• Journal of Korea Multimedia Society
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• v.15 no.4
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• pp.472-484
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• 2012

Raised or plain block is widely used for the pedestrian's safe passage. The insincere construction, insufficient maintenance and obstacle overlaid on the pavement cause pedestrian's accidents. This paper proposes a method to detect brick path by analyzing the shape pattern and texture feature of brick located in visible distance for a safe passage. A brick appears to a regular type because of its specific shape which repeats with its sized gap and its type varies according to the surrounding environment or use. This paper shows a method which extracts the shape pattern by analyzing single surface polygon and its frequency appearing in road area. The shape pattern is used to detect similar shape regions. Some regions are not detected because extraneous substances or chopped bricks distort the original shape. This problem can be solved by analyzing the texture feature vector. The analyzed vector of the previously detected regions yields the Gaussian distribution. This value in each undetected region is computed and checked whether it's satisfied with Gaussian distribution or not. The satisfied region is detected as the brick path. The experiment was performed with the various type's bricks to recognize so that the results showed as accurate as 95.9% in average.

• Proceedings of the Korean Information Science Society Conference
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• 2005.11b
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• pp.577-579
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• 2005

본 논문에서는 손 제스처를 사용한 2족 보행로봇 제어방법을 제안한다. 제안된 방법은 연속된 입력 영상으로부터 사용자의 손을 검출하기 위해, 피부색 정보와 Hue의 불변 모멘트 정보를 사용한다. 검출된 손 영역은 Active Contour Model를 사용하여 추적한다. 손 제스처를 인식하기 위해 Hue의 불변 모멘 정보로부터, 검출된 손의 모양을판단하고 그 결과를 미리 정해둔 심벌 중에 하나로 할당한다. 이렇게 연속적으로 할당된 심벌들은 HMM(Hidden Markov Model) 인식기를 통해 인식 되고 로봇 명령어를 출력하며, 출력된 명령어에 따라 로봇이 제어된다. 제안된 방법의 효율성을 증명하기 위해, 자체 제작한 2족 보행로봇(KAI)으로 6개의 손 제스처를 이용하여 사용자가 원격지에 있는 로봇의 보행을 제어하는 원격 로봇 보행 제어 시스템에 응용해 보았다. 실험 결과, $94\%$의 인식률을 보였다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.3 s.309
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• pp.16-24
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• 2006

In this paper, fault-tolerant gait planning of a hexapod robot for walking over irregular terrain is presented. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. Based on the previously proposed fault-tolerant tripod gait for walking over even terrain, fault-tolerant follow-the-leader(FTL) gaits are proposed for a hexapod robot with a failed leg to be able to walk over two-dimensional rough terrain, maintaining static stability and fault tolerance. The proposed FTL gait can have maximum stride length for a given foot position of a failed leg, and yields better ditch crossing ability than the previously developed gaits. The applicability of the proposed FTL gait is verified by using computer graphics simulations.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.9
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• pp.1039-1048
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• 2015

In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1665-1674
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• 2013

In this paper, we propose a genetic algorithm(GA) based locomotion method of a quadruped robot with waist joint, which makes a quadruped robot walk on the slop efficiently. In the proposed method, we first derive the kinematic model of a quadruped robot with waist joint and then set the gene and the fitness function for GA. In addition, we determine the best attitude for a quadruped robot and the landing point of a foot in the walk space, which has the optimal energy stability margin(ESM). Finally, we verify the effectiveness of the proposed method by comparing with the performance of the previous method through the computer simulations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.5
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• pp.1080-1088
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• 2004

In this paper, the interesting moving objects tracking algorithm using color information on Multi-Video camera against variance of intensity, shape and background is proposed. Moving objects are detected by using difference image method and integral projection method to background image and objects image only with hue area, after converting RGB color coordination of image which is input from multi-video camera into HSI color coordination. Hue information of the detected moving area are segmented to 24 levels from $0^{\circ}$ to $360^{\circ}$. It is used to the feature parameter of the moving objects that are three segmented hue levels with the highest distribution and difference among three segmented hue levels. To examine propriety of the proposed method, human images with variance of intensity and shape and human images with variance of intensity, shape and background are targeted for moving objects. As surveillance results of the interesting human, hue distribution level variation of the detected interesting human at each camera is under 2 level, and it is confirmed that the interesting human is tracked and surveilled by using feature parameters at cameras, automatically.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.35 no.5
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• pp.309-316
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• 2022

