• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.7
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• pp.817-822
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• 2005

Recently tile study that exploits visual information for tile services of robot in indoor environments is active. Conventional image processing approaches are based on the pre-defined geometric models, so their performances are likely to decrease when they are applied to the uncertain and dynamic environments. For this, diverse researches to manage the uncertainty based on the knowledge for improving image recognition performance have been doing. In this paper we propose a Bayesian network modeling method for predicting the existence of target objects when they are occluded by other ones for improving the object detection performance of the service robots. The proposed method makes object relationship, so that it allows to predict the target object through observed ones. For this, we define the design method for small size Bayesian networks (primitive Bayesian netqork), and allow to integrate them following to the situations. The experiments are performed for verifying the performance of constructed model, and they shows $82.8\%$ of accuracy in 5 places.

• Journal of Intelligence and Information Systems
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• v.27 no.2
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• pp.55-78
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• 2021

Tosolve complex and diverse social problems and ensure the quality of life of individuals, social robots that can interact with humans are attracting attention. In the past, robots were recognized as beings that provide labor force as they put into industrial sites on behalf of humans. However, the concept of today's robot has been extended to social robots that coexist with humans and enable social interaction with the advent of Smart technology, which is considered an important driver in most industries. Specifically, there are service robots that respond to customers, the robots that have the purpose of edutainment, and the emotionalrobots that can interact with humans intimately. However, popularization of robots is not felt despite the current information environment in the modern ICT service environment and the 4th industrial revolution. Considering social interaction with users which is an important function of social robots, not only the technology of the robots but also other factors should be considered. The design elements of the robot are more important than other factors tomake consumers purchase essentially a social robot. In fact, existing studies on social robots are at the level of proposing "robot development methodology" or testing the effects provided by social robots to users in pieces. On the other hand, consumer emotions felt from the robot's appearance has an important influence in the process of forming user's perception, reasoning, evaluation and expectation. Furthermore, it can affect attitude toward robots and good feeling and performance reasoning, etc. Therefore, this study aims to verify the effect of appearance of social robot and consumer emotions on consumer's attitude toward social robot. At this time, a social robot design evaluation model is constructed by combining heterogeneous data from different sources. Specifically, the three quantitative indicator data for the appearance of social robots from the ABOT Database is included in the model. The consumer emotions of social robot design has been collected through (1) the existing design evaluation literature and (2) online buzzsuch as product reviews and blogs, (3) qualitative interviews for social robot design. Later, we collected the score of consumer emotions and attitudes toward various social robots through a large-scale consumer survey. First, we have derived the six major dimensions of consumer emotions for 23 pieces of detailed emotions through dimension reduction methodology. Then, statistical analysis was performed to verify the effect of derived consumer emotionson attitude toward social robots. Finally, the moderated regression analysis was performed to verify the effect of quantitatively collected indicators of social robot appearance on the relationship between consumer emotions and attitudes toward social robots. Interestingly, several significant moderation effects were identified, these effects are visualized with two-way interaction effect to interpret them from multidisciplinary perspectives. This study has theoretical contributions from the perspective of empirically verifying all stages from technical properties to consumer's emotion and attitudes toward social robots by linking the data from heterogeneous sources. It has practical significance that the result helps to develop the design guidelines based on consumer emotions in the design stage of social robot development.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.463-466
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• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.

• The Journal of the Convergence on Culture Technology
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• v.5 no.1
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• pp.77-82
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• 2019

AI is applied increasingly to overall industries such as living, medical, financial service, autonomous car, etc. thanks to rapid technology development. AI-leading countries are strengthening their competency to secure competitiveness since AI is positioned as the core technology in $4^{th}$ Industrial Revolution. Although Korea has the competitive IT infra and human resources, it lags behind traditional AI-leaders like United States, Canada, Japan and, even China which devotes all its might to develop intelligent technology-intentive industry. AI is the critical technology influencing on the national industry in the near future according to advancement of intelligent information society so that concentration of capability is required with national interest. Also, joint development with global AI-leading companies as well as development of own technology are crucial to prevent technology subordination. Additionally, regulatory reform and preparation of related law are very urgent.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.337-340
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• 2005

Context-awareness techniques in ubiquitous computing environment provide various services to users who need to get information via the analysis of collected information from sensors in a spatial area. Context-awareness has been increased in ubiquitous computing and is applied to many different applications such as disaster management system, intelligent robot system, transportation management system, shopping management system, and digital home service. Many researches have recently focused on services that provide the appropriate information, which are collected from Internet by different kinds of sensors, to users according to context of their surrounding environment. In this paper, we propose an abstraction model to manage the large-scale contextual information and their metadata which are collected from different kinds of in-situ sensors in a spatial area and are presented them on the web. This model is composed of the modules expressing functional elements of sensors using sensorML(Sensor Model Language) based on XML language and the modules managing contextual information, which is transmitted from the sensors.

