural networks(DRNNs) which criticise the result of the behaviors. Neuro-fuzzy controller is learned by reinforcement learning. Also, DRNNs are evolved by genetic algorithms and make internal reinforcement signal based on external reinforcement signal from environments and internal states. This output(internal reinforcement signal) is used as a teaching signal of neuro-fuzzy controller and keeps the controller on learning. The proposed system will be applied to controller optimization and adaptation with unknown environment. In order to verifY the effectiveness of the proposed system, it is applied to collision avoidance of an autonomous mobile robot on computer simulation.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.487-493
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• 2012

SLAM(Simultaneous Localization And Mapping) is a technique used by robots and autonomous vehicles to build up a map within an unknown environment and estimate a place of robot. FastSLAM(A Factored Solution to the SLAM) is one of representative method of SLAM, which is based on particle filter and extended Kalman filter. However it is suffered from loss of particle diversity. In this paper, new approach using fitness sharing is proposed to supplement loss of particle diversity, compared and analyzed with existing methods.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.1
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• pp.46-51
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• 2007

This paper is to present gesture analysis for human-robot interaction. Understanding human emotions through gesture is one of the necessary skills fo the computers to interact intelligently with their human counterparts. Gesture analysis is consisted of several processes such as detecting of hand, extracting feature, and recognizing emotions. For efficient operation we used recognizing a gesture with HMM(Hidden Markov Model). We constructed a large gesture database, with which we verified our method. As a result, our method is successfully included and operated in a mobile system.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.1
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• pp.12-17
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• 2013

This paper presents a model of bipedal leg mechanism with a compliant foot, and the contact repulsion of the foot for a typical walking pattern and its influence on the knee and hip joints of the leg will be analyzed. This analysis is useful for us to figure out the physical impact of the foot when a walking robot takes a step. Also it can be applied to determine the joint specification of the leg mechanism. As a result, it is shown that the compliance characteristics of a robotic foot can contribute to alleviate the joint torques of the leg affected by the contact repulsion of the foot.

• Proceedings of the Korea Association of Information Systems Conference
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• 2001.12a
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• pp.348-361
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• 2001

최근 몇 년 사이에 인터넷(Internet) 공간상에서 거래되는 선박매매 사이트의 출현으로 인하여 사이버해운거래 시장이 형성되고 있다. 인터넷은 다양한 정보제공자에 의해 광범위한 분야의 정보를 멀티미디어 형태로 전달한다는 점에서 매우 각광을 받고 있지만 이용자의 증가로 무수한 정보들이 걸러지지 못한 채로 Web상에 존재하게 되었다 따라서, 이러한 정보들을 체계적으로 정리하고, 이용자들의 구미에 맞게 가공된 정보의 필요성이 대두되게 되었다. 이러한 문제를 해결하기 위해서 이용자가 원하는 것을 스스로 인지하고 판단하여 요구사항을 해결해주는 '지능적 대리인' 또는 '지능을 가진 도우미'라고 일컫는 지능형 에이전트(Intelligent Agent)의 필요성이 대두되었다. 지능형 에이전트는 그 다양한 기능으로 인하여 인터넷에서 매우 중요한 요소로 자리잡게 되었다. 우리나라를 비롯해서 선진 해운국에서는 선박매매사이트를 개설하여 사이버 공간상에서 거래를 수행하고 있지만, 사이트별 등록된 선박의 수가 많지 않을 뿐 아니라 거래대상 선박의 표현 방식도 사이트별 국가별로 매우 달라, 선박 매매 시 충분한 매매대상 선박정보를 획득하기 어려운 실정이다. 본 연구는 선박매매 시 고객에게 매매 선박정보를 제공해주는 선박매매용 에이전트 설계를 목표로 하고 있다. Bargainfinder, Bargainboat, Shopboat, Price watch 등 쇼핑몰을 대상으로 하는 비교쇼핑에이전트는 상용화되어 운영되고 있지만 선박매매용 에이전트에 관한 연구는 시도되지 않고 있다. 본 연구는 선박매매용 에이전트를 개발하기 위한 설계연구로서 다음 사항에 대한 연구가 시도되었다. (a) 구매 선박에 대한 요구사항 표현 방법 (b) 관련 선박의 표현, 등록 및 색인방법 (c) 공급 선박의 분류와 표현 방법 (d) 에이전트의 정보 수집을 위한 메시지 표현 방법 (e) 수집된 선박정보의 데이터베이스 저장 표현방법 (f) 요구 선박을 찾아주는 정보제공 서비스가 요구된다.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.45-50
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• 2003

Recently, robots technique has been developed remarkably. Emotion recognition is necessary to make an intimate robot. This paper shows the simulator and simulation result which recognize or classify emotions by learning pitch pattern. Also, because the pitch is not sufficient for recognizing emotion, we added acoustic elements. For that reason, we analyze the relation between emotion and acoustic elements. The simulator is composed of the DRNN(Dynamic Recurrent Neural Network), Feature extraction. DRNN is a learning algorithm for pitch pattern.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.6
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• pp.699-704
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• 2004

This paper proposes a Distributed Autonomous Robotic System(DARS) based on an Artificial Immune System(AIS) and a Classifier System(CS). The behaviors of robots in the system are divided into global behaviors and local behaviors. The global behaviors are actions to search tasks in environment. These actions are composed of two types: aggregation and dispersion. AIS decides one among these two actions, which robot should select and act on in the global. The local behaviors are actions to execute searched tasks. The robots learn the cooperative actions in these behaviors by the CS in the local. The proposed system is more adaptive than the existing system at the viewpoint that the robots learn and adapt the changing of tasks.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.229-235
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• 2001

Recently, service area has been emerging field f robotic applications. Even though assistant robots play an important role for the disabled and the elderly, they still suffer from operating the robots using conventional interface devices such as joysticks or keyboards. In this paper we propose an efficient computer interface using real-time eye-gaze tracking system. The inputs to the proposed system are images taken by a camera and data from a magnetic sensor. The measured data is sufficient to describe the eye and head movement because the camera and the receiver of a magnetic sensor are stationary with respect to the head. So the proposed system can obtain the eye-gaze direction in spite of head movement as long as the distance between the system and the transmitter of a magnetic position sensor is within 2m. Experimental results show the validity of the proposed system in practical aspect and also verify the feasibility of the system as a new computer interface for the disabled.