• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.879-884
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• 2004

This paper describes the development of a synthetic multi-agent called KMITL Cadence 2003. KMITL Cadence 2003 is a robotic soccer simulation team consisting of eleven autonomous software agents. Each agent operates in a physical soccer simulation model called Robocup Soccer Server which provides fully distributed and real-time multi-agent system environment. All teammates have to cooperate to achieve the common goal of winning the game. The simulation models many aspects of the football field such as noise in ball movements, noisy sensors, unreliable communication channel between teammates and actuators, limited physical abilities and restricted communication. This paper addresses the algorithm to develop the soccer agents to perform basic actions which are scoring, passing ball and blocking the opponents effectively. The result of this development is satisfactory because the successful scoring attempts is increased from 11.1% to 33.3%, successful passing ball attempts is increased from 22.08% to 63.64%, and also, successful intercepting attempts is increased from 88% to 97.73%.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2998-3000
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• 1999

Robot soccer is a challenging research area in which multiple robots collaborate in adversarial environment to achieve specific objectives. We designed and built the robotic agents for robot soccer, especially MIROSOT. We have been developing the appropriate vision algorithm, algorithm for ball tracking and prediction, algorithms for collaboration between the robots in an uncertain dynamic environment. In this work we focus on the development of ball tracking and prediction algorithm using Kalman filter. Robustness and feasibility of the proposed algorithm is demonstrated by simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.58-66
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• 2005

Usual human gait can be modeled as continual impact phenomenon that happens due to the topological change of the kinematic structure of the two feet. The human being adapts his own control algorithm to minimize the ill effect due to the collision with the environment. In order to operate a Humanoid robot like the human being, it is necessary to understand the physics of the impact and to derive an analytical model of the impact. In this paper, specially, we focus on impact analysis of the kicking motion in playing soccer. At the instant of impact, the external impulse exerted on the ball by the foot is an important property. Initially, we introduce the complete external impulse model of the lower-extremity of the human body and analyze the external impulses for several kicking postures of the lower-extremity. Secondly, a trajectory-planning algorithm of a ball, in which the initial velocity and the launch angle of the ball are calculated for a desired trajectory of the ball, will be introduced. The aerodynamic effect such as drag force and lift force is also considered. We carry out numerical simulation and experimentation to verify the effectiveness of the proposed analytical methodology.

• Asian Journal of Turfgrass Science
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• v.20 no.2
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• pp.203-211
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• 2006

This study was initiated to investigate the difference of playing ability among soccer fields established with natural turfgrass, artificial turf and bare ground. The soccer fields with natural turfgrasses were established with cool-season grass(Kentucky bluegrass 80%+Perennial ryegrass 20%) and zoysiagrass. The artificial turf field was constructed with Konigreen $DV5000^{TM}$. Bare ground was sandy soil. Data such as ball rolling distance and vertical ball rebound were collected at the Sports Science Town of Konkuk University from 2005 to 2006. A ball in the study was Hummel Air Vision #1, certified by KFA(Korea Football Association) in ball pressure of 1.01b. Ball rolling distance was the longest on bare ground(13.6m), followed by artificial grass(11.4m), cool-season grass(7.8m) and zoysiagrass(4.7m). It decreased with lower frequency in use, stronger rigidity and higher density of turfgrass. Vertical ball rebound was the highest on bare ground(1.0m), followed by artificial grass(0.9m), cool-season grass(0.6m) and zoysiagrass(0.4m). It was lower under conditions of low use frequency, strong rigidity, and high density. Both ball rolling distance and vertical ball rebound were not greatly affected by cool-season grass maintained with high intensity of culture by years after establishment. However, zoysiagrass field under low intensity of culture showed longer in ball rolling distance and higher in vertical ball rebound with time after establishment.

• International Journal of Internet, Broadcasting and Communication
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• v.15 no.1
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• pp.164-170
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• 2023

