• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.565-570
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• 2015

Supervised machine learning has become popular in discovering context descriptions from sensor data. However, collecting a large amount of labeled training data in order to guarantee good performance requires a great deal of expense and time. For this reason, semi-supervised learning has recently been developed due to its superior performance despite using only a small number of labeled data. In the existing semi-supervised learning algorithms, unlabeled data are used to build a graph Laplacian in order to represent an intrinsic data geometry. In this paper, we represent the unlabeled data as the spatial-temporal dataset by considering smoothly moving objects over time and space. The developed algorithm is evaluated for position estimation of a smartphone-based robot. In comparison with other state-of-art semi-supervised learning, our algorithm performs more accurate location estimates.

• Journal of Information Processing Systems
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• v.20 no.3
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• pp.328-336
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• 2024

Visual communication is widely used and enhanced in modern society, where there is an increasing demand for spirituality. Museum robots are one of many service robots that can replace humans to provide services such as display, interpretation and dialogue. For the improvement of museum guide robots, the paper proposes a human-robot interaction system based on visual communication skills. The system is based on a deep neural mesh structure and utilizes theoretical analysis of computer vision to introduce a Tiny+CBAM mesh structure in the gesture recognition component. This combines basic gestures and gesture states to design and evaluate gesture actions. The test results indicated that the improved Tiny+CBAM mesh structure could enhance the mean average precision value by 13.56% while maintaining a loss of less than 3 frames per second during static basic gesture recognition. After testing the system's dynamic gesture performance, it was found to be over 95% accurate for all items except double click. Additionally, it was 100% accurate for the action displayed on the current page.

• Journal of Electrical Engineering and Technology
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• v.11 no.5
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• pp.1412-1422
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• 2016

• Journal of Korea Game Society
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• v.12 no.1
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• pp.57-65
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• 2012

Interactive games allow users to obtain embodied experience using the bodies as controllers. The same is true in interactive media arts where users engage in active participation. In contrast to video games, physical body feedback is desired and such practice can be found in robotic arts. I suggest that interactive media arts and interactive games should share common foundations. In this context, I introduce and explain an interactive robotic art work implemented. This work is a musical instrument that employs a robot which travels sitting on two strings in response to audience positions. In results, the robot modulates the vibrations of the strings by causing the effective lengths of the strings changed. The robot uses an economic multi-cell proximity sensor in order to track the audience. In the interaction, phenomenological tension could take place in the performative narrative space. In this paper, I discuss this interactive robotic work in the context of interactive games with a few examples.

• Journal of The Korean Association of Information Education
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• v.15 no.3
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• pp.483-492
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• 2011

'Learning with a robot' is now considered as one of the best candidates for STEAM education, which is recently growing its importance. Most of the 'learning with a robot' programs in elementary schools serve as afterschool classes. The students participating in the afterschool classes are mostly boys who are interested in science and robots. This paper mainly concerns that a robot can be helpful for improving students' interest in STEAM education. We divided the robot utilizable aspects into 5 areas with educational points of view; abstract concept understanding type, structure-oriented type, athletics-oriented type, intelligence-oriented type and value-orientated type. We extracted all robot utilizable subjects and units from elementary school curriculum, and developed lesson plans which can be applicable to regular classes. And we also verified them by applying into an elementary school for 5 months. As the result of the analysis, we can conclude that 'learning with a robot' can encourage students' interest in STEAM, and it is more effective for girls than boys. Finally, we discuss problems that teachers may face in using a robot for regular classes, and make suggestions about the use of a robot for STEAM education.

• Journal of Korea Society of Industrial Information Systems
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• v.20 no.1
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• pp.9-18
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• 2015

Educational learning methods that take advantage of a robot provide opportunities for students to develop high dimensional thinking, a creative expression and discovery learning opportunity. It is also perceived as a suitable tool for STEAM systems which can be used in a variety of school curriculums. Therefore we designed and developed STEAM educational contents using robots in this study. This study analyze elementary text books and design the convergence contents from various subjects such as math, science, engineering and art through a robot. This study has developed educational materials by making a robot based on the designed contents. They have been applied to after school materials and then evaluated for comprehension, interest and participation. The results of this study have shown very encouraging evaluations from participating students. Accordingly, this study has shown that STEAM contents that take advantage of a robot have improved student participation, interests, and comprehension in the curriculums. Additionally, integrating STEAM educational content has proved more effective in contrast to being separated.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.787-794
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• 1991

The objective of this paper is to survey the state of the art of multisensor data fusion in intelligent robot systems. The variety of approaches to the problem of multisensor fusion ranging from general frameworks to robotic applications is surveyed. We have classified them into three categories : sensor modeling, fusional methods, and robotic applications. Also we present research trend and future direction of multisensor fusion.

• Journal of Computing Science and Engineering
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• v.7 no.2
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• pp.122-131
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• 2013

The MPI CyberMotion Simulator provides a unique motion platform, as it features an anthropomorphic robot with a large workspace, combined with an actuated cabin and a linear track for lateral movement. This paper introduces the simulator as a tool for studying human perception, and compares its characteristics to conventional Stewart platforms. Furthermore, an experimental evaluation is presented in which multimodal human control behavior is studied by identifying the visual and vestibular responses of participants in a roll-lateral helicopter hover task. The results show that the simulator motion allows participants to increase tracking performance by changing their control strategy, shifting from reliance on visual error perception to reliance on simulator motion cues. The MPI CyberMotion Simulator has proven to be a state-of-the-art motion simulator for psychophysical research to study humans with various experimental paradigms, ranging from passive perception experiments to active control tasks, such as driving a car or flying a helicopter.

• Proceedings of the Korean Society of Computer Information Conference
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• 2017.01a
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• pp.161-162
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• 2017

외부환경을 인식하고 상황을 판단해 자율적으로 행동하는 지능형 서비스 로봇은 앞으로 새로운 시장을 열어줄 것으로 기대되며 이와 관련된 연구와 개발이 빠르게 확대되고 있다. 이러한 서비스 로봇에게 가장 중요한 기능은 인간과의 원활한 상호작용이다. 여기서 말하는 상호작용이란 단순히 인간이 원하는 것을 명령하고, 로봇이 이 명령을 수행하는 것에 그치는 것이 아니라, 로봇이 스스로 인간의 감정을 파악하고, 이에 대한 적절한 로봇 자신의 감정 표출이나 서비스, 행동을 제공함으로써 직접적인 소통이 이루어지는 것을 의미한다. 이렇게 로봇이 자연스럽게 인간과 함께 공존하기 위해서 감성 로봇(Emotional Robot) 분야에서 관련된 연구가 활발히 진행되고 있다 본 논문에서는 국내의 감성 로봇의 연구 현황과 발전 방향에 대해 서술한다.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.21-27
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• 2012

We can efficiently collect crops or minerals by operating multi-robot foraging. As foraging spaces become wider, control algorithms demand scalability and reliability. Swarm robotics is a state-of-the-art algorithm on wide foraging spaces due to its advantages, such as self-organization, robustness, and flexibility. However, high initial and operating costs are main barriers in performing multi-robot foraging system. In this paper, we propose a novel method to improve the energy efficiency of the system to reduce operating costs. The idea is to employ a new behavior model regarding role division in concert with the search space division.