• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.562-567
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• 2009

As a key mechanism of the human emotion interaction, Facial Expression is a powerful tools in HRI(Human Robot Interface) such as Human Computer Interface. By using a facial expression, we can bring out various reaction correspond to emotional state of user in HCI(Human Computer Interaction). Also it can infer that suitable services to supply user from service agents such as intelligent robot. In this article, We addresses the issue of expressive face modeling using an advanced active appearance model for facial emotion recognition. We consider the six universal emotional categories that are defined by Ekman. In human face, emotions are most widely represented with eyes and mouth expression. If we want to recognize the human's emotion from this facial image, we need to extract feature points such as Action Unit(AU) of Ekman. Active Appearance Model (AAM) is one of the commonly used methods for facial feature extraction and it can be applied to construct AU. Regarding the traditional AAM depends on the setting of the initial parameters of the model and this paper introduces a facial emotion recognizing method based on which is combined Advanced AAM with Bayesian Network. Firstly, we obtain the reconstructive parameters of the new gray-scale image by sample-based learning and use them to reconstruct the shape and texture of the new image and calculate the initial parameters of the AAM by the reconstructed facial model. Then reduce the distance error between the model and the target contour by adjusting the parameters of the model. Finally get the model which is matched with the facial feature outline after several iterations and use them to recognize the facial emotion by using Bayesian Network.

• Journal of KIISE:Software and Applications
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• v.37 no.9
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• pp.676-686
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• 2010

An URC (Ubiquitous Robot Companion) is aimed for providing the best service according to situational information that it recognizes. In order to offer human-friendly and intelligent services, a robot middleware requires the technique to automate and control URC service processes, which are based on context-awareness. In this paper, we propose a context-aware workflow system to provide web services based URC services according to situational information. The proposed system offers a platform-independent command object model to control heterogeneous URCs, and supports web services based context-aware URC services. Therefore, the proposed system can increase the reliability of URC services in ubiquitous network environment, on which the diverse URC robots and platforms exist. And it can enhance the flexibility and adaptability of the functional and structural changes of URC systems.

• IEMEK Journal of Embedded Systems and Applications
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• v.8 no.6
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• pp.347-357
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• 2013

Cyber-Physical system(CPS) is characterized by collaborating computational elements controlling physical entities. In CPS, human desire to acquire useful information and control devices anytime and anywhere automatically has increased the necessity of a high reliable system. However, the physical world where CPS is deployed has management complexity and maintenance cost of 'CPS', so that it is impossible to make reliable systems. Thus, this paper presents an 'Autonomic Control System towards High-reliable Cyber-Physical Systems' that comprise 8-steps including 'fault analysis', 'fault event analysis', 'fault modeling', 'fault state interpretation', 'fault strategy decision', 'fault detection', 'diagnosis&reasoning' and 'maneuver execution'. Through these activities, we fascinate to design and implement 'Autonomic control system' than before. As a proof of the approach, we used a ISR(Intelligent Service Robot) for case study. The experimental results show that it achieves to detect a fault event for autonomic control of 'CPS'.

• IEMEK Journal of Embedded Systems and Applications
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• v.2 no.4
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• pp.227-232
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• 2007

인간과 상호작용하는 로봇의 경우, 자연스러운 움직임과 행동은 사람에게 친근감을 제공한다. 그러한 자연스러운 움직임과 행동의 기반이 되는 요소기술들 중 하나로 음원추적을 꼽을 수 있다. 본 논문에서는 3개의 마이크를 장착한 로봇에서의 시간지연기반 음원추적 시스템에 대해 소개한다. 개발된 음원추적 시스템을 지능형 서비스 로봇 WEVER-R2에 적용한 결과, 에러율 ${\pm}15$도 이내에서 93% 이상의 성공률을 보였다.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.213-215
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• 2007

This paper introduces an emotional behavior decision model for intelligent service robots. An emotional model should make different behavior decisions according to the purpose of the robots. We propose an emotional behavior decision model which can change the character of emotional model and make different behavior decisions although the situation and environment remain the same. We defined each emotional element such as reactive dynamics, internal dynamics, emotional dynamics, and behavior dynamics by state dynamic equations. The proposed system model is a linear system. If you want to add one external stimulus or behavior, you need to add just one dimensional vector to the matrix of external stimulus or behavior dynamics. The case of removing is same. The change of reactive dynamics, internal dynamics, emotional dynamics, and behavior dynamics also follows the same procedure. We implemented the proposed emotional behavior decision model and verified its performance.

• Proceedings of the Safety Management and Science Conference
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• 2013.04a
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• pp.471-484
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• 2013

Large and complicated firefighting environment is accelerating in the early activities in the field of fire officials at the time limit situation leads to people's lives and property damage, as well as the loss of the Fire Service. Therefore, the state-of-the-art technology that can respond to rapidly changing fire environment urgently in the field of fire fighting have been introduced should be utilized. These intelligent firefighting robots build daegukmin firefighting safety net that can be used when. Other advanced technology industries, the most effective ways that can be introduced into the firefighting shall be provided in the current situation of the industry's initial firefighting robots.

• IE interfaces
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• v.8 no.2
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• pp.171-183
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• 1995

A special purpose automated storage and retrieval system is developed in which information media such as compact disc or video tapes can be stored. Hardware system includes rack, stacker crane with robot arm, conveyor, and bar code reader. Software system includes database for address management, user interface for quick scanning of information media by displaying moving image, and algorithms for selecting the closest open location. Such system is widely applicable to CD library or broadcasting station in the forthcoming information age. In this paper we present detailed procedure and tools that are used in designing and implementing such a special AS/R system.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.461-463
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• 2007

현재 아파트를 중심으로 가정에 보급되기 시작한 홈 네트워크 시스템은 단순 홈 서버를 기반으로 가정 내 다양한 기기들을 연결하고 외부 인터넷 망과 연동하는 등 여러 가지 시도가 있으나 아직까지 단편적인 서비스를 제공하는 수준에서 크게 벗어나지 못하고 있다. 본 논문은 이러한 현 홈 네트워크 시장 상황에서 다양하고 실질적인 응용을 실제로 구현하고 사용자와 상호작용하기 위해 인공지능을 갖춘 서비스 로봇을 활용함으로써 홈 네트워크 시장을 활성화하기 위한 방안을 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.2-30
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• 2001

As the era of the human friendly robot looms, the intelligent autonomous mobile robots have obtained tremendous interests in recent years. The robots may be service robots for serving human or industrial robots for replacing human. For the coexistance with human, the robots must be able to feel and recognize three dimensional space that human live. In this paper, we propose three dimensional environmental modeling method based on a neural network technique called Growing Neural Gas Network. The purpose of this neural network is to generate a graphical structure which reflects the topology of the input space. Through this method, the robots´ surroundings are autonomously segmented ...

• Proceedings of the Korea Information Processing Society Conference
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• 2023.05a
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• pp.720-721
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• 2023

이 논문은 서비스를 제공하는 로봇과 사용자가 상호작용하는 새로운 방식의 XR 인터페이스를 제안한다. 사용자는 제안한 XR 인터페이스를 통해 현실을 모사한 XR 공간 내에서 서비스 로봇에게 직관적으로 서비스 작업이나 공간 이동을 요청하고, 요청한 작업을 편리하게 관리할 수 있다. 이러한 명령, 이동, 편집은 용이하게 전환된다. HTC VIVE 와 Unity 엔진을 사용하여 프로토타입을 구현하였다. 추후 인터페이스를 실제 로봇 시스템과 통합하고, 사용자 테스트를 수행하여 사용성 향상을 검증하고자 한다.