• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.633-638
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• 2003

In this paper, we propose a humanoid active audition system which detects the direction of sound and performs speech recognition using just three microphones. Compared with previous researches, this system which has simpler algorithm, fewer microphones and better amplifier shows better performance. In order to verify our system's performance, we install the proposed active audition system to the home service robot, called Hombot II, which has been developed at the KIST (Korea Institute of Science and Technology), thus we confirm excellent performance by experimental results

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1824-1832
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• 2011

In this paper, a smart home service robot McBot II is newly developed in much more practical and intelligent system than McBot I which we had developed a few years ago. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot McBot II to completely overcome this problem on real environments. The mechanical design and the basic control of McBot II, which performs mess-cleanup function etc. in house, is actually focused in this paper. McBot II is mechanically modeled in the same method that the human works in door by using the waist and the hands. The big-ranged vertical lift and the shoulder joints to be able to forward move are mechanically designed for the operating function as the human's waist when the robot works. The mobility of McBot II is designed in the holonomic mobile robot for the collision avoidance of obstacle and the high speed navigation on the small area in door. Finally, good performance of McBot II, which has been optimally desinged, is confirmed through the experimental results for the control of the robotic body, mobility, arms and hands in this paper.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.1
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• pp.34-39
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• 2009

As a subjective recognition effect, human's emotion has impulsive characteristic and it expresses intentions and needs unconsciously. These are pregnant with information of the context about the ubiquitous computing environment or intelligent robot systems users. Such indicators which can aware the user's emotion are facial image, voice signal, biological signal spectrum and so on. In this paper, we generate the each result of facial and voice emotion recognition by using facial image and voice for the increasing convenience and efficiency of the emotion recognition. Also, we extract the feature which is the best fit information based on image and sound to upgrade emotion recognition rate and implement Multi-Modal Emotion recognition system based on feature fusion. Eventually, we propose the possibility of the ubiquitous computing service reasoning method based on Bayesian Network and ubiquitous context scenario in the ubiquitous computing environment by using result of emotion recognition.

• Journal of Korea Multimedia Society
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• v.2 no.1
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• pp.1-8
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• 1999

To provide information service with time constraints, it is required to support real-time information system for retrieval and update of distributed information. In this paper, we propose an information retrieval system model for internet. We design and implement a Domain Administration-Oriented search engine for the regional information network. Accordingly, an intelligent robot gathering and updating distributed information is implemented. And, in order to improves the performance of the system, a realtime robot control policy based on the loads of network and web server is proposed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.737-743
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• 2011

Service robots are equipped with various sensors such as vision camera, sonar sensor, laser scanner, and microphones. Although these sensors have their own functions, some of them can be made to work together and perform more complicated functions. AudioFvisual fusion is a typical and powerful combination of audio and video sensors, because audio information is complementary to visual information and vice versa. Human beings also mainly depend on visual and auditory information in their daily life. In this paper, we conduct two studies using audioFvision fusion: one is on enhancing the performance of sound localization, and the other is on improving robot attention through sound localization and face detection.

• 한국HCI학회:학술대회논문집
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• 2008.02b
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• pp.126-130
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• 2008

It takes only few seconds to find an artifact that has anthropomorphic form. There are numerous examples illustrating human's shape in daily life products. Usage of anthropomorphic form has been a basic design strategy especially when industrial designers design intelligent service robots because most of robot features were basically from human. Therefore, it's necessary to use anthropomorphic form not only in appearance design but also in interaction design. To use anthropomorphic form effectively, it needs to measure how much the artifact is similar to human, and then to evaluate whether the usage of anthropomorphic form fits to the artifact. This study's goal was to set up an evaluation standard for anthropomorphism for robot design. We suggest that there are three criteria for the evaluation standard. Those are 'anthropomorphic form in appearance', 'anthropomorphic form in Human-Robot Interaction', and 'accordance in two former criteria'. We expect that when designers put an evaluation step of anthropomophism in their design process of robots, robots might become more preferred by users, and easier to understand how to interact with.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.3
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• pp.18-29
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• 2022

