• 제어로봇시스템학회논문지
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• 제16권1호
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• pp.33-39
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• 2010

The interaction of emotion is an important factor in Human-Robot Interaction(HRI). This requires a contextual appraisal of emotion extracting the emotional information according to the events happened from past to present. In this paper an emotion appraisal system based on the cognitive context is presented. Firstly, a conventional emotion appraisal model is simplified to model a contextual emotion appraisal which defines the types of emotion appraisal, the target of the emotion induced from analyzing emotional verbs, and the transition of emotions in the context. We employ a language based cognitive system and its sentential memory and object descriptor to define the type and target of emotion and to evaluate the emotion varying with the process of time with the a priori emotional evaluation of targets. In a experimentation, we simulate the proposed emotion appraisal system with a scenario and show the feasibility of the system to HRI.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.85-86
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• 2013

• 정보보호학회지
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• 제17권5호
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• pp.25-31
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• 2007

IT기술과 지능을 로봇에 융합시킴으로써, 로봇이 스스로 사용자를 인식하여 사용자가 원하는 일을 하고 원하는 정보를 검색해 주는 인간 중심적 서비스를 제공하는 것이 지능형 로봇의 궁극적인 목표이다. 사용자가 원하는 서비스를 제공하기 위해서는 다양한 의사소통 채널을 통해 인간과 로봇, 두 개체간의 상호작용 및 의사소통 연결 고리를 형성하는 인간-로봇 상호작용(HRI: Human-Robot Interaction)기술 개발이 반드시 필요하다. HRI 기술에는 얼굴 인식, 음성 인식, 제스처 인식 및 감정 인식 등 로봇이 인간의 의사표시를 인식하기 위한 기술들이 있다. 본고에서는 지능형 로봇과 로봇의 시각 지능화의 가장 핵심적인 기능인 얼굴 인식의 융합 기술 동향에 대해서 응용 서비스 및 표준화 이슈를 중심으로 살펴보고자 한다.

• 농업과학연구
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• 제50권3호
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• pp.321-330
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• 2023

The genetic diversity of three Hanwoo populations was analyzed using 11 microsatellite (MS) markers for the traceability of Hanwoo beef in this study. A total of 1,099 Hanwoo cattle from two populations (694 line-breeding and 405 general Hanwoo) at the Hanwoo Research Institute (HRI) of the National Institute of Animal Science and 1,171 Korean proven bulls (KPNs) were used for the analysis. Specific alleles of four markers (ETH10, INRA23, TGLA122, and TGLA227) were identified only in the line-breeding population, although at a low allele frequency (0.001 - 0.02). The genetic distance (Nei's D) between line-breeding Hanwoo and KPN was the greatest (0.064), whereas general Hanwoo and KPN were relatively close genetically (0.02); the distance between line-breeding and general Hanwoo was found to be 0.054. These results are expected because the HRI has performed closed breeding via selecting its line-breeding sires without utilizing KPN since 2009. Therefore, the line-breeding Hanwoo population of HRI show different genetic diversity from the KPN population, based on the 11 MS markers. The results of this study provide basic data for securing the genetic diversity of Hanwoo cattle and utilizing line-breeding Hanwoo cattle from the HRI.

• 한국컴퓨터정보학회논문지
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• 제29권8호
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• pp.43-51
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• 2024

본 논문은 수중 활동을 주로 하는 다이버를 대상으로 특수 목적용 다이버 마스크를 이용해서 안구 데이터를 획득 및 분석하고, 이를 이용해서 사용자의 시선을 추적하는 방법에 대해 제안한다. 안구 데이터 분석을 위해 자체 제작한 안구 데이터 셋을 구축하였고, YOLOv8-nano 모델을 활용해서 학습 모델을 생성하였다. 학습 모델의 프레임 당 소요 시간은 평균 45.52ms를 달성하였고, 눈을 뜬 상태와 감는 상태를 구별하는 인식 성공률은 99%를 달성하였다. 안구 데이터 분석 결과를 바탕으로 현실 세계 좌표를 매칭할 수 있는 시선 추적 알고리즘을 개발하였다. 이 알고리즘의 검증 결과 x축은 약 1%, y축은 약 6%의 평균 오차율을 나타내는 것을 알 수 있었다.

