• Journal of Advanced Research in Ocean Engineering
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• v.3 no.3
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.

• Journal of Korea Multimedia Society
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• v.18 no.11
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• pp.1391-1399
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• 2015

In recent times, studies sentiment analysis are being actively conducted by implementing natural language processing technologies for analyzing subjective data such as opinions and attitudes of users expressed on the Web, blogs, and social networking services (SNSs). Conventionally, to classify the sentiments in texts, most studies determine positive/negative/neutral sentiments by assigning polarity values for sentiment vocabulary using sentiment lexicons. However, in this study, sentiments are classified based on Thayer's model, which is psychologically defined, unlike the polarity classification used in opinion mining. In this paper, as a method for classifying the sentiments, sentiment categories are proposed by extracting sentiment keywords for major sentiments by using hashtags, which are essential elements of Instagram. By applying sentiment categories to user posts, sentiments can be determined through the similarity measurement between the sentiment adjective candidates and the sentiment keywords. The test results of the proposed method show that the average accuracy rate for all the sentiment categories was 90.7%, which indicates good performance. If a sentiment classification system with a large capacity is prepared using the proposed method, then it is expected that sentiment analysis in various fields will be possible, such as for determining social phenomena through SNS.

• Journal of Korea Multimedia Society
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• v.21 no.6
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• pp.649-658
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• 2018

In this paper, we propose a mechanical contact inner tap inspection system that can inspect the defect of the inner tap immediately after inner tap is processed within the machining center. The inspection module has the collet chuck structure, so it can mounted on the main spindle of the machining center during inspection. It was developed with a focus on inspection for tap having 20 mm depth which is primarily fabricated in automotive parts and has a double sided PCB-type control system including sensing function based on Zigbee module, micom and IR sensor for wireless transmission of measured data with low power operation, and also a battery for supplying electric power. The current consumption is 46.8mA in the inspection operation mode and 0.0268mA in the power saving mode for 3.7V of the applied power source, so that 30,000 times or more inspection can be performed with assumed 5 seconds inspection time for one tap. Experiments in test jig system and actual machining center confirm that the proposed inner tap inspection system can be applied to the batch process of simultaneous inspection after tapping in the machining center.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2126-2131
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• 2005

Interactions of a humanoid with a human are important, when the humanoid is requested to provide people with human-friendly services in unknown or uncertain environment. Such interactions may require more complicated and human-like behaviors from the humanoid. In this work the arm motions of a human are discussed as the early stage of human motion imitation by a humanoid. A motion capture system is used to obtain human-friendly arm motions as references. However the captured motions may not be applied directly to the humanoid, since the differences in geometric or dynamics aspects as length, mass, degrees of freedom, and kinematics and dynamics capabilities exist between the humanoid and the human. To overcome this difficulty a method to adapt captured motions to a humanoid is developed. The geometric difference in the arm length is resolved by scaling the arm length of the humanoid with a constant. Using the scaled geometry of the humanoid the imitation of actor's arm motions is achieved by solving an inverse kinematics problem formulated using optimization. The errors between the captured trajectories of actor arms and the approximated trajectories of humanoid arms are minimized. Such dynamics capabilities of the joint motors as limits of joint position, velocity and acceleration are also imposed on the optimization problem. Two motions of one hand waiving and performing a statement in sign language are imitated by a humanoid through dynamics simulation.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.3
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• pp.243-251
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• 2016

Autonomous Underwater Vehicles (AUVs) generally work in complex marine environments. Any fault in AUVs may cause significant losses. Thus, system reliability and automatic fault diagnosis are important. To address the actuator failure of AUVs, a fault diagnosis method based on the Gaussian particle filter is proposed in this study. Six free-space motion equation mathematical models are established in accordance with the actuator configuration of AUVs. The value of the control (moment) loss parameter is adopted on the basis of these models to represent underwater vehicle malfunction, and an actuator failure model is established. An improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Bayes algorithm is employed to perform robot fault detection. The sliding window method is adopted for fault magnitude estimation. The feasibility and validity of the proposed method are verified through simulation experiments and experimental data.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.281-284
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• 2006

After building a ship in a shipyard, there are so many repeated inspection of welding seam defects and painting status before delivering to the ship's owner. An inspection on the bottom part of a ship in commercial service should be done in every two years for the purpose of safety and for the prevention of ship speed deterioration. conventional welding seam inspection systems are rely on the visual inspection by human or the ultrasonic inspection for the selective part of a ship. This paper suggests a remote controlled inspection system for the examination of large ships or steel structures. The proposed system moves in contact with the ship under inspection and have a CCD camera to provide visual-guidance information to a remotely located human worker. Additionally this system utilizes a weld line tracking algorithm for an optimal position control. We verified the effectiveness of the inspection system by experimental data.

