• 한국실내디자인학회논문집
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• 제18권2호
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• pp.25-32
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• 2009

To the human being, the space as the objective for fundamental thought called 'Being', and the space as the place for actual experience containing 'Life and Experience', have coexisted. Such dual characteristics owned by the space have come to the present creating various spatial viewpoints. As for the space as the objective for various thoughts and interpretations, its emphasis is nowadays being moved to the existence from such being. There is the event in the core of such change. Human's recognition for the space is originated from the observed events, which appears as an immense meaning, as it 'is accumulated as the experience. Therefore, the importance of the event in another viewpoint thinking the space is becoming bigger. This research has tried to grasp the tendency for the place-orientation by grasping the meaning owned by the event through the course that the viewpoint for such space has been changed. This research put its focus on clarifying the relationship between the place and event that are brought into relief by tracking down the transitional process of the viewpoint of space in the history of Occidental philosophy. Through this process, this research came to have a grip on the relationship in which a sense of place obviously stands out in bold relief as a result of an event, an emblem of an event, condition of an event, and as an event itself. Such four patterns are not mutually individual phenomenon, but form a discourse on modern space by traversing each other crisscross.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.1-9
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• 2016

In this paper, we propose a new learning control scheme for various walk motion control of biped robot with same learning-base by neural network. We show that learning control algorithm based on the neural network is significantly more attractive intelligent controller design than previous traditional forms of control systems. A multi layer back propagation neural network identification is simulated to obtain a dynamic model of biped robot. Once the neural network has learned, the other neural network control is designed for various trajectory tracking control with same learning-base. The biped robots have been received increased attention due to several properties such as its human like mobility and the high-order dynamic equation. These properties enable the biped robots to perform the dangerous works instead of human beings. Thus, the stable walking control of the biped robots is a fundamentally hot issue and has been studied by many researchers. However, legged locomotion, it is difficult to control the biped robots. Besides, unlike the robot manipulator, the biped robot has an uncontrollable degree of freedom playing a dominant role for the stability of their locomotion in the biped robot dynamics. From the simulation and experiments the reliability of iterative learning control was illustrated.

• 한국위성정보통신학회논문지
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• 제9권1호
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• pp.57-64
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• 2014

최근 물리적 디바이스의 도움 없이 사람이 시스템과 인터랙션 할 수 있는 인간 친화적인 인간-기계 인터페이스가 많이 연구되고 있다. 이중 대표적인 것이 본 논문의 주제인 비전기반 제스처인식이다. 본 논문에서 우리는 설정된 가상세계의 객체와의 인터랙션을 위한 손 제스처들을 정의하고 이들을 인식할 수 있는 효과적인 방법론을 제안한다. 먼저, 웹캠으로 촬영된 저해상도 영상에서 사용자의 양손을 검출 및 추적하고, 손 영역을 분할하여 손 실루엣을 추출한다. 우리는 손 검출을 위해, RGB 공간에서 명암에 따라 두개의 타원형 모델을 이용하여 피부색을 모델링하였으며, 블랍매칭(blob matching) 방법을 이용하여 손 추적을 수행하였다. 우리는 플러드필(floodfill) 알고리즘을 이용해 얻은 손 실루엣의 행/열 모드 검출 및 분석을 통해 Thumb-Up, Palm, Cross 등 세 개의 손모양을 인식하였다. 그리고 인식된 손 모양과 손 움직임의 콘텍스트를 분석해서 다섯 가지 제스처를 인식할 수 있었다. 제안하는 제스처인식 방법론은 정확한 손 검출을 위해 카메라 앞에 주요 사용자가 한 명 등장한다는 가정을 하고 있으며 많은 실시간 데모를 통해 효율성 및 정확성이 입증되었다.

• 한국항행학회논문지
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• 제21권6호
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• pp.529-536
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• 2017

일반적인 지상통제 시스템은 단일 무인항공기 운용을 위한 통제 및 정보 전시 기능을 갖추고 있다. 현대에서는 단일 지상통제 시스템을 사용하여 복수 무인항공기의 운용이 요구되고 있다. 이로 인하여 무인기 운용자는 과거보다 다양한 임무 수행이 요구되며, 임무 수행 중 다양한 요인에 의하여 임무과부하를 받게 된다. 본 연구에서는 복수무인기 운용자의 임무과부하 측정을 통해 운용자의 상태를 반영한 적응형 지상통제 시스템을 제안한다. 복수무인기를 운용할 수 있는 지상통제 소프트웨어를 개발하고, 또한 시뮬레이터를 구성하여 운용자가 지상통제 시스템의 운용을 통해 시스템의 기능을 검증한다. 적응형 지상체 실험을 분석한 결과, 비적응형 지상체 실험 결과와 대비하여 운용자의 동공지름이 감소하고, 임무 성능이 증가하는 등 적응형 지상체의 효용성을 확인하였다.

