• Proceedings of the Korea Information Processing Society Conference
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• 2016.10a
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• pp.755-758
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• 2016

본 논문에서는 마커 인식과 레이저 센서를 이용하여 드론과 모듈 로봇 간의 상호작용이 가능하며 도킹 가능한 드론을 설명한다. 모듈 로봇은 4족 로봇으로 4개의 다리를 이용하여 보행이 가능하며 스스로 장애물 회피 등의 지능적 행동이 가능하다. 연구에서는 1대의 카메라를 이용하여 마커 인식을 하고 레이저 센서 송수신을 통하여 모듈 로봇과의 상호작용이 가능함을 보인다. 실험은 마커 인식과 레이저 센서를 융합하였을 때의 도킹 성공률이 뛰어났다는 결과를 보이며 드론의 페이로드가 다른 상황에서도 안정적인 결과를 보여 영상이나 방범, 농업 분야에서 특수한 기술을 갖는 로봇을 드론과의 도킹을 통해 다른 모듈화 된 로봇들과 교체하여 실효성을 극대화 시킬 수 있을 것이다.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.314-321
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• 2005

In this paper an intelligence embedding quadruped pet robot is described. It has 15 degrees of freedom and consists of various sensors such as CMOS image, voice recognition and sound localization, inclinometer, thermistor, real-time clock, tactile touch, PIR and IR to allows owners to interact with pet robot according to human's intention as well as the original features of pet animals. The architecture is flexible and adopts various embedded processors for handling sensors to provide modular structure. The pet robot is also used for additional purpose such like security, gaming visual tracking, and research platform. It is possible to generate various actions and behaviors and to download voice or music files to maintain a close relation of users. With cost-effective sensor, the pet robot is able to find its recharge station and recharge itself when its battery runs low. To facilitate programming of the robot, we support several development environments. Therefore, the developed system is a low-cost programmable entertainment robot platform.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1772-1775
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• 2015

본 논문에서는 쿼드콥터와 4족이동 로봇을 결합 하여 임베디드 보드를 이용한 실시간 영상처리를 활용하고 환경 탐지용 센서를 부착하여 재난극복 및 재난현장에서의 인명구조, 신원확인을 하는 지능로봇을 제안한다. 쿼드콥터는 비행이동을 하면서 임무를 수행하고 4족이동 로봇은 지상 임무수행을 하는 로봇이다. 본 논문에서는 쿼드콥터와 4족 이동로봇의 결합으로 인해 로봇의 무게 고려를 하여 설계를 하여, 비행과 지상을 이동하며 영상처리를 이용하여 임무를 수행 할 수 있는 로봇을 제작 했다.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.510-512
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• 2015

최근 IT 기술의 발전으로 가장 보편화 되고 있는 첨단기기는 스마트폰이다. 길을 걸으며 스마트폰을 사용하는 사람들이 늘어나고 이러한 행위는 보행자 자신의 안전에도 크게 위협적인 요소가 될 수도 있지만 자칫 주변 사람들에게까지 돌이킬 수 없는 결과를 초래할 수도 있다. 본 논문에서는 사람들의 안전한 생활을 위한 지능형 신발을 설계한다. 설계한 신발은 사람들에게 편리하고 유용한 장애물 감지 및 알림 시스템을 설계하기 위해 초음파 센서와 진동 센서 그리고 LED를 이용한다. 또한 모바일 어플리케이션(Mobile application)을 개발하여 활용도를 높인다. 초음파 센서는 마이크로 프로세서에서 장애물과의 거리를 계산한다. 진동 센서는 초음파 센서에서 계산한 거리가 특정거리(IM-4M) 이내이면 신호를 받아 진동 센서 혹은 LED가 동작해 사람에게 장애물이 있다고 알려준다. 모바일 어플리케이션(Mobile application)은 신발이 스마트폰과 일정거리 이상 멀어져 블루투스(Bluetooth)가 끊기면 알림을 해줌으로써 분실 방지를 해주고. 신발의 각 기능들을 제어하도록 해준다. 또 장애물과의 거리가 얼마나 남았는지를 확인할 수 있는 기능도 있다. 따라서 본 논문에서 제안하는 장애물 감지 및 알림 기능은 사람들에게 안전을 보장해주고 저비용으로 구현 가능한 장점이 있다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.01a
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• pp.323-324
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• 2022

본 논문에서는 사람의 개입 없이 실내 환경에서 마스크 미 착용자를 스스로 발견한 후 방역수칙위반 사실에 대한 경고와 함께 마스크 착용을 권고하는 인공지능 기반의 자율주행 서비스 로봇을 개발한다. 제안한 시스템에서 로봇은 동시적 위치 추적 지도 작성 기법인 SLAM(Simultaneous Localization and Mapping)기술을 이용하여 지도를 작성한 후 사용자가 제공한 웨이포인트(Waypoint)를 기반으로 자율주행한다. 또한, YOLO(You Only Look Once) 알고리즘을 이용한 실시간 객체 인식 기술을 활용하여 보행자의 마스크 착용 여부를 판단한다. 실험을 통해 사전에 작성된 지도에 지정된 웨이포인트를 따라 로봇이 자율주행하는 것을 확인하였다. 또한, 충전소로 이동할 경우, 영상 처리 기법을 활용하여 충전소에 부착된 표식에 근접하도록 이동하여 충전이 진행됨을 확인하였다.