• Structural Engineering and Mechanics
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• v.44 no.5
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• pp.633-647
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• 2012

Applying Information Technology (IT) in practical engineering has become one of the most important issues in the past few decades, especially on internal solitary wave, intelligent robot interaction, artificial intelligence, fuzzy Lyapunov, tension leg platform (TLP), consumer and service quality. Other than affecting the traditional teaching mode or increasing the inter-relation with users, IT can also be connected with the current society by collecting the latest information from the internet. It is apparently a fashion-catching-up technology. Therefore, the learning of how to use IT facilities is becoming one of engineers' skills nowadays. In addition to studying how well engineers learn to operate IT facilities and apply them into teaching, how engineers' general capacity of information effects the results of learning IT are also discussed. This research introduces the "Combined TAM and TPB mode," to understand the situation of engineers using IT facilities.

• International journal of advanced smart convergence
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• v.8 no.1
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• pp.159-165
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• 2019

'4th Industrial Revolution' is accelerating as a core part of creating new growth engines and enhancing competitiveness of businesses. The fourth industrial revolution means the transformation of society and industries that are brought by IoT (Internet of Things), big data analysis, AI (Artificial Intelligence), and robot technology. Information and Communication Technology (ICT), which is a major factor, is affecting production and manufacturing systems and as ICT technologies become more advanced, intelligent information technology is generally utilized in all areas of society, leading to hyper-connected society where new values are created and developed. ICT technology is not just about connecting devices and systems and making smart, it is about constantly converging and harmonizing new technologies in a number of fields and driving innovation and change. It is no exception to the agro-fisheries trade. In particular, ICT technology is applied to the agricultural sector, reducing labor, providing optimal environment for crops, and increasing productivity. Due to the nature of agriculture, which is a labor-intensive industry, it is predicted that the ripple effects of ICT technologies will become bigger. We are expected to use the Smart Concentration using ICT convergence technology as a useful resource for changing smart farms, and to help develop new service markets.

• Proceedings of the Korea Information Processing Society Conference
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• 2009.04a
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• pp.1326-1329
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• 2009

서비스 로봇이 발전함에 따라 인간이 직접 해결해야했던 작업들이 로봇에게 위임가능하게 되었으나, 서비스 로봇이 잘못된 행동을 하게 되는 경우 작업에 심각한 혼란이 야기되고, 사람의 안전과 직결될 수 있다. 이러한 문제점을 극복하기 위해 지능형 서비스 로봇을 위한 자가 치유 방법론 및 자가 치유시스템의 구조를 제안한다. 제안 방법론은 7단계로 설계 및 구현되며, 시스템 구조는 모니터링, 진단 및 평가, 치유전략 계획 및 실행 순으로 수행된다. 제안사항을 통해 로봇의 고장으로 인한 불편을 최소화 하며 관리를 위해 발생하는 비용 절감이 가능하다.

• Journal of Intelligence and Information Systems
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• v.17 no.1
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• pp.53-69
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• 2011