This study proposes a finite element analysis method that can analyze the vibration of a beam by considering the inertia effect of moving masses in a vertical direction. The proposed method is effective when a precise interaction analysis is not required. The inertial effects of the moving masses are included in the equation of motion, and the interaction forces between the masses and the beam are considered only as external loads. Time domain analyses were performed using Abaqus, a general-purpose finite element analysis software, and an implementation method using multi-point constraints wais presented to link the displacements of the beam element nodes and moving rigid masses. The proposed method was verified by comparing its solution with that obtained using an existing analytical method, and the analysis results for continuous beam vibrations under dynamic gait loadings were used to examine the mass effect of pedestrians.

• Journal of Korea Port Economic Association
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• v.37 no.3
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• pp.93-104
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• 2021

A coastal ferries, which serve as a mode between mainland and offshore islands, are frequently used by islanders and travelers visiting islands. Therefore, it is located in a place with good accessibility to the downtown so that users can use it conveniently. However, research on the built environment and walking environment of coastal ferry terminals has not been conducted to ensure that elderly islanders and general travelers can use comfortably the coastal ferry terminal. In this study, with a focus on the coastal ferry terminal space, the walking section was set as 1)the accessibility of the coastal ferry terminal, 2)the built environment for using the coastal ferry terminal, and 3)walking environment in the ferry boarding and disembarkation at the coastal ferry terminal, and 4, 5)walking environment in the ferry. An evaluation tool was developed to measure the walking environment for each walking section, and the importance and satisfaction of users were analyzed using the IPA for the Yeosu Coastal Ferry Terminal. As a result, in the process of approaching the ferry terminal, 'convenience of using public transportation by foot' and 'convenience of using signposts guiding the location and direction of the ferry terminal' were investigated as concentrated areas. On the other hand, the built environment inside the ferry terminal and the walking environment showed that the satisfaction of the users was high. Regarding the walking environment from the ferry terminal to the ferry, the 'surface walking environment of the walking path', 'convenience of walking with luggage', 'convenience of walking in the slope section', and 'convenience of walking in the ferry ramp section' showed low satisfaction. This study can be used as basic data for improving the facilities and walking environment of Yeosu Coastal Ferry Terminal and is expected to be used as data for comparative research with other coastal ferry terminals.

• KIPS Transactions on Software and Data Engineering
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• v.5 no.8
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• pp.385-392
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• 2016

Market analysis for a business plain is required for the success in the modern world. Most important part in this analysis is pedestrian traffic counting. A traditional way for this is counting it in person. However, it causes high labor costs and mistakes. This paper proposes an automatic algorithm to measure the pedestrian traffic count using images with webcam. The proposed algorithm is composed of two parts: pedestrian area detection and movement tracking. In pedestrian area detection, moving blobs are extracted and pedestrian areas are detected using HoG features and Adaboost algorithm. In movement tracking, multi-level matching and false positive removal are applied to track pedestrian areas and count the pedestrian traffic. Multi-level matching is composed of 3 steps: (1) the similarity calculation between HoG area, (2) the similarity calculation of the estimated position with Kalman filtering, and (3) the similarity calculation of moving blobs in the pedestrian area detection. False positive removal is to remove invalid pedestrian area. To analyze the performance of the proposed algorithm, a comparison is performed with the previous human area detection and tracking algorithm. The proposed algorithm achieves 83.6% accuracy in the pedestrian traffic counting, which is better than the previous algorithm over 11%.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.3
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• pp.1153-1160
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• 2012

This study was intended to implement ankle joint dorsi flexion training against ankle muscule strength weakening that erodes stroke patients' gait performance to examine the effect of the training on stroke patients' plantar pressure and gait ability. In this study, 36 stroke patients diagnosed with stroke due to cerebral infarction or cerebral hemorrhage were divided to measure 10MWS which are stroke patients' gait variables maximum plantar pressure by area of the sole by collecting data using an F-scan system during gait. Given these results of the study, compared to other training groups, the ankle muscule strength reinforcing training group showed statistically significant increases of maximum plantar pressure in the great toe, the toe and the first metatasal areas too and thus it can be said that this training increases forward thrust during stroke patients' foot end taking off and positively affects stroke patients' ability to perform gait.