• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.332-336
• /
• 1992

We describe about the graphic simulation system which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi-robot motions, two problems are presented. First problem is that all the robot motions must be determinded using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. Therefore robot motions can be easily modifiable with the various object motions. This type of motion determination is different from that of the master-slaves method using the master robot motions. The other is that the developments of robot application softwares need a heavy cost when the participated robots or the tasks given to the robots are changed. Based on object-oriented programming paradigm, we present useful software objects describing robot application programming environment. The object-oriented programming paradigm increases the software reusability, reliability, and extensibility, and also provides the structual concepts to cope with the various demands of robot application programming.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.10
• /
• pp.1029-1037
• /
• 2008

When a humanoid robot pushes an object with its force, it is essential to adequately control its posture so as to maximize the surplus torque far all joints. For such purpose, this study proposes a method to find an optimal posture of a humanoid robot using a genetic algorithm in such a way that the surplus torque for all joints is maximized. In this study, pushing motion of an 18-DOF humanoid robot is considered. When the robot takes a cooperative motion to push an object, the palms and soles are assumed to be fixed at the object and ground respectively, and are subjected to sense the reaction force from the object and the ground. Then, the torques for all joints are calculated and reflected to fitness function of the genetic algorithm. To verify the effectiveness of the proposed method, a number of simulations with different fitness functions are carried out. The simulation result shows that the proposed method can be adopted to find optimized posture in cooperative motion of a humanoid robot.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.1060-1067
• /
• 2005

This paper attempts to derive and analyze the dynamic system of pinching a rigid object by means of two multi-degrees-of-freedom robot fingers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• Journal of Internet Computing and Services
• /
• v.8 no.6
• /
• pp.29-42
• /
• 2007

This paper describes a security object designed to support a dynamic security service for application services in u-healthcare computing environments in which domains are used to object groups for specifying security policies, In particular, we focus on security object for distributed framework support for u-healthcare including policy, role for security and operations use to access control. And then, by using the DPD-Tool. we showed the access right grant procedure of objects which are server programs, the developing process of client program. Also, we verified the executablility of security service supporting by distributed framework support for u-healthcare use to the mobile monitoring application developing procedure implemented through DPD-Tools.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.21 no.6
• /
• pp.842-849
• /
• 2018

This research suggests the development of simulator for a Simulation Test of a moving object's path generation and following. There are many kinds of moving objects in weapon systems, such as vehicles, missiles, robots and so on. So need tests of moving simulations during development process of weapon systems. To simulate a moving object, need an flexible path. So this report suggests a $B\acute{e}zier$ curve algorithm for generation of smooth curve path. And when new developments of weapon systems are started, many kinds of simulators are created. But, these simulators are not reused in other project because there are different kinds of development environment. So need to allow users to add specific features, And this report suggests using Dynamic Link Library(DLL).

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.13 no.2
• /
• pp.945-961
• /
• 2019

Tongue diagnosis is one of the most important diagnostic methods in Traditional Chinese Medicine (TCM). Tongue image segmentation aims to extract the image object (i.e., tongue body), which plays a key role in the process of manufacturing an automated tongue diagnosis system. It is still challenging, because there exists the personal diversity in tongue appearances such as size, shape, and color. This paper proposes an innovative segmentation method that uses image thresholding, gray projection and active contour model (ACM). Specifically, an initial object region is first extracted by performing image thresholding in HSI (i.e., Hue Saturation Intensity) color space, and subsequent morphological operations. Then, a gray projection technique is used to determine the upper bound of the tongue body root for refining the initial object region. Finally, the contour of the refined object region is smoothed by ACM. Experimental results on a dataset composed of 100 color tongue images showed that the proposed method obtained more accurate segmentation results than other available state-of-the-art methods.

• Korean Journal of Child Studies
• /
• v.38 no.1
• /
• pp.205-215
• /
• 2017

Objective: The current study examined whether providing both an actor's eye gaze and emotional expressions can help 10-month-olds interpret a change in the actor's words as a signal to a change in the actor's goal object. Methods: Sixteen 10-month-olds participated in an experiment using the violation-of-expectation paradigm and were compared to 16 10-month-olds in a control condition. The infants in the experimental condition were familiarized to an event in which an actor looks at one of two novel objects, excitingly utters a sentence, "Wow, here's a modi!", and grasps the object. The procedure in the control condition was identical to that of the experimental condition except that the infants heard the sentence without any emotional excitement and the eye gaze of the agent was hidden by a visor. In the following test trial, the infants in both conditions heard the agent changing her word (from modi to papu) and watched her grasping either the same object as before (old-goal event) or the new object (new-goal event). Results: The infants in the experimental condition looked at the old-goal event longer than at the new-goal event, suggesting that they expected the agent to change her goal object when the actor changed her word. However, the infants in the control condition looked at the two events about equally. Conclusion: When both eye gaze and emotional cues were provided, 10-month-olds were able to exploit the agent's verbal information when reasoning about whether the agent would pursue the same goal object as before.

• International Journal of Precision Engineering and Manufacturing
• /
• v.5 no.3
• /
• pp.54-61
• /
• 2004

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces $F_x$(x-direction force), $F_y$and $F_z$, and moments $M_x$ (x-direction moment), $M_y$ and $M_z$ simultaneously, for stable grasping of an unknown object. In order to safely grasp an unknown object using the robot's gripper, the force in the gripping direction and the force in the gravity direction should be measured, and the force control should be performed using the measured forces. Also, the moments $M_x$, $M_y$ and $M_z$ to accurately perceive the position of the object in the grippers should be detected. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of the fabricated sensor was performed, and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object using the sensors was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor can be used for robot's gripper.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2017.05a
• /
• pp.288-290
• /
• 2017

Recently, interest and demand of Augmented Reality(AR) contents are increasing as an application field of AR. Generally, when the AR contents are served in the outdoor environment, the position information using the GPS signal is used to control the display of the object on the AR screen, or a marker based on the image of the object is used. However, there is a problem that location information can not be used in an indoor environment. If the service is provided using only the marker, there is a problem that the recognition of the marker due to the moving obstacle in the vicinity is unstable. and there is a problem that information displayed on the AR screen is not displayed in a fixed state at a specific position, it moves according to the movement of the camera. In this paper, we have studied the object control method for displaying the object to be displayed on the AR screen by using iBeacon using indoor location recognition and specific markers.

• Journal of the Korea Society of Computer and Information
• /
• v.26 no.11
• /
• pp.75-84
• /
• 2021

In this paper, we propose an adaptive concurrency control scheme to reduce conflicts and working time in the cooperative work in mixed reality. To this ends, we first classified the goals, tasks and ownerships of the cooperative work. Then, the classified relationships are mapped according to their temporal and hierarchical relationships of shared object manipulation in the cooperative work. The proposed system provides adaptive concurrency controls of the shared object according to temporal orders of the sub-goals. With the proposed scheme, a participant is enable to move and rotate a shared object although another already has an ownership of the shared object in a specific order of the sub-goal. Thus, the proposed system provides adaptive and realistic cooperative working environment. We conducted a user study of the proposed scheme. The proposed system could reduce conflicts and working times comparing to conventional approaches.