• 로봇학회논문지
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• 제6권1호
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• pp.86-96
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• 2011

The human-following is one of the significant procedure in human-friendly navigation of mobile robots. There are many approaches of human-following technology. Many approaches have adopted various multiple sensors such as vision system and Laser Range Finder (LRF). In this paper, we propose detection and tracking approaches for human legs by the use of a single LRF. We extract four simple attributes of human legs. To define the boundary of extracted attributes mathematically, we used a Support Vector Data Description (SVDD) scheme. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed approaches were successfully verified through various experiments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제4권1호
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• pp.101-110
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• 2004

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably. In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.

• 동의생리학회지
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• 제14권2호통권20호
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• pp.99-116
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• 1999

This study was undertaken to define the expression rule of six vital substances for human life(六氣) in Meridians and the rule of following of three ${\breve{U}}m$ and three Yan. In order to investigate the expression rule of six vital substances for human life(六氣), incident(標)-fundamental(本) and Ki of middle energizer(中氣) of three ${\breve{U}}m$ and three Yang(三陰三陽) were reviewed. 1, The rule of following is formed centering around fundamental Ki(本氣) between incident(標) and fundamental(本). And in case the ${\breve{U}}m$ and Yang (陰陽) disposition of incident(標) and fundamental(本) is different, whether the ${\breve{U}}m$ and Yang(陰陽) disposition of incident(標) and fundamental(本) is same as those of Ki of middle energizer(中氣), is the key point in following fundamental and activating of the vital energy(氣化). 2. As twelve channels(十二經脈) have not only fundamental Ki(本氣) but also Ki of middle energizer(中氣) at the same time, in expression of six vital substances for human life(六氣), if the fundamental Ki(本氣) is stronger, fundamental Ki(本氣) can be expressed or if the fundamental Ki(本氣) is weaker, Ki of middle energizer(中氣) can be expressed. 3. Twelve channels which is connected with each other through the relation of the interior and the exterior can be regarded as a system, in which Wind(風) and Fire(火), Dryness(燥) and Dampness(濕), Cold(寒) and Heat(熱) maintain balance through mutual control. 4. We can see that in the disease caused by the unbalance of six vital substances for human life(六氣), expression of six pathogenic factor and controlment of six vital substances for human life(六氣) are made up after the following one in the rule of following(從化規律).

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.957-963
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• 2014

This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot end-point precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course.

• 한국정보과학회 언어공학연구회:학술대회논문집(한글 및 한국어 정보처리)
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• 한국정보과학회언어공학연구회 2023년도 제35회 한글 및 한국어 정보처리 학술대회
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• pp.196-202
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• 2023

Large Language Models (LLM)의 출현은 자연어 처리 분야의 연구 패러다임을 전환시켰다. LLM의 핵심적인 성능향상은 지시어 튜닝(instruction-tuning) 기법의 결과로 알려져 있다. 그러나, 현재 대부분의 연구가 영어 중심으로 진행되고 있어, 다양한 언어에 대한 접근이 필요하다. 본 연구는 한국어 지시어(instruction-following) 모델의 개발 및 최적화 방법을 제시한다. 본 연구에서는 한국어 지시어 데이터셋을 활용하여 LLM 모델을 튜닝하며, 다양한 데이터셋 조합의 효과에 대한 성능 분석을 수행한다. 최종 결과로 개발된 한국어 지시어 모델을 오픈소스로 제공하여 한국어 LLM 연구의 발전에 기여하고자 한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.617-618
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.605-606
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• 2009

• Journal of Korean Dental Science
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• 제14권2호
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• pp.51-60
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• 2021

Purpose: Measuring viability of a three-dimensional in vitro organotypic human oral tissue model has been suggested as an alternative test method to the oral mucosa irritation test of oral care products. The aim of this study was to investigate the production of two different cytokines using organotypic human oral tissue model following exposure to chemicals that are commonly used in oral care products. Materials and Methods: The organotypic human oral tissues were exposed to ethanol, sodium lauryl sulphate or hydrogen peroxide for 90 minutes. Following exposure, interleukin (IL)-1α and IL-8 productions were assessed and correlated with cell viability testing as well as histology of the organotypic human oral tissues. Result: High levels of IL-8 were released from organotypic human oral tissues in all of the test and control groups without any significant differences between them. In contrast, differences were found in IL-1α release between the test and control groups. Additionally, the trend of IL-1α release corresponded to the phenotypes observed in histological analysis while different trend existed between IL-1α release and cell viability. Conclusion: The study concluded the non-specific release of IL-8 for the assessment of oral care product chemicals' toxicity, while potential of measuring IL-1α cytokine level as the possible alternative test method.

• 전기학회논문지
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• 제67권7호
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• pp.903-909
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• 2018

We propose laser scanner sensor system based walking pattern and tracking method of multiple human. This system uses laser scanners sensors and is applicable to wide and crowded area such as hospital and medical care center. The primary objective of this research is to promote the development of robust, repeatable and transferable software for security system that can automatically detect, track and follow people in public area. We developed the method of human identification for this system. Our method is following: 1. Best-walking pattern data are obtained by the help of human position and direction data obtained by laser scanners. 2. Human identification is conducted by calculating the correlation between the step length of walking human. It becomes possible to conduct human identification even in crowded scenes by estimating the movements of waling human' feet are periodic. In the experiment in the station, some effectiveness of this method became clear.

• 한국자동차공학회논문집
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• 제14권2호
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• pp.32-38
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• 2006

A vehicle adaptive cruise control strategy based on human drivers' driving characteristics has been investigated. Human drivers driving characteristics have been analyzed using vehicle test data obtained from 125 participants. The control algorithm has been designed to incorporate the driving characteristics of the human drivers and to achieve natural vehicle behavior of the controlled vehicle that would reduce the workload of the human driver. Vehicle following characteristics of the cruise controlled vehicle have been compared to real-world driving radar sensor data of human drivers using a validated vehicle simulator. and compare nominal cruise control and adaptive cruise control.