• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.648-651
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• 1997

This paper proposes methods for the cooperative control of multiple mobile robots and constructs a robotic soccer system in which the cooperation will be implemented as a pass play of two robots. To play a soccer game, elementary actions such as shooting and moving have been designed, and Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulation, learning is successful in case of deliberate initial arrangements of ball and robots, thereby cooperative work can be accomplished.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.621-624
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• 1997

This paper presents the design procedure for soccer-playing rovots based on the centralized approach. Using a fast vision system, we obtain the configuration of each robot and then the host computer computes the desired motion and commands each robot directly via RF communication. The robot soccer game has a lot of problems such as obstacle avoidance, coordination between robots, dribbling the ball, and so on. To implement such motions, we think that the centralized approach seems to be more powerful than the distributed approach. We describe the technical tips for developing the robots in detail here and explain our strategy for getting the scores.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.819-824
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• 1997

This paper presents a cell-based motion control strategy for soccer playing mobile robots. In the central robot motion planner, the planar ground is divided into rectangular cells with variable sizes and motion indices to which direction the mobile robot should move. At every time the multiple objects-the goal gate, ball, and robots-detected, integer values of motion indices are assigned to the cells occupied by mobile robots. Once the indices being calculated, the most desirable state-action pair is chosen from the state and action sets to achieve successful soccer game strategy. The proposed strategy is computationally simple enough to be used for fast robotic soccer system.

• Proceedings of the Society of Korea Industrial and System Engineering Conference
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• 2002.05a
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• pp.309-317
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• 2002

Line Balancing is the method enflowing workparts smoothly by balancing the worktime of processes, and reduces the cycle time. Soccer is the sports attacking the opposite team and defending a friendly area efficiently by means of ball. To accomplish this purpose, space balancing is the necessary condition. Soccer 'system' what we called 'formation' is the basic frame to balance the space of playground, operate the tactics. This paper introduces 'Dual Hexagon System', a quite new system in soccer, using line balancing principle. It also explains the correlations between line balancing and dual hexagon system, distinctions and position names of dual hexagon system, and then suggests success factors.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot 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. Mcro robot are equipped with two mini DC motors with 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. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.04a
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• pp.447-450
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• 2011

This paper shows the application of P-N Learning [4] method in the soccer ball detection and improvement for increasing the speed of processing. In the P-N learning, the learning process is guided by positive (P) and negative (N) constraints which restrict the labeling of the unlabeled data, identify examples that have been classified in contradiction with structural constraints and augment the training set with the corrected samples in an iterative process. But for the long-view in the soccer game, P-N learning will produce so many ferns that more time is spent than other methods. We propose that color histogram of each frame is constructed to delete the unnecessary details in order to decreasing the number of feature points. We use the mask to eliminate the gallery region and Line Hough Transform to remove the line and adjust the P-N learning's parameters to optimize accurate and speed.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.1
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• pp.32-39
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• 2004

The color-based vision systems have been used to recognize our team robots, the opponent team robots and a ball in the robot soccer system. The color-based vision systems have the difficulty in that they are very sensitive to color variations brought by brightness changes. In this paper, a neural network trained with data obtained from various illumination conditions is used to classify colors in the modified YUV color space for the robot soccer vision system. For this, a new method to measure brightness is proposed by use of a color card. After the neural network is constructed, a look-up-table is generated to replace the neural network in order to reduce the computation time. Experimental results show that the proposed color classification method is robust under illumination variations.

• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.877-880
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• 2000

In this paper, we develop an algorithm of soccer image sequences mosaicing using reverse affine transform. The continuous mosaic images of soccer ground field allows the user/viewer to view a “wide picture” of the player’s actions The first step of our algorithm is to automatic detection and tracking player, ball and some lines such as center circle, sideline, penalty line and so on. For this purpose, we use the ground field extraction algorithm using color information and player and line detection algorithm using four P-rules and two L-rules. The second step is Affine transform to map the points from image to model coordinate using predefined and pre-detected four points. General Affine transformation has many holes in target image. In order to delete these holes, we use reverse Affine transform. We tested our method in real image sequence and the experimental results are given.

• Journal of Educational Research in Mathematics
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• v.13 no.3
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• pp.365-382
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• 2003

This study intends to develope and apply mathematical activities for gifted students. According to the Polya's research and Krutetskii's study, mathematical activities were developed and observed. The activities were aimed at discovery of Euler's theorem through exploration of soccer ball at first. After the repeated application and reflection, the aim and the main activities were changed to the exploration of soccer ball itself and about related mathematical facts. All the students actively participated in the activities, proposed questions need to be proved, disproved by counter examples during the fourth program. Also observation, conjectures, inductive arguments played a prominent role.

• Journal of KIISE:Software and Applications
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• v.27 no.7
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• pp.712-722
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• 2000

In this paper, we suggest and test a classification technique of offence pattern from group formation to automatically index highlights of soccer games. A BP (Back-propagation) neural nets technique was applied to the information of the position of both the player and the ball on a ground, and the distance between the player and the ball to identify the group formation in space and time. The real soccer game scenes including '98 France World Cup were used to extract 297 video clips of various types of offence patterns; Left Running 60, Right Running 74, Center Running 72, Corner-kick 39 and Free-kick 52. The results are as follows: Left Running comes to 91.7%, Right Running 100%. Center Running 87.5%, Corner-kick 97.4% and Free-kick 75%, and these showed quite a satisfactory rate of recognition.