• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권4호
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• pp.288-298
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• 2008

We introduce new type of networked robot, Ubiquitous Robotic Companion (URC), embedded with ATLAS Service-oriented architecture for enhancing the space sensing capability. URC is a network-based robotic system developed by ETRI. For years of experience in deploying service with ATLAS sensor platform for elder and people with special needs in smart houses, we need networked robots to assist elder people in their successful daily living. Recently, pervasive computing technologies reveals possibilities of networked robots in smart spaces, consist of sensors, actuators and smart devices can collaborate with the other networked robot as a mobile sensing platform, a complex and sophisticated actuator and a human interface. This paper provides our experience in designing and implementing system architecture to integrate URC robots in pervasive computing environments using the University of Florida's ATLAS service-oriented architecture. In this paper, we focus on the integrated framework architecture of URC embedded with ATLAS platform. We show how the integrated URC system is enabled to provide better services which enhance the space sensing of URC in the smart space by applying service-oriented architecture characterized as flexibility in adding or deleting service components of Ubiquitous Robotic Companion.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2006년도 추계학술대회 논문집
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• pp.1567-1574
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• 2006

To prevent safety accidents such as injury or death from falling by blocking platforms from trains, the Seoul Metropolitan Subway Corp. have gradually installed screen doors in platforms of 115 subway stations in Seoul on lines 1, 2, 3, and 4. Installation in nine areas among those has been completed and screen doors are being operated as a model operation. Traffic signs should be clear for users. The essential functions of signs should be fully investigated from the aspect of user as well as the visual beauty and recognition. Signs should be able to provide users with information regarding location, position, directions, etc. Particularly, safety and convenient signs should be visually and sensually correlated. However, the entire screen doors in platforms installed in line 2 subway in Seoul are used for commercial advertisement, consequently, the functions and roles as public signs are not fulfilled aggravating inconvenience for users. In this study, cases have been studied to investigate requirements for user-oriented sign system in platform and public sign space to fulfill the functions of sign system in platform. Using an anthropometry approach, the study aimed to obtain the space to install the sign system and to systemize necessary and sufficient conditions for user-oriented system for platform in which screen doors have been installed using. The study suggests fundamental information to obtain the space of public sign system on the entire screen door.

• 대한건축학회논문집:계획계
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• 제35권4호
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• pp.15-24
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• 2019

Currently, museums and architectural heritage provide augmented user experiences by incorporating various media technologies. They still, however, suffer from the limitation of entertainment-based and the provision of location-based simple and repetitive contents. In addition, while acting as a key medium of experience for architectural heritage, the concept of space is not properly reflected in current services. The purpose of this study is to design user space experience considering such characteristics of architectural heritage. The spatial experience content and content production platform are defined. This software platform creates content that enhances the experience of the place by giving a context-based digital data associated with space and objects. The spatial experience content is designed as a series of experience sequences. The composition of the sequence borrows the method of film and narrative which segment and connect consecutive experiences on a scene basis considering user's detailed spatial experience. Therefore, content components can be combined and reproduced in various types. Augmented contents were extracted by using rule-based reasoning function of ontology at the moment. As a practical example of architectural heritage, the Seokjojeon Hall is used to reveal a spatial experience scenario.

• International Journal of Aeronautical and Space Sciences
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• 제6권2호
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• pp.64-75
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• 2005

The Stratospheric Airship Platform (SAP) has a capability of performing the autonomous and guidance flight to satisfy given missions. To be used as the High Altitude Platforms (HAPs), the capabilities of controlling platform's accurate position and keeping the station point are the most important features. Under this circumstances Autonomous Flight Control System (AFCS) is a critical system and plays a key role in achieving the given requirements and succeeding in missions. In this paper, the design and analysis results of the AFCS algorithms and controller are presented. The brief summary of the AFCS hardware structure is also explained. The autopilot controller and guidance logics were designed based on the linear dynamics of the unmanned airship platform and the full nonlinear dynamics was considered to evaluate and verify their performances.