• Proceedings of the KIPE Conference
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• 2010.11a
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• pp.271-273
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• 2010

태양광발전시스템에서 PV모듈이나 어레이의 성능특성 및 성능추정이 요구되고 있다. 태양광 발전 모듈은 장기간 사용 시 환경 요인 등으로 효율이 나빠지며 어레이의 특정 모듈 효율저하는 전체 발전 전력의 감소를 초래하므로 실시간 감시가 필요하다. 이 논문은 태양광 발전 모듈의 발전 전력을 실시간으로 측정하기 위한 것이다. 모듈의 출력을 실시간으로 측정하기 위해 전압, 전류 측정 회로를 제작하고 온도, 일조량 측정 장치를 제작하여 RS485 통신으로 연결하였다. Visual Studio - Basic .Net(2005)과 NI사의 Measurement Studio를 이용하여 실시간 모니터링 프로그램을 제작하였고, 모듈들 사이의 상대적인 발전 출력을 비교하여 효율 저하가 의심되는 모듈을 실시간으로 탐색하였다. 20개 모듈의 직병렬로 구성된 1kW 태양광 발전체에 적용하여 시험한 결과 2개의 모듈에서 성능 저하가 의심되는 결과가 확인되었다.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.1
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• pp.39-45
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• 2019

We propose an active color model based method for tracking motions of multiple human using a networked multiple-camera system in IoT space as a human-robot coexistent system. An IoT space is a space where many intelligent devices, such as computers and sensors(color CCD cameras for example), are distributed. Human beings can be a part of IoT space as well. One of the main goals of IoT space is to assist humans and to do different services for them. In order to be capable of doing that, IoT space must be able to do different human related tasks. One of them is to identify and track multiple objects seamlessly. In the environment where many camera modules are distributed on network, it is important to identify object in order to track it, because different cameras may be needed as object moves throughout the space and IoT space should determine the appropriate one. This paper describes appearance based unknown object tracking with the distributed vision system in IoT space. First, we discuss how object color information is obtained and how the color appearance based model is constructed from this data. Then, we discuss the global color model based on the local color information. The process of learning within global model and the experimental results are also presented.

• Advances in nano research
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• v.14 no.6
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• pp.591-602
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• 2023

In the present study, capability of nanobiotics in repairing tendon injuries commonly occur in Taekwondo sport is investigated and some approaches are proposed. In this regard, a brief review on the types and application of nanobiotics is presented. Their capabilities and limitation are discussed. Next, different type of tendon injuries in Taekwondo athletes are discussed along with their treatment approaches. Based on the presented data, a nano-scale feasible robot model carrying nanobiotics is proposed for repairing tendons. Finite element simulations is also conducted to show the effectiveness of the repairing process using nanorobots equipped with nanobiotics. This repairing procedure is a combination of mechanical and chemical treatments. The results indicated that using nanobiotics on nanorobots arms in the repair of tendon injuries has many benefits. First, drug delivery is directly injected to the target section. Second, Due to the nanorobots small sizes more acute treatment is possible. Finally, since the control of the nanorobots are assisted with computers, the possibility of human error reduces significantly. The proposed method of the present study could be utilized by other scientists and technological industry in developing final nanorobots with nanobiotics carrying capacity.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.9
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• pp.3876-3881
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• 2012

In typical master/slave teleoperation systems, a human operator generally manipulates the master to control the slave through the visual information like camera image. However, the operator may get into trouble due to the limited visual information depending on the camera positions and the delay on the visual information because of low communication bandwidth. To cope with this inherit problem in the camera-based teleoperation system, this paper presents a teleoperation system using a reconstructed graphic model instead of the camera image. The proposed teleoperation system consists of a robot control module, a master module using a force-reflective joystick, and a graphic user interface (GUI) module. The graphic user interface module provides the operator with a 3D model reconstructed using a small set of sensing data received from the remote site. The proposed teleoperation system is evaluated through a peg-in-hole assembly task.