• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1550-1554
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• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1535-1538
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• 2004

In this paper, an Intelligent Bed Robot System (IBRS) is proposed, that is a special bed equipped with robot manipulator. To assist a patient using IBRS, pose and motion estimation process is fundamental. It is designed to help the elderly and the disabled for their independent life in bed without other assistants. For this purpose, we use the pressure sensor distributed mattress for detecting the change of motion on the bed. Using that data, we control the robot arm to move to the appropriate position and serve to the user. In addition, we can estimate the user's intention based on the change of pressure and use those data to control the robot arm guide.

• 전기전자학회논문지
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• 제14권1호
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• pp.17-24
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• 2010

본 논문에서는 LBS(Location Based Service) 응용을 위한 독거노인의 일상 활동의 칼로리 소모 예측 모델을 제안한다. 제안한 방식은 PIR (Passive InfraRed) 움직임 센서를 이용하여 독거노인의 활동 패턴을 측정하고, 물리적 활동과 그에 따른 칼로리 소모의 관계를 검토한다. 제안된 움직임 감지 시스템은 개별 노인 주택에 설치되는 센싱 시스템과 중앙 서버 시스템으로 구성된다. 센싱 시스템은 PIR 센서를 장착한 무선 센싱 노드들로 구성된 무선 센서 네트워크 형태로 구현되었고, 각 센서가 감지한 노인들의 움직임은 홈 게이트웨이를 거쳐 중앙 데이터베이스 서버로 저장된다. 서버 시스템은 데이터베이스 서버와 웹 서버로 구성되어 있으며, 웹 기반 모니터링 시스템을 통해 저장된 움직임 데이터를 가공하여 독거노인들의 수발제공자에게 각 노인들의 효율적인 서비스를 제공한다. 실험을 통해 제안한 칼로리 소모 모델의 성능과 적용 가능성을 확인하였다.

• 대한기계학회논문집
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• 제19권7호
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• pp.1581-1589
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• 1995

The feasibility of using AE for detecting contact and slip between a workpiece and an end effector has been tested. Specifically, the relationship between the contact and slip motion and the characteristics of the AE signal is theoretically and experimentally investigated. The experimental results manifest that the high sensitivity of AE signal to the contact and slip makes it a good alternative as a robot tactile sensor.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.358-363
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• 2006

This paper demonstrates a new non-contact electronic joystick using single hall sensor which detects a horizontal vector of the magnetic field. Furthermore, in this paper, it is mathematically modeled that nonlinear characteristics between the output of hall sensor and the movement of joystick bar. The dynamic horizontal vector of magnetic flux is detected by the hall sensor while a permanent magnet is rotated with the joystick bar, which has two dimension detecting area. Using the nonlinear adjustment equations, the output signals of hall sensor have been linearized to give higher accuracy in the two dimension movement. Finally, through the real experiments, it is showed that the single hall sensor structure mechanism is superior to the dual sensor structure in sensing the two-dimensional motion without offset.

• 한국정보통신학회논문지
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• 제16권9호
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• pp.2064-2071
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• 2012

스마트 폰의 일반화로 인해 스마트폰 게임이 많이 출시되고 있지만, 주로 터치 기능을 이용하여 화면 상의 상호작용을 통한 게임이 주류를 이루고 있다. 한편 기존의 가속도센서, 방향센서 외에 자이로센서 등 단말기의 위치와 동작을 인식하는 기능은 나날이 발전하고 있다. 따라서 사용자의 동작을 단말을 통해 인식하여 사용자 단말을 게임도구로 사용하는 게임의 개발이 기술적으로 가능해지고 있으나, 아직 구체화된 사례는 발견되지 않고 있다. 본 논문에서는 단말기의 동작 인식과 단말기간 상호 통신을 결합한 새로운 형태의 게임의 기본 틀과 알고리즘을 제시하고, 그 구현 내용과 결과를 제시한다.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.546-551
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• 2011

