• International Journal of Control, Automation, and Systems
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• 제4권4호
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• pp.466-479
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• 2006

This paper addresses a formation navigation issue for a group of mobile robots passing through an environment with either static or moving obstacles meanwhile keeping a fixed formation shape. Based on Lyapunov function and graph theory, a NN formation control is proposed, which guarantees to maintain a formation if the formation pattern is $C^k,\;k\geq1$. In the process of navigation, the leader can generate a proper trajectory to lead formation and avoid moving obstacles according to the obtained information. An evolutionary computational technique using particle swarm optimization (PSO) is proposed for motion planning so that the formation is kept as $C^1$ function. The simulation results demonstrate that this algorithm is effective and the experimental studies validate the formation ability of the multiple mobile robots system.

• Journal of information and communication convergence engineering
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• 제11권1호
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• pp.24-29
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• 2013

In this paper, we propose a fuzzy inference model for a navigation algorithm for a mobile robot that intelligently searches goal location in unknown dynamic environments. Our model uses sensor fusion based on situational commands using an ultrasonic sensor. Instead of using the "physical sensor fusion" method, which generates the trajectory of a robot based upon the environment model and sensory data, a "command fusion" method is used to govern the robot motions. The navigation strategy is based on a combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance based on a hierarchical behavior-based control architecture. To identify the environments, a command fusion technique is introduced where the sensory data of the ultrasonic sensors and a vision sensor are fused into the identification process. The result of experiment has shown that highlights interesting aspects of the goal seeking, obstacle avoiding, decision making process that arise from navigation interaction.

• 대한가정학회지
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• 제51권2호
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• pp.253-261
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• 2013

The purpose of this study was to investigate the moderating effects of parental monitoring on the relationship between children's dependency on mobile phones and control of learning behavior. The data came from the 2010 Korean Children and Youth Panel (N = 1,609) conducted by the National Youth Policy Institute. The analysis method used was Structural Equation Modeling by using SPSS 17.0 and AMOS 7.0. To test the significant moderating effects, Ping's two-step technique, which is free from the requirement of nonlinear constraints, was used. Our results demonstrated that children's dependency on mobile phones had negative effects on control of learning behavior, and the interaction effects between such dependency and parental monitoring affected the control of learning behavior. Thus, these results proved the moderating effects of parental monitoring in the control of learning behavior. This study suggests that parental monitoring buffers against having difficulties to control and adjust one's behavior associated with control of learning behavior, which is affected by the dependency on mobile phones among children. We discussed that the risks of children's dependency on mobile phones and parental monitoring should be acknowledge as a significant protective factor.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 대한의용생체공학회:의공학회지
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• 제45권1호
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• pp.1-9
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• 2024

Communication with others plays an important role in human social interaction and information exchange in modern society. However, some individuals have difficulty in communicating due to dysarthria. Therefore, it is necessary to develop effective diagnostic techniques for early treatment of the dysarthria. In the present study, we propose a mobile device-based methodology that enables to automatically classify dysarthria type. The light-weight CNN model was trained by using the open audio dataset of Korean patients with dysarthria. The trained CNN model can successfully classify dysarthria into related subtype disease with 78.8%~96.6% accuracy. In addition, the user-friendly mobile application was also developed based on the trained CNN model. Users can easily record their voices according to the selected inspection type (e.g. word, sentence, paragraph, and semi-free speech) and evaluate the recorded voice data through their mobile device and the developed mobile application. This proposed technique would be helpful for personal management of dysarthria and decision making in clinic.

• 한국콘텐츠학회논문지
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• 제10권3호
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• pp.1-9
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• 2010

본 논문에서는 모바일 환경에서 모션을 추정하기 위하여 특징점을 코너로 선택하고, 기존 코너 검출 알고리즘인 Rosten 알고리즘 보다 모션 추정의 정확성을 높이는 방법을 제안한다. Rosten 알고리즘은 간단한 덧셈과 뺄셈만으로 코너를 검출함에 따라 처리 속도가 빠른 장점이 있지만, 코너를 매칭하면서 모션추정의 성능이 떨어지는 단점을 가지고 있다. 우리는 Normalized Cross Correlation(NCC) 계수를 사용하여 코너를 매칭하고, 두 단계에 걸쳐 부정확한 매칭에 의한 외톨이를 제거한다. 기존의 Rosten 알고리즘과 제안하는 알고리즘을 실제 영상에서 실험을 통하여 성능을 비교하고, 실제 모바일 장치의 응용 프로그램에 적용한다. 제안한 알고리즘이 Rosten 알고리즘 보다 더 정확한 모션을 추정해 냄을 실험 결과 확인하였고, 실제 모바일 환경에서도 실시간으로 동작함을 확인하였다.