Vision and voice-based technologies are commonly utilized for human-robot interaction. But it is widely recognized that the performance of vision and voice-based interaction systems is deteriorated by a large margin in the real-world situations due to environmental and user variances. Human users need to be very cooperative to get reasonable performance, which significantly limits the usability of the vision and voice-based human-robot interaction technologies. As a result, touch screens are still the major medium of human-robot interaction for the real-world applications. To empower the usability of robots for various services, alternative interaction technologies should be developed to complement the problems of vision and voice-based technologies. In this paper, we propose the use of accelerometer-based gesture interface as one of the alternative technologies, because accelerometers are effective in detecting the movements of human body, while their performance is not limited by environmental contexts such as lighting conditions or camera's field-of-view. Moreover, accelerometers are widely available nowadays in many mobile devices. We tackle the problem of classifying acceleration signal patterns of 26 English alphabets, which is one of the essential repertoires for the realization of education services based on robots. Recognizing 26 English handwriting patterns based on accelerometers is a very difficult task to take over because of its large scale of pattern classes and the complexity of each pattern. The most difficult problem that has been undertaken which is similar to our problem was recognizing acceleration signal patterns of 10 handwritten digits. Most previous studies dealt with pattern sets of 8~10 simple and easily distinguishable gestures that are useful for controlling home appliances, computer applications, robots etc. Good features are essential for the success of pattern recognition. To promote the discriminative power upon complex English alphabet patterns, we extracted 'motion trajectories' out of input acceleration signal and used them as the main feature. Investigative experiments showed that classifiers based on trajectory performed 3%~5% better than those with raw features e.g. acceleration signal itself or statistical figures. To minimize the distortion of trajectories, we applied a simple but effective set of smoothing filters and band-pass filters. It is well known that acceleration patterns for the same gesture is very different among different performers. To tackle the problem, online incremental learning is applied for our system to make it adaptive to the users' distinctive motion properties. Our system is based on instance-based learning (IBL) where each training sample is memorized as a reference pattern. Brute-force incremental learning in IBL continuously accumulates reference patterns, which is a problem because it not only slows down the classification but also downgrades the recall performance. Regarding the latter phenomenon, we observed a tendency that as the number of reference patterns grows, some reference patterns contribute more to the false positive classification. Thus, we devised an algorithm for optimizing the reference pattern set based on the positive and negative contribution of each reference pattern. The algorithm is performed periodically to remove reference patterns that have a very low positive contribution or a high negative contribution. Experiments were performed on 6500 gesture patterns collected from 50 adults of 30~50 years old. Each alphabet was performed 5 times per participant using $Nintendo{(R)}$ $Wii^{TM}$ remote. Acceleration signal was sampled in 100hz on 3 axes. Mean recall rate for all the alphabets was 95.48%. Some alphabets recorded very low recall rate and exhibited very high pairwise confusion rate. Major confusion pairs are D(88%) and P(74%), I(81%) and U(75%), N(88%) and W(100%). Though W was recalled perfectly, it contributed much to the false positive classification of N. By comparison with major previous results from VTT (96% for 8 control gestures), CMU (97% for 10 control gestures) and Samsung Electronics(97% for 10 digits and a control gesture), we could find that the performance of our system is superior regarding the number of pattern classes and the complexity of patterns. Using our gesture interaction system, we conducted 2 case studies of robot-based edutainment services. The services were implemented on various robot platforms and mobile devices including $iPhone^{TM}$. The participating children exhibited improved concentration and active reaction on the service with our gesture interface. To prove the effectiveness of our gesture interface, a test was taken by the children after experiencing an English teaching service. The test result showed that those who played with the gesture interface-based robot content marked 10% better score than those with conventional teaching. We conclude that the accelerometer-based gesture interface is a promising technology for flourishing real-world robot-based services and content by complementing the limits of today's conventional interfaces e.g. touch screen, vision and voice.

• Science of Emotion and Sensibility
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• v.15 no.4
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• pp.503-516
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• 2012

According to the researches of robot and software agent until now, computational emotion model is dependent on system, so it is hard task that emotion models is separated from existing systems and then recycled into new systems. Therefore, I introduce the Engine of computational Emotion model (shall hereafter appear as EE) to integrate with any robots or agents. This is the engine, ie a software for independent form from inputs and outputs, so the EE is Emotion Generation to control only generation and processing of emotions without both phases of Inputs(Perception) and Outputs(Expression). The EE can be interfaced with any inputs and outputs, and produce emotions from not only emotion itself but also personality and emotions of person. In addition, the EE can be existed in any robot or agent by a kind of software library, or be used as a separate system to communicate. In EE, emotions is the Primary Emotions, ie Joy, Surprise, Disgust, Fear, Sadness, and Anger. It is vector that consist of string and coefficient about emotion, and EE receives this vectors from input interface and then sends its to output interface. In EE, each emotions are connected to lists of emotional experiences, and the lists consisted of string and coefficient of each emotional experiences are used to generate and process emotional states. The emotional experiences are consisted of emotion vocabulary understanding various emotional experiences of human. This study EE is available to use to make interaction products to response the appropriate reaction of human emotions. The significance of the study is on development of a system to induce that person feel that product has your sympathy. Therefore, the EE can help give an efficient service of emotional sympathy to products of HRI, HCI area.