• Journal of the KSME
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• v.46 no.5 s.306
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• pp.37-43
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• 2006

이 글에서는 차세대 성장동력 기술인 지능형 로봇 산업의 구체적인 현황, 그리고 이 분야의 지속적이고 체계적인 발전을 위해서 산업자원부에서 추진하고 있는 발전 계획과 비전에 대해서 소개한다.

• The Journal of the Convergence on Culture Technology
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• v.10 no.3
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• pp.909-914
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• 2024

This study suggests a quantitative evaluation of transfer learning, which is widely used in various AI fields, including image recognition for robot vision. Quantitative and qualitative analyses of results applying transfer learning are presented, but transfer learning itself is not discussed. Therefore, this study proposes a quantitative evaluation of transfer learning itself based on MNIST, a handwritten digit database. For the reference network, the change in recognition accuracy according to the depth of the transfer learning frozen layer and the ratio of transfer learning data and pre-training data is tracked. It is observed that when freezing up to the first layer and the ratio of transfer learning data is more than 3%, the recognition accuracy of more than 90% can be stably maintained. The transfer learning quantitative evaluation method of this study can be used to implement transfer learning optimized according to the network structure and type of data in the future, and will expand the scope of the use of robot vision and image analysis AI in various environments.

• Journal of KIISE:Software and Applications
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• v.37 no.8
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• pp.641-646
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• 2010

This paper presents algorithms for real-time navigation of a humanoid robot with a stereo vision but no other sensors. Using the algorithms, a robot can recognize its 3D environment by retrieving SIFT features from images, estimate its position through the Kalman filter, and plan its path to reach a destination avoiding obstacles. Our approach focuses on estimating the robot’s central walking path trajectory rather than its actual walking motion by using an approximate model. This strategy makes it possible to apply mobile robot localization approaches to humanoid robot localization. Simple collision free path planning and motion control enable the autonomous robot navigation. Experimental results demonstrate the feasibility of our approach.

• The Journal of the Korea Contents Association
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• v.20 no.5
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• pp.79-89
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• 2020

The current study explored if users' self-relevance of the comparison domain with creative AI robot in music composition affected their envy toward the robot, cognitive assessment toward the music and intention toward working with robot in future. This study conducted a 2 (degree of self-relevance: high(college students majoring in music) vs. low(those not majoring in music) × 2 (working type: robot-only vs. robot-human collaboration) between-subjects factorial design experiment. The findings revealed that those majoring in music did not feel envious of the robot as much as those not majoring in music. However, compared to those not majoring in music, those majoring in music evaluated the robot's creativity lower, had more negative attitude toward the music, showed less intention to use the music and work with the robots in future. No interaction between the degree of self-relevance and the working type was found.

• Proceedings of the Korean Society of Computer Information Conference
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• 2020.01a
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• pp.145-146
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• 2020

현재 4차 산업 혁명 시대에서 가장 중요한 화두는 빅데이터(Big Data), 인공지능이며, 이를 이용한 분야로 생산, 제조 분야에서도 인공지능 영상 인식 기술을 활용한 생산품을 자동으로 분류하고 나아가 품질검사도 할 수 있도록 개발하고 있다. 또한, 로봇을 공장의 생산라인에 운영하여 노동력 감소에 따른 보완이 되고, 제조과정의 효율성 증가와 생산시간 감소로 생산성을 높일 수 있다. 이를 위해 본 논문에서는 실시간 객체감지 기술인 YOLO-v3 알고리즘을 이용해서 PCB보드 인식, 분류할 수 있는 시스템을 개발하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2014.11a
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• pp.813-816
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• 2014

이 논문에서, 우리는 휴머노이드 로봇인 다윈에 내장되어 있는 색 접근법을 이용한 비전 프로세싱을 통해 화재가 난 위치에 접근하며, 적정거리에 도달했을 경우, 다윈의 손에 들고 있는 분무기로 화재를 진압 하도록 하는 "화재진압다윈"을 만들었다. 여러 논문에서 화재진압용 로봇들을 소개하였지만, 우리는 다윈이라는 휴머노이드 로봇을 이용하여 화재를 진압하도록 하였다. 아직까지 휴머노이드 로봇을 실용적으로 사용하기에 많은 문제들이 존재한다. 하지만 휴머노이드 로봇 분야는 사람이 할 수 있는 사다리 타기, 계단 오르기, 장비 다루기 등과 같은 여러 가지 기능들을 수행할 수 있음으로 많은 잠재력을 가지고 있다. 이번 리서치에서 시도한 화재진압다윈 역시 실용적인 부분에서는 아직 많은 미흡한 점들이 있지만, 미래의 잠재력에 한발자국 나아갔다는 부분에 있어서 많은 의의를 둔다.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.6
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• pp.47-55
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• 2019

The robot is the creation of new markets and various cooperation according to the manufacturing paradigm shift. Cooperative management easy for existing industrial robots, robots work on productivity, manpower to replace the robot in every industry cooperation for the purpose of and demand increases.to exist But the industrial robot at the scene of the cooperation working due to accidents are frequent, threatening the safety of the operator. Of industrial site is configured with a robot in an environment ensuring the safety of the operator to and confidence to communicate that can do the possibility of action.Robot guard system of the need for development cooperation. The robot's cooperation through the sensors and computer vision task within a radius of the double to prevent accidents and accidents should reduce the risk. International protocol for a variety of industrial production equipment and communications opc ua system based on ultrasonic sensors and cnn to (Convolution Neural Network) for video analytics. We suggest the cooperation with the robot guard system. Robots in a proposed system is unsafe situation of workers evaluating the possibility of control.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.5
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• pp.2400-2405
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• 2013

We detect the obstacle for the UGV(unmanned ground vehicle) from the compound image which is generated by stereo vision sensor masking the depth image and color image. Stereo vision sensor can gathers the distance information by stereo camera. The obstacle information from the depth compound image can be send to mobile robot and the robot can localize the indoor area. And, we test the performance of the mobile robot in terms of distance between the obstacle and the robot's position and also test the color, depth and compound image respectively. Moreover, we test the performance in terms of number of frame per second which is processed by operating machine. From the result, compound image shows the improved performance in distance and number of frames.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.2
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• pp.631-638
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• 2017

In the age of the Fourth Industrial Revolution, lifestyle and industrial structures are faced with evolution from IT-based automation to the intelligent stage, demanding talents with software capabilities in various fields. Reflecting these demands, the government has enhanced basic software education for non-majors in elementary and secondary schools as well as universities. In this study, the software convergence education of Non-Majors is proposed to improve the general problem solving ability based on computational thinking and the software convergence ability in the field of their own by developing robot activity. The subjects of this study were 91 students, who were composed of various majors. The class was designed with computing thinking, convergence elements, and creative robot activity. The study was conducted for 13 weeks. To examine the effects of software convergence education through the creative robot activity, this study observed changes in the students' learning outcomes, satisfaction with creative robot activities, and perceptions of other disciplines after class based on pre-diagnosis surveys. The survey asked 12 questions including an understanding of the learning contents, overall satisfaction with multidisciplinary collaborative learning, understanding of other disciplines, and self-evaluation of problem solving ability through creative robot activities, which were compared with that before the class. They answered that their ability was improved.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.423-424
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• 2013