• 한국전산구조공학회논문집
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• 제23권5호
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• pp.493-499
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• 2010

해상부유식 항만부두인 모바일 하버에는 일반 지상설치식 크레인과는 다른 구조를 가진 크레인이 설치되어 있다. 그리고 상부에 설치되어 있는 크레인은 파고에 따른 모바일 하버 전체의 동적 안정성에 지대한 영향을 미친다. 본 연구는 해상상태 3의 파고에 따른 모바일 하버용 크레인의 롤링 동응답 해석에 관한 내용으로서, 이론과 수치해석 기법으로 구성된 2단계 해석절차를 적용하였다. 선형파고이론에 따라 강체로 가정한 모바일 하버의 롤링응답을 이론적으로 계산하고, 모바일하버 본체의 롤링에 따른 탄성체 크레인의 롤링 동특성을 유한요소해석으로 분석하였다. 모바일 하버 본체와 직접 접하는 파고의 동적 연계효과는 부가질량 기법으로 반영하였다.

• 한국멀티미디어학회논문지
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• 제17권8호
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• pp.1033-1040
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• 2014

Recently, the concept of mobile content service has changed from providing unilaterally contents for single-device to providing same contents for multi-device. This service should be able to provide diverse contents for multi-devices without platform and specification of multi-device. In this study, we propose a bridge technique of heterogeneous smart platform supporting social immersive game. It is possible to access social immersive game by using a multi-platform bridge. To achieve this, we explain techniques of device connection and data transmission between heterogeneous devices using server-client structure and UPnP. It provides an immersive game environment for multi-user, which is able to play in a public place using big screen.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2007년도 추계 종합학술대회 논문집
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• pp.639-643
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• 2007

본 논문에서는 증강현실 기반의 실시간 멀티유저 보드게임 및 어플리케이션 개발에 적합한 소프트웨어 프레임웍을 제안한다. 최근 휴대폰, PDA, UMPC 등 모바일기기의 컴퓨팅 능력 향상 및 무선 네트워킹 기술의 발달로 증강현실 기반의 게임을 플레이할 수 있는 환경이 확산되고 있다. 그러나 이 같은 게임 환경을 활용하려는 연구가 증가하는 추세지만 게임 유저들의 관심을 이끌어 낼 수 있는 콘텐츠 수는 부족한 실정으로 양질의 증강현실 게임 콘텐츠를 효과적으로 개발할 수 있는 개발 지원 도구의 필요성이 대두되고 있다. 논문에서 제안하는 프레임워크는 기존 게임 콘텐츠 개발자도 기술 장벽 없이 신속하게 증강현실 기반 게임 콘텐츠 개발이 가능하도록 구성되어 있다. 증강현실 기술에 대한 이해가 부족한 콘텐츠 개발자가 내부 프로세스 구조를 몰라도 프레임워크에서 제공하는 마커 인식 서비스를 통해 가상객체를 다양한 방법으로 증강 할 수 있도록 자동화된 프로세스를 제공한다. 또한 보드게임에 활용될 수 있는 전문적인 기능과 다양한 상호작용 인터페이스를 지원하고 보드게임 요소들을 쉽게 구현할 수 있는 구조를 제공함으로써 완성도 높은 증강현실 보드게임 개발이 가능하다.

• 한국자동차공학회논문집
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• 제20권6호
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• pp.24-32
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• 2012

A large fraction of urban $PM_{10}$ concentrations is due to non-exhaust traffic emissions including road dust, tire wear particles, and brake lining particles. Although potential health and environmental impacts associated with tire wear debris have been increased, few environmentally and biologically relevant studies of actual tire wear debris have been conducted. Tire wear particles (TWP) are released from the tire tread as a result of the interaction between the tire and the pavement. Roadway particles (RP), meanwhile, are particles on roads composed of a mixture of elements from tires, pavements, fuels, brakes, and environmental dust. The main objective of present study is to identify the contribution of tires to the generation of RP and to assess the potential environmental and health impacts of this contribution. First, a mobile measurement system was constructed and used to measure the roadway particles on asphalt road according to vehicle speed. The equipment of the mobile system provides $PM_{10}$ concentrations by Dusttrak DRX and number density & size distribution measurements of fine and ultra-fine particles by a fast mobility particle sizer (FMPS) and an aerosol particle sizer (APS). When traveling on an asphalt road at constant speed, there is a clear tendency for PM10 concentration to increase slightly in accordance with an increase in the vehicle speed. It was also found that considerable brake wear particles and particles from tire/road interface were generated by rapid deceleration of the vehicle. The morphology and elements of the roadway particles were also analyzed using SEM-EDX technique.