• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.273-281
• /
• 2022

In this paper, we propose a robot sound recognition system that detects various sound events. The proposed system is designed to detect various sound events in real-time by using a microphone on a robot. To get real-time performance, we use a VGG11 model which includes several convolutional neural networks with real-time normalization scheme. The VGG11 model is trained on augmented DB through 24 kinds of various environments (12 reverberation times and 2 signal to noise ratios). Additionally, based on random forest algorithm, a decision logic is also designed to generate event signals for robot applications. This logic can be used for specific classes of acoustic events with better performance than just using outputs of network model. With some experimental results, the performance of proposed sound recognition system is shown on real-time device for robots.

• KIPS Transactions on Computer and Communication Systems
• /
• v.2 no.7
• /
• pp.277-282
• /
• 2013

Recently, there is a growing need for an open software platform where developers easily write intelligent motion control applications for smart cars, smart robots, smart factories, and so on. To this end, a general-purpose operating system with rich functionalities and various hardware supports can be a candidate for such a platform, but it is known to have limitations in guaranteeing the responsiveness of individual applications. In this paper, to assess the suitability of Linux to be such a platform, we evaluate the real-time performance of Xenomai-patched Linux on an ARM-based processor Exynos4210 with motion control applications. Experimental results show that it is possible to stably provide motion cycle times below 1ms to such applications even with background workloads.

• Proceedings of the KSME Conference
• /
• 2008.11a
• /
• pp.1588-1593
• /
• 2008

This paper describes a real-time isometric pinch force prediction algorithm from surface electromyogram (sEMG) using multilayer perceptron (MLP) for human robot interactive applications. The activities of seven muscles which are observable from surface electrodes and also related to the movements of the thumb and index finger joints were recorded during pinch force experiments. For the successful implementation of the real-time prediction algorithm, an off-line analysis was performed using the recorded activities. Four muscles were selected for the force prediction by using the Fisher linear discriminant analysis among seven muscles, and the four muscle activities provided effective information for mapping sEMG to the pinch force. The MLP structure was designed to make training efficient and to avoid both under- and over-fitting problems. The pinch force prediction algorithm was tested on five volunteers and the results were evaluated using two criteria: normalized root mean squared error (NRMSE) and correlation (CORR). The training time for the subjects was only 2 min 29 sec, but the prediction results were successful with NRMSE = 0.112 ${\pm}$ 0.082 and CORR = 0.932 ${\pm}$ 0.058. These results imply that the proposed algorithm is useful to measure the produced pinch force without force sensors in real-time. The possible applications include controlling bionic finger robot systems to overcome finger paralysis or amputation.

• East Asian mathematical journal
• /
• v.19 no.2
• /
• pp.221-232
• /
• 2003

An identity for n-time differentiable functions of a real variable in terms of multiple integrals and applications for Ostrowski type inequalities are given.

• Journal of Korea Spatial Information System Society
• /
• v.11 no.2
• /
• pp.73-78
• /
• 2009

Real-time 3D visualization of terrain data is one of the important issues in GIS(Geographic Information System) field. We present a real-time terrain rendering engine that can use several types of GIS data source such as DEM(Digital Elevation Map), DTED(Digital Terrain Elevation Data) and LIDAR(Light Detection And Ranging). Our rendering engine is a quadtree-based terrain rendering framework with several acceleration modules. This can generate an ocular and binocular image. Also it can be applied to the flight simulation, walk-through simulation and a variety of GIS applications.

• Proceedings of the Korean Information Science Society Conference
• /
• 2008.06d
• /
• pp.476-479
• /
• 2008

Wireless Sensor Network typically incorporates various real time applications that must meet timing constraints under severe resource limitations. Due to the high data rate and burst traffic for that type of applications, occurrence of congestion is very common. Ensuring the end-to-end deadline under congested scenario is quite challenging. In this paper we propose a hop-by-hop rate control algorithm which avoids the congestion as well as ensures that the real time traffic will meet the end-to-end deadline by guaranteeing the meeting of local deadline at intermediate hop. Finally, simulation has demonstrated the effectiveness of our approach.

• Journal of the Korea Society of Computer and Information
• /
• v.21 no.10
• /
• pp.69-76
• /
• 2016

In this paper, we propose a real-time remote logging model for development of android applications using LBS(Location based Service). The model has two major parts: Mobile Log Management Service and Remote Log Server. Mobile Log Management Service consists of the log collector and the remote log manager. The log collector is an aspect of AOP which can collect logs from the target application without modifications of source codes. The remote log manager has a background service component so that it can receive logs whenever the log collector captures logs from the target application. Remote Log Server communicates with Mobile Log Management Service by socket interface. Therefore, Remote Log Server can show logs in real-time. To validate the efficiency of the proposed model, we show a case study, and compare the model with other models.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.8 no.5
• /
• pp.1711-1725
• /
• 2014

Multi-target tracking is the main purpose of many video surveillance applications. Recently, multi-target tracking based on the particle filter method has achieved robust results by using the data association process. However, this method requires many calculations and it is inadequate for real time applications, because the number of associations exponentially increases with the number of measurements and targets. In this paper, to reduce the computational cost of the data association process, we propose a novel multi-target tracking method that excludes particle samples in the overlapped predictive region between the target to track and marginal targets. Moreover, to resolve the occlusion problem, we define an occlusion mode with the normal dynamic mode. When the targets are occluded, the mode is switched to the occlusion mode and the samples are propagated by Gaussian noise without the sampling process of the particle filter. Experimental results demonstrate the robustness of the proposed multi-target tracking method even in occlusion.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1993.06a
• /
• pp.1394-1397
• /
• 1993

A Fuzzy Microprocessor(FMP) is presented, which is suitable for real-time control applications. The features include high speed inference of maximum 114K FLIPS at 20MHz system clocks, capability of up to 128-rule construction, and handing of 8 input variables with 8-bit resolution. In order to realize these features, the fuzzifier circuit and the processing element(PE) are well optimized for LSI implementation. The chip fabricated in 1.2$\mu\textrm{m}$ CMOS technology contains 71K transistors in 82.8 $\textrm{mm}^2$ die size and is packaged in 100-pin plastic QFP.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.60 no.2
• /
• pp.435-440
• /
• 2011

A touchless user interface system is proposed for real-time mobile devices in this work. The proposed system first recognizes the position of pattern to interact various applications based on the scene taken from mobile camera. Then, the proposed system traces the route of the pattern, which estimates the motion of pattern based on the mean-shift method. Based on this information, we control menu and keypad for the various applications. Differ from other user interface systems, the proposed system provides the new experience to even for the user of low-end mobile without additional hardware. Simulation results demonstrate that the proposed algorithm provides better interaction performances than the conventional method, while achieving real-time user interacting for mobile devices.