• 디지털콘텐츠학회 논문지
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• 제17권6호
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• pp.531-536
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• 2016

이 연구에서는 인간과로봇상호작용(HRI)에서 유아들을 대상으로 로봇을 활용한 증강현실 극놀이 실험을 통하여 아동들이 느끼는 상호작용 분석을 제시하고자 한다. 기존의 극놀이 로봇콘텐츠를 아동들이 상호작용하기에 편하도록 QR 마커의 단점을 개선하여 개발하였다. 또한 로봇을 활용한 증강현실 극놀이에 대해서 로봇 극놀이에 대한 흥미, 로봇분장의 적절성, 로봇이 똑똑해 보이는 정도, 극놀이에 몰입감에 대한 아동의 반응을 분석하여 보았다. 나이가 어릴수록 재미가 높고, 로봇이 똑똑하다고 생각하였고 로봇 사용경험이 없는 아이들이 상대적 흥미가 높고, 로봇분장에 대해서는 로봇사용 경험 있는 아이들이 차이를 인지하는 것으로 나타났다.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1115-1121
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• 2009

For HRI (Human-Robot Interaction) in daily life, robots need to recognize non-rigid objects such as clothes and blankets. However, the recognition of non-rigid objects is challenging because of the variation of the shapes according to the places and laying manners. In this paper, the cognition of non-rigid object based on a cognitive system is presented. The characteristics of non-rigid objects are analysed in the view of HRI and referred to design a framework for the cognition of them. We adopt a linguistic cognitive system for describing all of the events happened to robots. When an event related to the non-rigid objects is occurred, the cognitive system describes the event into a sentential form and stores it at a sentential memory, and depicts the objects with a spatial model for being used as references. The cognitive system parses each sentence syntactically and semantically, in which the nouns meaning objects are connected to their models. For answering the questions of humans, sentences are retrieved by searching temporal information in the sentential memory and by spatial reasoning in a schematic imagery. Experiments show the feasibility of the cognitive system for cognizing non-rigid objects in HRI.

• Child Health Nursing Research
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• 제10권3호
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• pp.340-349
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• 2004

Purpose: The quasi-experimental study was conducted to investigate the effects of the integrated NICU hospitalization education on maternal attachment, maternal self-esteem, and EPDS in the 26 mothers of high-risk infants(HRI). Method: The subjects were divided into the experimental group to received the integrated NICU hospitalization education included the enforced direct education of NICU and HRI to the mothers using a booklet and the provision of the neomaternal exposure as soon as possible after delivery. The control group received the routine education of the NICU hospitalization, mostly including the admission process and the NICU rules delivering to the husband. The research variables were maternal attachment, maternal self-esteem, and EPDS. Result: The results showed the increases in these variables after the integrated education in experimental group compared to the control group. Conclusion: It supports the benefits of the early direct NICU education and the neomaternal exposures on maternal adaptation process in the mothers of HRI.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.176-183
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• 2009

This paper proposes command signal generating method for a wearable robot using the force as the input signal. The basic concept of this system pursues the combination of the natural and sophisticated intelligence of human with the powerful motion capability of the robot. We define a task for the command signal generation to operate with the human body simultaneously, paying attention to comfort and ease of wear. In this study, we suggest a basic exoskeleton experimental system to evaluate a HRI(Human Robot Interface), selecting interfaces of arm braces on both wrists and a weight harness on the torso to connect the robot and human. We develop the HRI to provide a command for the robot motion. It connects between the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of end-effector using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F(Extension/Flexion), the shoulder E/F and the shoulder Ab/Ad (Abduction/Adduction).

• 로봇학회논문지
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• 제12권1호
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• pp.55-64
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• 2017

This paper proposes combination of a cognitive agent architecture named Soar (State, operator, and result) and ROS (Robot Operating System), which can be a basic framework for a robot agent to interact and cope with its environment more intelligently and appropriately. The proposed Soar-ROS human-robot interaction (HRI) agent understands a set of human's commands by voice recognition and chooses to properly react to the command according to the symbol detected by image recognition, implemented on a humanoid robot. The robotic agent is allowed to refuse to follow an inappropriate command like "go" after it has seen the symbol 'X' which represents that an abnormal or immoral situation has occurred. This simple but meaningful HRI task is successfully experimented on the proposed Soar-ROS platform with a small humanoid robot, which implies that extending the present hybrid platform to artificial moral agent is possible.