• 정보과학회 논문지
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• 제44권12호
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• pp.1319-1332
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• 2017

최근 스포츠 중계에 동원되는 카메라 대수가 증가함에 따라 수많은 카메라 화면 중 순간적으로 최고의 화면을 고르는데 어려움이 있다. 지금까지 스포츠 경기를 촬영한 영상들에서 자동으로 최고의 화면을 선택하는 방법들이 연구되어 왔지만 배경이 고정된 영상들만을 고려해 배경이 움직이는 영상들을 고려하는 연구가 필요하다. 본 논문에서는 각 영상 별로 관심선수를 추적하여 획득한 영상 내 관심선수 영역을 대상으로 관심선수의 활동량, 얼굴 가시성, 다른 선수와의 겹침 정도, 이미지 블러 현상 정도를 매 프레임 마다 정량적으로 나타내어 정량화된 값을 기반으로 최고의 화면을 선택한다. 이렇게 선택된 베스트 뷰를 20명의 일반 사람들에게 베스트 뷰와 워스트 뷰를 선택하게 하여 사람들이 선택한 베스트 뷰, 워스트 뷰와 비교한 결과 베스트 뷰와 일치율이 54.5%로 낮았지만 반대로 워스트 뷰와 일치율이 9%로 확실히 사람들이 선호하지 않는 화면은 선택하지 않는 것을 알 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.89-92
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• 2005

Using natural speech commands for controlling a human-robot is an interesting topic in the field of robotics. In this paper, our main focus is on the verification of a speaker who gives a command to decide whether he/she is an authorized person for commanding. Among possible dynamic features of natural speech, pitch period is one of the most important ones for characterizing speech signals and it differs usually from person to person. However, current techniques of pitch detection are still not to a desired level of accuracy and robustness. When the signal is noisy or there are multiple pitch streams, the performance of most techniques degrades. In this paper, we propose a two-level approach for pitch detection which in compare with standard pitch detection algorithms, not only increases accuracy, but also makes the performance more robust to noise. In the first level of the proposed approach we discriminate voiced from unvoiced signals based on a neural classifier that utilizes cepstrum sequences of speech as an input feature set. Voiced signals are then further processed in the second level using a modified standard AMDF-based pitch detection algorithm to determine their pitch periods precisely. The experimental results show that the accuracy of the proposed system is better than those of conventional pitch detection algorithms for speech signals in clean and noisy environments.

• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.241-246
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• 2016

Nowadays many people have an interest in facial expression and the behavior of people. These are human-robot interaction (HRI) researchers utilize digital image processing, pattern recognition and machine learning for their studies. Facial feature point detector algorithms are very important for face recognition, gaze tracking, expression, and emotion recognition. In this paper, a cascade facial feature point detector is used for finding facial feature points such as the eyes, nose and mouth. However, the detector has difficulty extracting the feature points from several images, because images have different conditions such as size, color, brightness, etc. Therefore, in this paper, we propose an algorithm using a modified cascade facial feature point detector using a convolutional neural network. The structure of the convolution neural network is based on LeNet-5 of Yann LeCun. For input data of the convolutional neural network, outputs from a cascade facial feature point detector that have color and gray images were used. The images were resized to $32{\times}32$. In addition, the gray images were made into the YUV format. The gray and color images are the basis for the convolution neural network. Then, we classified about 1,200 testing images that show subjects. This research found that the proposed method is more accurate than a cascade facial feature point detector, because the algorithm provides modified results from the cascade facial feature point detector.

• 대한기계학회논문집A
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• 제35권7호
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• pp.737-743
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• 2011

서비스 로봇은 비전 카메라, 초음파 센서, 레이저 스캐너, 마이크로폰 등과 같은 다양한 센서를 장착하고 있다. 이들 센서들은 이들 각각의 고유한 기능을 가지고 있기도 하지만, 몇몇을 조합하여 사용함으로써 더욱 복잡한 기능을 수행할 수 있다. 음성영상 융합은 서로가 서로를 상호보완 해주는 대표적이면서도 강력한 조합이다. 사람의 경우에 있어서도, 일상생활에 있어 주로 시각과 청각 정보에 의존한다. 본 발표에서는, 음성영상 융합에 관한 두 가지 연구를 소개한다. 하나는 음원 방향 검지 성능의 향상에 관한 것이고, 나머지 하나는 음원 방향 검지와 얼굴 검출을 이용한 로봇 어텐션에 관한 것이다.

• Journal of the Optical Society of Korea
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• 제20권1호
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• pp.22-28
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• 2016

The monitoring and measurement of the motion of a human joint is very important in screening for degenerative brain diseases and tracking the rehabilitation process. Since there are various medical fields to benefit from angular motion measurement, the necessity for monitoring of human joint movement is increasing. In this study, the optical sensor is composed of a light emission unit with a red LED and an optical fiber, and a reception unit with an arrangement of three photodiodes. The angular detection range was widened with the use of multiple photodiodes and the developed algorithm. The result will be useful for designing an effective angular sensor with low cost and small size.

• 한국환경복원기술학회지
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• 제21권1호
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• pp.55-71
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• 2018

To improve the ecological function of urban areas, the guideline for applying the Biotope Area Ratio to the Environmental Impact Assessment (EIA) was developed in 2005 and modified in the July, 2017. This study investigates whether the guideline has been actually practiced in the real world by searching reports including 648 cases of the Strategic Environmental Impact Assessment (SEIA) and 471 cases of the EIA. The results show that the 38% of SEIA and the 43% of EIA include sections about Biotope Area Ratio, and the 15% of SEIA and the 25 % of EIA are satisfied the threshold of the Biotope Area Ratio suggested by the guideline. The statistical analysis results show that this low level of practice was not improved through the modification of the guideline in 2017. This is because the guideline is forcibleness, its explanation is unclear, and stockholders' understanding of it lacks. In addition, lack of tracking management on SEIA and EIA also contributes to the low level of practice of the guideline. To promote the practice, the efforts to legislate and publicize the guideline are required.