Tilt sensor is required to control the attitude of the biped robot when it walks on an uneven terrain. Vision sensor, which is used for recognizing human or detecting obstacles, can be used as a tilt angle sensor by comparing current image and reference image. However, vision sensor alone has a lot of technological limitations to control biped robot such as low sampling frequency and estimation time delay. In order to verify limitations of vision sensor, experimental setup of an inverted pendulum, which represents pitch motion of the walking or running robot, is used and it is proved that only vision sensor cannot control an inverted pendulum mainly because of the time delay. In this paper, to overcome limitations of vision sensor, Kalman filter for the multi-rate sensor fusion algorithm is applied with low-quality gyro sensor. It solves limitations of the vision sensor as well as eliminates drift of gyro sensor. Through the experiment of an inverted pendulum control, it is found that the tilt estimation performance of fusion sensor is greatly improved enough to control the attitude of an inverted pendulum.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.594-596
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• 2006

In this thesis, we propose a algorithm that is able to detect a user's motion. A minute noise of accelerometer arises cumulative error in case of converting velocity and distance, which makes it difficult to detect movement of sensor. We use a lowpass filter, ALS algorithm, and motion detection block to minimize such cumulative error. we experiment using a motion-detective module which is composed of accelerometer, micro-controller, and serial interface. Our scheme is capable of detecting such as up, down, left, right, forward, and backward movement of the module. It is expected that our scheme is applied to a game controller or user interface of a next generation PC.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2010년도 한국컴퓨터종합학술대회논문집 Vol.37 No.1(D)
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• pp.360-365
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• 2010

In this paper, we present a distributed algorithm for detecting dynamic event regions in wireless sensor network with the consideration on energy saving. Our model is that the sensing field is monitored by a large number of randomly distributed sensors with low-power battery and limited functionality, and that the event region is dynamic with motion or changing the shape. At any time that the event happens, we need some sensors awake to detect it and to wake up its k-hop neighbors to detect further events. Scheduling for the network to save the total power-cost or to maximize the monitoring time has been studied extensively. Our scheme is that some predetermined sensors, called critical sensors are awake all the time and when the event is detected by a critical sensor the sensor broadcasts to the neighbors to check their sensing area. Then the neighbors check their area and decide whether they wake up or remain in sleeping mode with certain criteria. Our algorithm uses only 2 bit of information in communication between sensors, thus the total communication cost is low, and the speed of detecting all event region is high. We adapt two kinds of measure for the wake-up decision. With suitable threshold values, our algorithm can be applied for many applications and for the trade-off between energy saving and the efficiency of event detection.

• 스마트미디어저널
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• 제9권4호
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• pp.102-108
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• 2020

본 논문에서는 사람의 손동작에 의해 모바일장치상의 전기장센서를 통해 감지되는 동작신호의 실시간 검출 및 프레임 추출 알고리즘을 제안한다. 동작인식에 사용되는 전기장센서는 주변 환경 및 시점에 따라 랜덤잡음 및 센서 표면의 초기 대전상태의 가변적인 특성으로 인해 안정적으로 동작신호를 검출하는데 어려움이 있다. 본 논문에서는 이와 같은 환경에서도 안정적이고 강건하게 동작신호를 감지하여 검출할 수 있는 동적문턱치 방법(dynamic thresholding method)을 제안한다. 동작발생감지여부는 10Hz low-pass 필터와 MA(Motion Average) 필터를 통한 입력신호가 특정 문턱 전압값을 넘을 경우 감지되는데 감지 시점 센서상의 정전하상태가 가변적이므로 주기적으로 offset 값을 계산하여 새로운 문턱치를 동적으로 적용하는 방법이다. 이러한 방법으로 동작신호 감지율을 98% 이상으로 향상 시킬 수 있었다. 또한 일단 동작이 감지되면 정문턱치(positive thresold)와 부문턱치(negative threshold)의 통과시점, 횟수와 평균 동작주기를 고려한 동작신호프레임 알고리즘을 제안하였으며 이의 프레임추출 성공률도 98% 이상의 성능을 보였다. 본 논문에서 제안한 알고리즘으로 추출된 동작신호는 이후 신호정규화를 거쳐 LSTN 심층신경망 인식부를 거쳐 높은 손동작 인식률을 보임으로서 제안된 알고리즘의 우수함을 입증하였다.