• The Bulletin of The Korean Astronomical Society
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• v.33 no.1
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• pp.69.1-69.1
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• 2008

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.1
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• pp.101-110
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• 2004

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably. In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.

• 한국항공우주법학회:학술대회논문집
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• 2008.05a
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• pp.219-231
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• 2008

" Analyzing on an object in the sphere of domestic law with the method of international law" has been already on the horizon in international law. For the lawyers of international law and space law, it is quite natural that they utilize the method of international law, whatever objects they may choice. The reason is that the characteristic of international law do not depend upon object in itself, but depend upon method in itself. The object of this paper is the idea of Peaceful Use(IPU or PU) in Japanese Space Policy. The method to be applied to this analysis is the international law's interpretation theory on legal principles, i.e., the method of international law. One of the aims of this paper is to explain critically the need of review on IPU in Japanese Space Policy; in particular with respect to the positive reconstruction of IPU through historical analyzing on the transfiguration and the mere shell of the Post-War Japanese Pacifism(PJP) as the starting point of IPU The historical process of the transfiguration and the mere shell is as followed .i.e.," from the ultranationalism in the pre-war Japan to PJP in the post-war Japan, from PJP to IPU, and from IPU to IPU's regression. In particular with respect to the interpretation theory, the meaning of the teleological, aims and objects school's approach on the interpretation of legal principles(P) has been emphasized. The reason is that the promising development of IPU will be realized by cooperating with the interpretation theory on P in international law. At the end of the beginning, I'd like to quote K. Marx's thesis in order to make the positions and missions the lawyers of international law and space clear. It is as follows, i.e.," THE PHILOSOPHERS HAVE ONLY INTERPRETED THE WORLD IN VARIOUS WAYS - THE POINT, HOWEVER IS TO CHANGE IT.

• Journal of the Korea Institute of Military Science and Technology
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• v.25 no.3
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• pp.300-310
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• 2022

A vast amount of labeled data is required for deep neural network training. A typical strategy to improve the performance of a neural network given a training data set is to use data augmentation technique. The goal of this work is to offer a novel image augmentation method for improving object detection accuracy. An object in an image is removed, and a similar object from the training data set is placed in its area. An in-painting algorithm fills the space that is eliminated but not filled by a similar object. Our technique shows at most 2.32 percent improvements on mAP in our testing on a military vehicle dataset using the YOLOv4 object detector.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.539-542
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• 1996

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.10a
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• pp.387-390
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• 1997

퍼지 속성 공간(fuzzy property space)은 데이터베이스의 각 객체를 분류하고 분석하는데 유용한 도구로서 사용됨을 보였다[1]. 이는 수학적인 속성 집합 이론(property set theory)[2]에 근간을 두고 만들어진 이론으로, 데이터의 분석에 무척 유리한 도구로 사용될 수 있다. 본 연구에서는 근래에 들어 많은 연구가 이루어지고 있는 분산 데이터베이스 환경(distributed database management)에서 이를 응용해보고자 시도하였다. 즉, 분산 환경에서 어떠한 객체의 데이터를 상호 교환하고자 하는 간단한 상호 작용(object interoperability)을 수행함에 있어, 각 시스템은 이들 상호간의 규약에 의한 합치(object integration)를 이룰 수 있어야 한다. 여기에 퍼지 속성 공간을 이용하여, 가장 근사한 합치를 이룰 수 있도록 하는 것이다. 예를 들어, A와 B 두 개의 시스템에서 객체의 상호 작용을 수행한다. 하면, A시스템의 하나의 객체를 두 개의 공통된 속성 공간에 위치시키고, B라는 시스템에서 이를 다시 해석하여 자신의 데이터베이스에 입력으로 받아들이는 방식을 채택하여 상호 작용의 연산을 설계하는 방식이다.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.408-410
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• 2009

We present an efficient and robust measurement model for visual tracking. This approach builds on and extends work on subspace representations of measurement model. Subspace-based tracking algorithms have been introduced to visual tracking literature for a decade and show considerable tracking performance due to its robustness in matching. However the measures used in their measurement models are often restricted to few approaches. We propose a novel measure of object matching using Angle In Feature Space, which aims to improve the discriminability of matching in subspace. Therefore, our tracking algorithm can distinguish target from similar background clutters which often cause erroneous drift by conventional Distance From Feature Space measure. Experiments demonstrate the effectiveness of the proposed tracking algorithm under severe cluttered background.

• Journal of Multimedia Information System
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• v.4 no.2
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• pp.83-88
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• 2017

The era of the fourth industrial revolution, which will bring about a great wave of change in the 21st century, is the age of super-connection that links humans to humans, objects to objects, and humans to objects. In the smart city and the smart space which are evolving further, emotional engineering is a field of interdisciplinary researches that still attract attention with the development of technology. This paper proposes an emotional object prototype as a possibility of emotional interaction in the relation between human and object. By suggesting emotional objects that produce color changes and movements through the emotional interactions between humans and objects against the current social issue-loneliness of modern people, we have approached the influence of our lives in the relation with objects. It is expected that emotional objects that are approached from the fundamental view will be able to be in our lives as a viable cultural intermediary in our future living space.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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• pp.568-577
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• 2000

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.202-207
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• 1993

A theoretical and experimental study is presented for the force holding control of a miniature robotic ringer which is driven by a pair of piezoelectric unimorph cells. In the theoretical analysis, one finger is modeled as a flexible cantilever with a tactile force sensor at the tip and the mate of the finger is a solid beam supposed with sufficient stiffness. Further, the force sensor is modeled by a one-degree-of-freedom, mass-spring system and the output of sensor is then described by the sensor stiffness multiplied by the relative displacement. The problem investigated in this paper is that two typical holding tasks of the human finger are picked up and applied to the robotic finger. One is the work holding a stationary object with a prescribed, time-varying force and the other one is to keep the contacted force constant even if the object is in motion. The simple PID feedback control scheme is used to control the minute gripping force of order 0.01 Newton. It is shown both experimentally and theoretically that the artificial finger with the piezoelectric actuator works well in the minute force holding of the tiny object.