• Proceedings of the Korean Information Science Society Conference
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• 2003.10c
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• pp.343-345
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• 2003

현재 대부분의 로봇 제어용 네트웍으로는 FieldBus 등이 사용되고 있다. 그러나 로봇 시스템의 고성능화와 다양한 기능으로 인하여 기존의 FieldBus가 제공하던 기능으로는 대역폭에서나 성능면에서 부족한 점이 나타나고 있다. IEEE1394는 이러한 로봇 제어용 네트웍에 매우 적합한 특성을 갖고 있다. 본 논문에서는 IEEE1394가 로봇 제어용 네트웍에 사용될 때 가질 수 있는 실시간성과 신뢰성 특징에 대해 분석해보고, IEEE1394의 특성을 잘 살릴 수 있는 제어용 소프트웨어 구조에 대해 연구하고 이를 구현한다. 실시간성 데이터를 위해서는 우선순위 큐를 이용한 패킷 전송방법을, 주기적 데이터를 위해서 등시성 전송방법을 이용한다.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.329-330
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• 2007

지능형 로봇에서 환경인식과 이러한 환경에 따른 행동 결정능력은 로봇이 필수적으로 갖추어야 할 기능이다. 본 논문은 이족로봇 플랫폼에서 비전기반 환경인식과 이를 통한 안정적인 보행 제어시스템을 제안한다. 비전기반 환경인식 시스템은 움직임 모델을 이용한 로봇 자체 움직임 보정 모듈, Adaboost를 이용한 장애물 영역 추출, PCA를 이용한 장애물 특징 추출, Hierarchical SVM을 이용한 장애물 인식 모듈로 구성되어 있으며, 이러한 환경 인식 시스템으로부터 보행 제어 시스템은 상황에 맞는 안정적이 보행 궤적을 생성한다. 보행 제어 시스템은 neural network을 이용하여 보행 궤적 생성 모듈과 보행 오차를 보정하기 위한 fuzzy 제어기 모듈로 구성되어 있다. 본 시스템을 제작한 로봇에 적용한 결과 보다 안정적인 보행을 할 수 있었다.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.1
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• pp.38-44
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• 2001

This paper investigates the direct adaptive control of nonlinear systems using RBFN(radial basis function networks). The structure of the controller consists of a fixed PD controller and a RBFN controller in parallel. An adaptation law for the parameters of RBFN is developed based on the Lyapunov stability theory to guarantee the stability of the overall control system. The filtered tracking error between the system output and the desired output is shown to be UUB(uniformly ultimately bounded). To evaluate the performance of the controller, the proposed method is applied to the trajectory contro of the two-link manipulator.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.774-776
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• 2014

노령층의 증가로 인하여 독거 노인층이 점점 증가하고 있다. 독거 노인은 외부의 침입이나 갑작스런 건강상의 문제로 위험에 처해질 가능성이 매우 높다. 따라서 독거 노인의 의료복지에 대한 관심이 날로 증가하고 있다. 본 연구에서는 독거 노인의 의료 복지에 적용할 수 있는 활동량 모니터링 시스템을 개발하였다. 이 시스템은 저 전력으로 동작하는 지그비 임베드 네트워크와 DTMF(Dual Tone Multi Frequency) 전화 시스템으로 구성되어, U-Health 케어 개념으로 활동량과 혈압 등의 인체 정보를 일상 생활 속에서 병원 및 보호자에게 전송할 수 있다. 또한 본 연구 결과는 미래의 독거 노인 원격진료 시스템에 적용될 수 있다.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.122-129
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• 2021

For the Simultaneous Localization and Mapping (SLAM) problem, a different path results in different SLAM results. Usually, SLAM follows a trail of input data. Active SLAM, which determines where to sense for the next step, can suggest a better path for a better SLAM result during the data acquisition step. In this paper, we will use reinforcement learning to find where to perceive. By assigning entire target area coverage to a goal and uncertainty as a negative reward, the reinforcement learning network finds an optimal path to minimize trajectory uncertainty and maximize map coverage. However, most active SLAM researches are performed in indoor or aerial environments where robots can move in every direction. In the urban environment, vehicles only can move following road structure and traffic rules. Graph structure can efficiently express road environment, considering crossroads and streets as nodes and edges, respectively. In this paper, we propose a novel method to find optimal SLAM path using graph structure and reinforcement learning technique.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.1
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• pp.66-75
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• 2016

Stereoscopic image generated by depth image-based rendering(DIBR) for surveillance robot and camera is appropriate in a low bandwidth network. The image is very important data for the decision-making of a commander and thus its integrity has to be guaranteed. One of the methods used to detect manipulation is to check if the stereoscopic image is taken from the original camera. Sensor pattern noise(SPN) used widely for camera identification cannot be directly applied to a stereoscopic image due to the stereo warping in DIBR. To solve this problem, we find out a shifted object in the stereoscopic image and relocate the object to its orignal location in the center image. Then the similarity between SPNs extracted from the stereoscopic image and the original camera is measured only for the object area. Thus we can determine the source of the camera that was used.

• 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 the Korean Institute of Intelligent Systems
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• v.19 no.1
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• pp.34-39
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• 2009

As a subjective recognition effect, human's emotion has impulsive characteristic and it expresses intentions and needs unconsciously. These are pregnant with information of the context about the ubiquitous computing environment or intelligent robot systems users. Such indicators which can aware the user's emotion are facial image, voice signal, biological signal spectrum and so on. In this paper, we generate the each result of facial and voice emotion recognition by using facial image and voice for the increasing convenience and efficiency of the emotion recognition. Also, we extract the feature which is the best fit information based on image and sound to upgrade emotion recognition rate and implement Multi-Modal Emotion recognition system based on feature fusion. Eventually, we propose the possibility of the ubiquitous computing service reasoning method based on Bayesian Network and ubiquitous context scenario in the ubiquitous computing environment by using result of emotion recognition.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.6
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• pp.699-704
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• 2004

This paper proposes a Distributed Autonomous Robotic System(DARS) based on an Artificial Immune System(AIS) and a Classifier System(CS). The behaviors of robots in the system are divided into global behaviors and local behaviors. The global behaviors are actions to search tasks in environment. These actions are composed of two types: aggregation and dispersion. AIS decides one among these two actions, which robot should select and act on in the global. The local behaviors are actions to execute searched tasks. The robots learn the cooperative actions in these behaviors by the CS in the local. The proposed system is more adaptive than the existing system at the viewpoint that the robots learn and adapt the changing of tasks.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2002.05a
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• pp.285-292
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• 2002

A cluster tool for semiconductor manufacturing is an integrated device that consists of several single wafer processing modules and a wafer transport module based on a robot. The distributed module controllers are integrated by an inter-module communication network and coordinated by a centralized controller, called a cluster tool controller (CTC). Since the CTC monitors and coordinates the distributed complex module controllers for advanced process control, complex commuication messaging and services between the CTC and the module controllers are required. A SEMI standard, CTMC(Cluster Tool Module Communication), specifies application-level communication service requirements for inter-module communication. We propose the use of high-level fieldbuses, for instance. PROFIBUS-FMS, for implementing CTMC since the high-level fieldbuses are well suited for complex real-time distributed manufacturing control applications. We present a way of implementing CTMC using PROFIBUS-FMS as the communication enabler. We first propose improvements of a key object of CTMC for material transfer and the part transfer protocol to meet the functional requirements of modem advanced cluster tools. We also discuss mapping objects and services of CTMC to PROFIBUS-FMS communication objects and services. Finally, we explain how to implement the mappings.