• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.254-254
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• 2000

This paper presents a genetic programming based evolutionary strategy for on-line adaptive learnable evolvable hardware. genetic programming can be useful control method for evolvable hardware for its unique tree structured chromosome. However it is difficult to represent tree structured chromosome on hardware, and it is difficult to use crossover operator on hardware. Therefore, genetic programming is not so popular as genetic algorithms in evolvable hardware community in spite of its possible strength. We propose a chromosome representation methods and a hardware implementation method that can be helpful to this situation. Our method uses context switchable identical block structure to implement genetic tree on evolvable hardware. We composed an evolutionary strategy (or evolvable hardware by combining proposed method with other's striking research results. Proposed method is applied to the autonomous mobile robots cooperation problem to verify its usefulness.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.201-209
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• 2009

In this paper, we deal with the performance evaluation method of user identification and user tracking for intelligent robots using face images. This paper shows general approaches for standard evaluation methods to improve intelligent robot systems as well as their algorithms. The evaluation methods proposed in this paper can be combined with the evaluation methods for detection algorithms of face region and facial components to measure the overall performance of face recognition in intelligent robots.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.469-470
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• 2006

Piezoelectric transformers based on lead zirconate titanate(PZT) have been received considerable interest because of their wide potential applications in transformer, oscillator, resonance sensor, actuator, acoustic transducer, as well as active slider for hard disk drives. However, for the applications which need a small power supply such as thin and flat displays, micro-robot, micro-system, it is especially necessary to integrate the passive components because they typically need more than 2/3 of the space of the conventional circuit. So, we have fabricated the piezoelectric micro-transformer to supply energy for micro-systems using PZT thin films and MEMS technologies.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.6
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• pp.602-608
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• 2014

Mixed-model production lines are often used in manufacturing systems. In production lines, different product types are simultaneously manufactured by processing small batches. This paper describes a new welding assembly technology involving the development of experimental models for a mixed-model production line in an automobile company. Due to the extensive number of models, the design of a welding assembly system is complicated. Performance evaluation is an important phase in the design of welding assembly lines in a mixed-model production environment. In this study, a new welding assembly technology for a mixed-model production method was used to weld the package tray and dash panel of a vehicle.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2012.07a
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• pp.330-332
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• 2012

H.264/AVC를 비롯한 대부분의 동영상 압축 표준에 의해 부호화 및 복호화된 영상은 블록화 현상(blocking artifacts)이 생긴다. 이러한 화질 열화 현상은 블록 기반의 정수형 이산코사인 변환(Integer DCT)을 수행한 후 계수를 양자화 하기 때문에 발생한다. 이러한 블록화 현상을 줄이기 위해 H.264/AVC에서는 디블록킹 필터를 이용한다. 본 논문에서는 H.264/AVC의 디블록킹 필터의 복잡도를 감소시키면서 화질을 유지하는 알고리듬을 제안하고 실험을 통한 평가를 제시한다. 복잡도를 줄이기 위해 제안하는 알고리듬에서는 블록 경계강도(Bs) 결정 과정에서 한 화소 줄의 경계강도를 이용하여 네 화소 줄 모두에 적용한다. 실험결과 경계강도 결정의 계산량을 줄이면서 주관적, 객관적 화질 또한 향상되는 결과를 보였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.9
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• pp.2326-2337
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• 2013

Many applications can be parallelized by using multicore platforms. We propose a load-balancing technique for parallelizing a whole application, whose first module (H.264) has data independency and whose second module (AES) has data dependency. Instead of distributing the first module symmetrically over the multi-core platform, we distribute the data-independent workload asymmetrically in order to start the data-dependent workload as early as possible. Based on the experimental results with a compression/encryption application, we confirm that the asymmetric load balancing can provide better performance than the typical symmetric load balancing.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.421-424
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• 1987

Recently, the problem associated with the achievement of desired trajectories for non-linear robotic manipulatory systems are researched. The control system which is designed for this robot manipulator, poses a number of severe problem. The methods proposed to deal with the problem fall loosely into three main classes : "direct" "adaptive", "anthropomorphic". Besides there is an approach which is described based upon the application of optimal control theory. In this paper, using the optimal theory, we choose error-coordinate, between the desired trajectories and the practical as the state values, and determine the control law U which minimize a corresponding performance criterion. Let's consider the robotic arm proposed by Freund and set up the deviations of it's trajectory as a measure of performance. To find the optimal control law $U^*$ and the next state value which need to obtain $U^*$ here, we should introduced the conjugate gradient algorithm and the Runge Kutta method.

• ICROS
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• v.20 no.2
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• pp.31-38
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• 2014

인간의 행동을 통해 내재된 의도를 인식하고 그 의도에 대응하는 서비스를 제공할 수 있는 능력을 로봇에게 부여하기 위한 연구의 일환으로 모방적 동기화 및 학습에 의한 인간-로봇 상호작용(Human-Robot Interaction, HRI) 시스템의 개발이 주목받고 있다. 하지만 인간이 관찰과 모방을 통해 목적을 가진 행동을 학습하는 과정은 감각 정보를 대응하는 운동 정보로 연계하고 모방 주체와 모방 대상 간의 물리적 상태의 차이를 보정하고 관측된 행동에 내재된 의도 또는 목표를 이해하는 복잡한 메커니즘 단계의 연속이기 때문에 이를 수행하기 위한 기술개발이 필요하다. 본고에서는 실제 인간이 수행하는 모방적 동기화 및 학습에 관여하는 것으로 추정되는 거울뉴런 시스템에 대하여 소개하고 이를 HRI 시스템에 활용하기 위해 개발된 선행 기술 동향을 논하고자 한다. 또한, 본 연구실에서 관련하여 진행해온 관련 연구를 통해 현재 거울 뉴런 시스템의 발전 정도와 향후 활용 방안 및 가능성을 고찰해보도록 한다.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.3
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• pp.165-171
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• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.

• The Transactions of the Korea Information Processing Society
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• v.2 no.5
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• pp.626-633
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• 1995

It is vary hard to identify the fuzzy rules and tune the membership functions of the fuzzy inference in fuzzy systems modeling, We propose a fuzzy neural network model which can automatically identify the fuzzy rules and tune the membership functions of fuzzy inference simultaneously using artificial neural networks, and modify backpropagation algorithm for improving the convergence. The proposed method is verified by the simulation for a robot manipulator.