• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1929-1930
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• 2006

Human like robot arm posture for grasping by considering the shape of the target object is quite a challenge in the field of robotics. In this paper, an optimized grasp posture with respect to the shape of the object considering the wrist joint angle and elbow elevation angle, in order to verify that the grasp posture is human like has been proposed. Given a target object, the candidates for grasp are computed by the method described in this paper. For each candidate, the closed loop inverse kinematics has been solved for the corresponding hand position and orientation. From the obtained joint angles through inverse kinematics, the elbow elevation angle has been computed and compared with the elbow elevation angle obtained through human movement data by the characteristic equation. After considering all the candidates, the hand position and orientation with minimum wrist joint and difference in elbow elevation angles has been utilized as the optimized grasp posture. Simulation results are presented.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.3
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• pp.237-241
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• 2002

In this paper, we describe how to represent hand witten decimal digits by a sequence of one to five fuzzy sets. Each fuzzy set represents an arc segment of the digit and is a Cartesian product of four fuzzy sets; the first is fur the arc length of the segment, the second is for the arc direction, the third is fur the arc shape, and the fourth is a crisp number indicating whether it has a junction point and if it has an end point of a stroke. We show that an arbitrary pair of these sequences representing two different digits is mutually disjoint. We also show that various forms of a digit written in different styles can be represented by the same sequence of fuzzy sets and hence the deviations due to different writers can be modeled by using these fuzzy sets.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.2
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• pp.236-240
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• 2004

Stroke-based composite HMMs with articulation states are proposed to deal with 3D spatio-temporal trajectory gestures. The direct use of 3D data provides more naturalness in generating gestures, thereby avoiding some of the constraints usually imposed to prevent performance degradation when trajectory data are projected into a specific 2D plane. Also, the decomposition of gestures into more primitive strokes is quite attractive, since reversely concatenating stroke-based HMMs makes it possible to construct a new set of gesture HMMs without retraining their parameters. Any deterioration in performance arising from decomposition can be remedied by a partial tuning process for such composite HMMs.

• Journal of Electrical Engineering and information Science
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• v.2 no.6
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• pp.177-182
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• 1997

A visual servoing method is proposed for a robot with a camera in hand. Specifically, vanishing point features are suggested by employing a viewing model of perspective projection to calculate the relative rolling, pitching and yawing angles between the object and the camera. To compensate dynamic characteristics of the robot, desired feature trajectories for the learning of visually guided line-of-sight robot motion are obtained by measuring features by the camera in hand not in the entire workspace, but on a single linear path along which the robot moves under the control of a commercially provided function of linear motion. And then, control actions of the camera are approximately found by fuzzy-neural networks to follow such desired feature trajectories. To show the validity of proposed algorithm, some experimental results are illustrated, where a four axis SCARA robot with a B/W CCD camera is used.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.2
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• pp.178-183
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• 2013

In this study, we proposed a method for electroencephalogram (EEG) classification using invariant CSP at special channels for improving the accuracy of classification. Based on the naive EEG signals from left and right hand movement experiment, the noises of contaminated data set should be eliminate and the proposed method can deal with the de-noising of data set. The considering data set are collected from the special channels for right and left hand movements around the motor cortex area. The proposed method is based on the fit of the adjusted parameter to decline the affect of invariant parts in raw signals and can increase the classification accuracy. We have run the simulation for hundreds time for each parameter and get averaged value to get the last result for comparison. The experimental results show the accuracy is improved more than the original method, the highest result reach to 89.74%.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.11
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• pp.36-42
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• 2000

• Proceedings of the Korean Information Science Society Conference
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• 2007.10c
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• pp.516-520
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• 2007

This paper presents a intuitive, simple and easy smart home TV remote control system using the hand gesture recognition. Hand candidate regions are detected by cascading policy of the part of human anatomy on the disparity map image, Exact hand region is extracted by the graph-cuts algorithm using the skin color information. Hand postures are represented by shape features which are extracted by a simple shape extraction method. We use the forward spotting accumulative HMMs for a smart home TV remote control system. Experimental results show that the proposed system has a good recognition rate of 97.33 % for TV remote control in real-time.

• IE interfaces
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• v.11 no.3
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• pp.227-240
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• 1998

This article presents a model for Intelligent Groupware Systems(IGS). The model is concerned not just with a future framework, but attempts to integrate many technologies into the framework. In order to do so, first of all it identifies essential technologies to improve the performance of the components in the model in terms of task-independent technologies(TIT) and task-dependent technologies(TDT). The former mainly consists of current technologies, which is under progress, being able to affect the groupware performance greatly. On the other hand, the latter is closely related to the knowledge depending on application systems. Fianlly, it presents these potential technologies which will be required for the IGS.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.609-615
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• 1998

In this paper, we propose efficient total recognition system of handwritten and printed numerals for enhancing the classification time. The proposed system consist two step neuroclassifier: Printed numerals classifier and Handwritten numerals classifier. The performance of the propose classifier was tested on 5000 handwritten numerals database of NIST and 100 printed numerals database. In case of handwritten classifier, the overall classification times were 11 second. And in case of proposed system, the overall classification times were reduced by...

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.4
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• pp.285-297
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• 2000

One of the research objectives in the area of multimedia human-computer interaction is the application of artificial intelligence and robotics technologies to the development of computer interfaces. This involves utilizing many forms of media, integrating speed input, natural language, graphics, hand pointing gestures, and other methods for interactive dialogues. Although current human-computer communication methods include computer keyboards, mice, and other traditional devices, the two basic ways by which people communicate with each other are voice and gesture. This paper reports on research focusing on the development of an intelligent multimedia interface system modeled based on the manner in which people communicate. This work explores the interaction between humans and computers based only on the processing of speech(Work uttered by the person) and processing of images(hand pointing gestures). The purpose of the interface is to control a pan/tilt camera to point it to a location specified by the user through utterance of words and pointing of the hand, The systems utilizes another stationary camera to capture images of the users hand and a microphone to capture the users words. Upon processing of the images and sounds, the systems responds by pointing the camera. Initially, the interface uses hand pointing to locate the general position which user is referring to and then the interface uses voice command provided by user to fine-the location, and change the zooming of the camera, if requested. The image of the location is captured by the pan/tilt camera and sent to a color TV monitor to be displayed. This type of system has applications in tele-conferencing and other rmote operations, where the system must respond to users command, in a manner similar to how the user would communicate with another person. The advantage of this approach is the elimination of the traditional input devices that the user must utilize in order to control a pan/tillt camera, replacing them with more "natural" means of interaction. A number of experiments were performed to evaluate the interface system with respect to its accuracy, efficiency, reliability, and limitation.