• Journal of the Ergonomics Society of Korea
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• v.18 no.3
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• pp.141-152
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• 1999

In this paper, We performed the human body dynamic modelling for the realistic animation based on the dynamical behavior of human body, and designed controller for the effective control of complicate human dynamic model. The human body was simplified as a rigid body which consists of 18 actuated degrees of freedom for the real time computation. Complex human kinematic mechanism was regarded as a composition of 6 serial kinematic chains : left arm, right arm, support leg, free leg, body, and head. Based on the this kinematic analysis, dynamic model of human body was determined using Newton-Euler formulation recursively. The balance controller was designed in order to control the nonlinear dynamics model of human body. The effectiveness of designed controller was examined by the graphical simulation of human walking motion. The simulation results were compared with the model base control results. And it was demonstrated that, the balance controller showed better performance in mimicking the dynamic motion of human walking.

• Journal of The Korean Digital Architecture Interior Association
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• v.9 no.3
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• pp.95-102
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• 2009

An architectural space can be considered a life form that interconnects a number of architectural elements such as the humans who live in it. It is difficult to understand and evaluate the complexity of the interrelation between each element, but there have been various attempts to understand and evaluate this architectural space. The Space Syntax that emerged in 1980s has been studied and used more frequently than other methods. Space Syntax is the space analysis tool that analyzes the physical structure of space and represents it as a graph. Space syntax enables its various applications in space analysis by quantifying each spatial property of a whole structure, analyzing it systemically and objectively based on mathematical logic, and representing the results as a quantitative value. Integration of Space Syntax, a widely used index, reflects human behavior in spatial configuration. Meanwhile, there have been various studies in the field of architectural environmental psychology about the relationships between space and human behavior by applying behavioral science to architectural plan. One of the most widely used one is spatial behavior simulation which uses models and simulates the behavioral characteristics to anticipate practical situations and investigate the behavior related spatial problems. In this study, which focuses on the accessibility of the space syntax model, the usefulness of space will be analyzed through the simulation of human behavior that moves through each space. Furthermore, the validity of index will be verified by displaying several examples and compared with integration in space syntax, which represents the usefulness of space.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.297-303
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• 2007

In this paper, we discuss a service to give alarm in the case of emergency for the old and the weak by human behavior recognition in Intelligent Space. Our Intelligent Space consists of mobile robots, sensors and agents. And these components are connected to network framework. Agent analyzes data acquired from networked sensors and determines task of robots and a space to provide a service for humans. In our emergency alarm service, human behavior recognition service module analyzes accelerometer data obtained from body-attached human behavior sensing platform, and classifies into four basic human behavior such as walking, running, sitting and falling-down. For the old and the weak, falling-down behavior may bring about dangerous situations. On such an occasion, agent executes emergency alarm service immediately. And then a selected mobile robot approaches fallen person and sends images of the person to guardians. In this paper, we set up a scenario to verify the emergency alarm service in Intelligent Space, and show feasibility of the service from our simulation experiments.

• Journal of Auto-vehicle Safety Association
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• v.15 no.2
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• pp.21-27
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• 2023

This paper presents a simulation tool for developing and evaluating automated driving systems' lane change algorithm in urban congested traffic. The behavior of surrounding vehicles was modeled based on driver driving data measured in urban congested traffic. Surrounding vehicles are divided into aggressive vehicles and non-aggressive vehicles. The degree of aggressiveness is determined according to the lateral position to initiate interaction with the vehicle in the next lane. In addition, the desired velocity and desired time gap of each vehicle are all randomly assigned. The simulation was conducted by reflecting the cognitive limitations and control performance of the autonomous vehicle. It was possible to confirm the change in the lane change performance according to the variation of the lane change decision algorithm.