The purpose of this study is to analyze the big data of Adidas brand participating in the Qatar World Cup in 2022 as a FIFA partner to understand useful information, semantic connection and context from unstructured data. Therefore, this study collected big data generated during the World Cup from Adidas participating in sponsorship as a FIFA partner for the 2022 Qatar World Cup and collected data from major portal sites to understand its meaning. According to text mining analysis, 'Adidas' was used the most 3,340 times based on the frequency of keyword appearance, followed by 'World Cup', 'Qatar World Cup', 'Soccer', 'Lionel Messi', 'Qatar', 'FIFA', 'Korea', and 'Uniform'. In addition, the TF-IDF rankings were 'Qatar World Cup', 'Soccer', 'Lionel Messi', 'World Cup', 'Uniform', 'Qatar', 'FIFA', 'Ronaldo', 'Korea', and 'Nike'. As a result of semantic network analysis and CONCOR analysis, four groups were formed. First, Cluster A named it 'Qatar World Cup Sponsor' as words such as 'Adidas', 'Nike', 'Qatar World Cup', 'Sponsor', 'Sponsor Company', 'Marketing', 'Nation', 'Launch', 'Official', 'Commemoration' and 'National Team' were formed into groups. Second, B Cluster named it 'Group stage' as words such as 'Qatar', 'Uruguay', 'FIFA' and 'group stage' were formed into groups. Third, C Cluster named it 'Winning' as words such as 'World Cup Winning', 'Champion', 'France', 'Argentina', 'Lionel Messi', 'Advertising' and 'Photograph' formed a group. Fourth, D Cluster named it 'Official Ball' as words such as 'Official Ball', 'World Cup Official Ball', 'Soccer Ball', 'All Times', 'Al Rihla', 'Public', 'Technology' was formed into groups.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.13-24
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• 2005

The purpose of this study was to compare kinematic data between experts and novices, and identify difference kinematic parameters changing direction to kick in penalty kick of soccer play. Novice subjects were 5 high school students Who has never been experienced a soccer player, and expert subjects were 5 competitive high school soccer players. The 3-d angle was calculated by Euler's Angle by inertial axis and local axis with three-dimensional cinematography. Kinematic parameters in this study consisted of angles of knee joints, hip joints, lower trunk and upper trunk when the support foot was contacted on ground and kicking foot impacted the ball. The difference of angle of knee joints in the flexion/extension was insignificantly showed below $4{\sim}9^{\circ}$ in groups and directions of ball at the time of support and impact. But the difference of angle of hip joint was significant in groups and directions of ball at the time of support and impact. Specially the right hip joint of experts were more flexed about $12^{\circ}$($43.99{\pm}6.17^{\circ}$ at left side, $31.87{\pm}4.49^{\circ}$ at right side), less abducted about $10^{\circ}$ ($-31.27{\pm}4.49^{\circ}$ at left side, $-41.97{\pm}6.67^{\circ}$ at right side) at impact when they kicked a ball to the left side of goalpost. The difference of amplitude angle in the trunk was significantly shown at upper trunk not lower trunk. The upper trunk was external rotated about $30^{\circ}$ (novice' angle was $-16.3{\pm}17.08^{\circ}$, expert's angle was $-43.73{\pm}12.79^{\circ}$) at impact. Therefore the significant difference of kinematic characteristics could be found at the right hip joint and the upper trunk at penalty kick depending on the direction of kicking.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.3
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• pp.143-150
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• 2012

In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.9
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• pp.142-150
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• 2002

This study describes a method of finding an optimal path of a soccer robot by using a concentric circle method with different radii of rotation. Comparing with conventional algorithms which try to find the shortest path length, the variable concentric circle method find the shortest moving time. The radius fur the shortest moving time for a given ball location depends on the relative location between a shooting robot and a ball. Practically it is difficult to find an analytical solution due to many unknowns. Assuming a radius of rotation within a possible range, total path moving time can be calculated by adding the times needed for straight path and circular path. Among these times the shortest time is obtained. In this paper, a graphical solution is presented such that the game ground is divided into 3 regions with a minimum, medium, and maximum radius of rotation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.434-438
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• 1996

In this paper we present the multi-agent robot system and the vision system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Micro robot are equipped with two mini DC motors witf encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit(AISI vision computer). The vision algorithm is based on morphological method. And it takes about 90 msec to detect ball and 3-our robots and 3-opponent robots with reasonable accuracy

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.906-916
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• 2003

A multi-robot control algorithm using Petri-Net is proposed for 5vs5 robot soccer. The dynamic environment of robot soccer is modeled by defining the place and transition of each robot and converting it into Petri-Net diagram. Once all the places and transitions of robots are represented by the Petri-Net model, their actions can be chosen according to the roles of robots and position of the ball in soccer game, e.g., offensive, defensive and goalie robot. The proposed modeling method is implemented for soccer robot system. The efficiency and applicability of the proposed multiple-robot control algorithm using Petri-Net are demonstrated through 5vs5 Middle League SimuroSot soccer game.