Recently, cooperative intelligent transport systems (C-ITS) testbeds have been deployed in great numbers, and advanced autonomous driving research using V2X communication technology has been conducted actively worldwide. In particular, the broadcasting services in their beginning days, giving warning messages, basic safety messages, traffic information, etc., gradually developed into advanced network services, such as platooning, remote driving, and sensor sharing, that need to perform real-time. In addition, technologies improving these advanced network services' throughput and latency are being developed on many fronts to support these services. Notably, this research analyzed the network latency requirements of the advanced network services to develop a remote driving service for the droid type low-speed robot based on the 3GPP C-V2X communication technology. Subsequently, this remote driving service's performance was evaluated using system modeling (that included the operator behavior) and simulation. This evaluation showed that a respective core and access network latency of less than 30 ms was required to meet more than 90 % of the remote driving service's performance requirements under the given test conditions.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.11
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• pp.2179-2184
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• 2007

The Intelligent Space(ISpace) provides challenging research fields for surveillance, human-computer interfacing, networked camera conferencing, industrial monitoring or service and training applications. ISpace is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. This paper described appearance based unknown object tracking with the distributed vision system in intelligent space. First, we discuss how object color information is obtained and how the color appearance based model is constructed from this data. Then, we discuss the global color model based on the local color information. The process of learning within global model and the experimental results are also presented.

• KIPS Transactions on Software and Data Engineering
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• v.8 no.12
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• pp.499-506
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• 2019

An intelligent robot should decide its behavior accordingly to the dynamic changes in the environment and user's requirements by evaluating options to choose the best one for the current situation. Many intelligent robot systems that use the Procedural Reasoning System (PRS) accomplishes such task management functions by defining the priority functions in the task model and evaluating the priority functions of the applicable tasks in the current situation. The priority functions, however, are defined locally inside of the plan, which exhibits limitation for the tasks for multi-domain services because global contexts for overall prioritization are hard to be expressed in the local priority functions. Furthermore, since the prioritization functions are not defined as an explicit module, reuse or extension of the them for general context is limited. In order to remove such limitations, we propose a policy-based meta-planning for general task management for multi-domain services, which provides the ability to explicitly define the utility of a task in the meta-planning process and thus the ability to evaluate task priorities for general context combining the modular priority functions. The ontological specification of the model also enhances the scalability of the policy model. In the experiments, adaptive behavior of a robot according to the policy model are confirmed by observing the appropriate tasks are selected in dynamic service environments.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1121-1125
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• 2004

The RT(Robot Technology) has been developed as the next generation of a future technology. According to the 2002 technical report from Mitsubishi R&D center, IT(Information Technology) and RT(Robotic Technology) fusion system will grow five times larger than the current IT market at the year 2015. Moreover, a recent IEEE report predicts that most people will have a robot in the next ten years. RCP(Robotic Cellular Phone), CP(Cellular Phone) having personal robot services, will be an intermediate hi-tech personal machine between one CP a person and one robot a person generations. RCP infra consists of $RCP^{Mobility}$, $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP interaction system is really focused in this paper. The $RCP^{interaction}$(Robotic Cellular Phone for Interaction) is to be developed as an emotional model CP as shown in figure 1. $RCP^{interaction}$ refers to the sensitivity expression and the link technology of communication of the CP. It is interface technology between human and CP through various emotional models. The interactive emotion functions are designed through differing patterns of vibrator beat frequencies and a feeling system created by a smell injection switching control. As the music influences a person, one can feel a variety of emotion from the vibrator's beats, by converting musical chord frequencies into vibrator beat frequencies. So, this paper presents the definition, the basic theory and experiment results of the RCP interaction system. We confirm a good performance of the RCP interaction system through the experiment results.