• Journal of the Korea Society for Simulation
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• v.30 no.1
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• pp.139-152
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• 2021

Simulations enable virtually experiencing rare events as well as analytically analyzing such events. Defense modeling and simulation research and develops the virtual and the constructive simulations to support these utilizations. These virtual and constructive(VC) simulations can interoperate to simultaneously virtual combat experience as well as evaluations on tactics and intelligence of combat entities. Moreover, recently, for artificial intelligence researches, it is necessary to retrieve human behavior data to proceed the imitation learning and the inverse reinforcement learning. The presented work illustrates a case study of VC interoperations in the aircombat scenario, and the work analyze the collected human behavior data from the VC interoperations. Through this case study, we discuss how to build the VC simulation in the aircombat area and how to utilize the collected human behavior data.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.984-990
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• 2005

The aim of this paper is to investigate a control framework for mobile robots, operating in shared environment with humans. The Intelligent Space (iSpace) can sense the whole space and evaluate the situations in the space by distributing sensors. The mobile agents serve the inhabitants in the space utilizes the evaluated information by iSpace. The iSpace evaluates the situations in the space and learns the walking behavior of the inhabitants. The human intelligence manifests in the space as a behavior, as a response to the situation in the space. The iSpace learns the behavior and applies to mobile agent motion planning and control. This paper introduces the application of fuzzy-neural network to describe the obstacle avoidance behavior teamed from humans. Simulation results are introduced to demonstrate the efficiency of this method.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2005.05a
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• pp.854-861
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• 2005

The functional behavior of a portable consumer electronic (PCE) product is nearly all expressed with human-machine interaction (HMI) tasks. Although physical prototyping and computer aided design (CAD) software can show the appearance of the product, they cannot properly reflect its functional behavior. In this paper, we propose a virtual prototyping (VP) system that incorporates virtual reality and HMI functional simulation in order to enables users to capture not only the realistic look of a PCE product but also its functional behavior. We obtain geometric part models of the product and their assembly and kinematics information with the help of CAD and reverse engineering tools, and visualize them with various display tools. We adopt state transition methodology to capture the HMI functional behavior of the product into a state transition chart, which is later used to construct a finite state machine (FSM) for the functional simulation of the product. The FSM plays an important role to control the transition between states of the product. The proposed VP system receives input events such as mouse clicks on buttons and switches of the virtual prototype model, and it reacts to the events based on the FSM by activating associated activities. The VP system provides the realistic visualization of the product and the vivid simulation of its functional behavior. It can easily allow users to perform functional evaluation and usability testing. Moreover, it can greatly reduce communication errors occurring in a typical product development process. A case study about VP of an MP3 player is given to show the usefulness of the proposed VP system.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.850-855
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• 1991

In this paper, neural network-based compliance control of telerobot is presented, This is a method to learn the compliance of human behavior and control telerobot using learned compliance. The consistency of human behavior is checked using Lipschitz's condition. The neural compliance model is composed of a multi-layered neural network which mimics the compliant notion of the human operator. The effectiveness of proposed scheme ie verified by a simulation study.

• Journal of the Korea Society for Simulation
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• v.23 no.4
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• pp.171-180
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• 2014

Our Automatic Replanning enables simulation entities to execute goal oriented behavior planning by dynamic behavior linking. Existing methods especially in Semi-Automated Forces (SAF) are mainly executing strict plans which are given at initial stage, thus they are not effective to cope with contingencies especially in a human in the loop simulation where humans interrupt. Moreover, those usually suffer from explosion of behavior combination in attempt to describe all possible countermeasures, and such combinations may be prone to being inconsistent to the situations. Our method generates behavior sequence in which behavior are linked from the goal in the manner of back-propagation. Each behavior has tags of pre/post-conditions. The tags are linked dynamically according to a certain contingency. The method is being applied to a national defense research project to show feasibility.

• Journal of the Korea Society for Simulation
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• v.14 no.2
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• pp.93-103
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• 2005

This paper presents characteristics of a virtual human's navigation using a limited perception-based mapping. Previous approaches to virtual human navigation have used an omniscient perception requiring full layout of a virtual environment in advance. However, these approaches have a limitation on being a fundamental solution for a human-likeness of a virtual human, because behaviors of humans are basically based on their limited perception instead of omniscient perception. In this paper, we integrated Hill's mapping algorithm with a virtual human to experiment virtual human's navigation with the limited perception. This approach does not require full layout of the virtual environment, 360-degree's field of view, and vision through walls. In addition to static objects such as buildings, we consider enemy emergence that can affect an virtual human's navigation. The enemy emergence is used as the variable on the experiment of this present research. As the number of enemies varies, the changes in arrival rate and time taken to reach the goal position were observed. The virtual human navigates by two conditions. One is to take the shortest path to the goal position, and the other is to avoid enemies when the virtual human encounters them. The acquired result indicates that the virtual human's navigation corresponds to a human cognitive process, and thus this research can be a framework for human-likeness of virtual humans.