• Journal of Internet Computing and Services
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• v.18 no.4
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• pp.61-67
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• 2017

Recently, CCTV has been combined with areas such as big data, artificial intelligence, and image analysis to detect various abnormal behaviors and to detect and analyze the overall situation of objects such as people. Image analysis research for this intelligent video surveillance function is progressing actively. However, CCTV images using 2D information generally have limitations such as object misrecognition due to lack of topological information. This problem can be solved by adding the depth information of the object created by using two cameras to the image. In this paper, we perform background modeling using Mixture of Gaussian technique and detect whether there are moving objects by segmenting the foreground from the modeled background. In order to perform the depth information-based segmentation using the RGB information-based segmentation results, stereo-based depth maps are generated using two cameras. Next, the RGB-based segmented region is set as a domain for extracting depth information, and depth-based segmentation is performed within the domain. In order to detect the center point of a robustly segmented object and to track the direction, the movement of the object is tracked by applying the CAMShift technique, which is the most basic object tracking method. From the experiments, we prove the efficiency of the proposed object detection and tracking method using the RGB-D model.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.1
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• pp.35-45
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• 2013

A autonomous vehicle requires improved and robust perception systems than conventional perception systems of intelligent vehicles. In particular, single sensor based perception systems have been widely studied by using cameras and laser radar sensors which are the most representative sensors for perception by providing object information such as distance information and object features. The distance information of the laser radar sensor is used for road environment perception of road structures, vehicles, and pedestrians. The image information of the camera is used for visual recognition such as lanes, crosswalks, and traffic signs. However, single sensor based perception systems suffer from false positives and true negatives which are caused by sensor limitations and road environments. Accordingly, information fusion systems are essentially required to ensure the robustness and stability of perception systems in harsh environments. This paper describes a perception system for autonomous vehicles, which performs information fusion to recognize road environments. Particularly, vision and laser radar sensors are fused together to detect lanes, crosswalks, and obstacles. The proposed perception system was validated on various roads and environmental conditions with an autonomous vehicle.

• Journal of Internet Computing and Services
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• v.14 no.6
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• pp.33-39
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• 2013

When the eldery with limited mobility and disabled use a wheelchairs to move, it can cause decreased exercise ability like decline muscular strength in upper limb and lower extremities. The disabled people suffers with spinal cord injuries or post stroke hemiplegia are easily exposed to secondary problems due to limited mobility. In this paper, We designed intelligent wheelchair robot system for upper limb and lower extremities exercise/rehabilitation considering the characteristics of these severely disabled person. The system consists of an electric wheelchair, biometrics module for Identification characteristics of users, upper limb and lower extremities rehabilitation. In this paper, describes the design and configurations and of developed robot. Also, In order to verify the system function, conduct performance evaluation targeting non-disabled about risk context analysis with biomedical signal change and upper limb and lower extremities rehabilitation over wheelchair robot move. Consequently, it indicate sufficient tracking performance for rehabilitation as at about 86.7% average accuracy for risk context analysis and upper limb angle of 2.5 and lower extremities angle of 2.3 degrees maximum error range of joint angle.

• Journal of IKEEE
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• v.24 no.3
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• pp.754-765
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• 2020

Currently, Intelligent femoral prostheses that support the corresponding mode in walking and specific movements are being studied. Certain controls such as upstairs, sitting, and standing require a technique to classify control commands based on the user's intention because the mode must be changed before the operation. Therefore, in this paper, we propose a technique that can classify various control commands based on the user's intention in the intelligent thigh prosthesis system. If it is determined that the EMG signal needs to be compensated, the proposed technique compensates the EMG signal using the correlation between the strength and frequency components of the normal EMG signal and the muscle volume estimated by the pressure sensor. Through the experiment, it was confirmed that the user's intention was accurately detected even in the situation where muscle fatigue was accumulated. Improved intention detection techniques allow five control modes to be distinguished based on the number of muscle contractions within a given period of time. The results of the experiment confirmed that 97.5% accuracy was achieved through muscle tone compensation even if the strength of the muscle signal was different from normal due to muscle fatigue after exercise.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.2
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• pp.215-221
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• 2006

This paper is concerned with the control of multiple nonlinearities included in a humanoid robot system. A humanoid robot has some problems such as the structural instability, which leads to consider the control of multiple nonlinearities caused by driver parts as well as gear reducer. Saturation and backlash are typical examples of nonlinearities in the system. The conventional algorithms of backlash control were fuzzy algorithm, disturbance observer and neural network, etc. However, it is not easy to control the system by employing only single algorithm since the system usually includes multiple nonlinearities. In this paper, a switching Pill is considered for a control of saturation and a dual feedback algorithm is proposed for a backlash control. To implement the above algorithms, the system identification is firstly performed for the minimization of the difference between the results of simulation and experiment, and then the switching Pill gains are determined using genetic algorithm with some heuristic approach. The performance of the switching Pill controller for saturation and the dual feedback for backlash control is investigated through the simulation. Finally, it is shown that the implemented control system has good results and can be applied to the real humanoid robot system ISHURO.