• 한국멀티미디어학회논문지
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• 제24권3호
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• pp.355-372
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• 2021

Recently, high-performance HMDs (Head-Mounted Display) are becoming wireless due to the growth of virtual reality technology. Accordingly, environmental constraints on the hardware usage are reduced, enabling multiple users to experience virtual reality within a single space simultaneously. Existing multi-user virtual reality platforms use the user's location tracking and motion sensing technology based on vision sensors and active markers. However, there is a decrease in immersion due to the problem of overlapping markers or frequent matching errors due to the reflected light. Goal of this study is to develop a multi-user virtual reality moving platform in a single space that can resolve sensing errors and user immersion decrease. In order to achieve this goal hybrid sensing technology was developed, which is the convergence of vision sensor technology for position tracking, IMU (Inertial Measurement Unit) sensor motion capture technology and gesture recognition technology based on smart gloves. In addition, integrated safety operation system was developed which does not decrease the immersion but ensures the safety of the users and supports multimodal feedback. A 6 m×6 m×2.4 m test bed was configured to verify the effectiveness of the multi-user virtual reality moving platform for four users.

• 반도체디스플레이기술학회지
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• 제20권4호
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• pp.130-133
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• 2021

Recently, as the expansion of the metaverse accelerated due to the spread of the non-face-to-face trend after the COVID-19 pandemic, various metaverse platforms using it have appeared. In this study, we propose research and development of a virtual reality spatial psychological counseling service platform utilizing the advantages of metaverse. A counseling service platform was developed through virtual reality hardware including Unity 3D game engine and Head Mounted Display. Counseling participants create and participate in their own avatars, and counseling facilitators respond to the situation and environment of the counseling target in various virtual environments. It was attempted to improve the efficiency of the counseling service by allowing the space and counselor avatar to be selected. Furthermore, various interactions were implemented, and development was carried out so that it could be extended and utilized for social activities such as group counseling and general meetings and presentations. In the future, through additional research and development, we will prove the practical effectiveness of the psychological counseling service platform developed by conducting clinical trials under the support of psychological counseling experts and participation in actual counseling.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1361-1364
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• 1990

In order to tackle global environmental problems such as destruction of the ozone layer or climatic changes due to atmospheric temperature increase, the acquisition of plentiful and precise data is necessary. Therefore, a means of conducting long-lasting high-resolution measurements over broad areas is required. A feasibility study has been made on a high altitude (20km), super-pressured helium-filled PLTA (Powered Ligher-than-Air) vehicle as an ideal platform for environmental observation. It has a long service life and carries a larger payload than an artificial satellite. This PLTA platform uses an electric propulsion system to maintain position in space against wind currents. The thruster is driven by solar power acquired from solar cells. For night use, solar energy is stored in regenerative fuel cells. This study focuses on energy balance and structural analysis of the hull and platform. The platform is capable of conducting high resolution remote sensing as well as having the capability to serve as a telecommunications relay. The platform could replace a number of ground-based telecommunications relay facilities, guaranteeing sufficient radio frequency intensity to secure good quality telecommunication transmittal. The altitude at which the platform resides has the lowest wind flow in the lower stratosphere, and permits viewing from the ground within a 1,000km range. Because this altitude is much lower than that required of an artificial satellite, the measuring resolution is a couple of thousand times higher than with artificial satellites. The platform can also be used to chase typhoons and observe them from their sources in tropical regions.

• Journal of Platform Technology
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• 제6권4호
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• pp.18-25
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• 2018

This paper describes a real-time human and robot tracking method in Intelligent Space with multi-camera networks. The proposed method detects candidates for humans and robots by using the histogram of oriented gradients (HOG) feature in an image. To classify humans and robots from the candidates in real time, we apply cascaded structure to constructing a strong classifier which consists of many weak classifiers as follows: a linear support vector machine (SVM) and a radial-basis function (RBF) SVM. By using the multiple view geometry, the method estimates the 3D position of humans and robots from their 2D coordinates on image coordinate system, and tracks their positions by using stochastic approach. To test the performance of the method, humans and robots are asked to move according to given rectangular and circular paths. Experimental results show that the proposed method is able to reduce the localization error and be good for a practical application of human-centered services in the Intelligent Space.

• 로봇학회논문지
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• 제17권1호
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• pp.32-39
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• 2022

Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the studies on collision avoidance of mobile manipulators cannot be applied to differential drive type mobile platforms or the end-effector tends to deviate from the desired trajectory for collision avoidance. In this study, a collision avoidance algorithm based on null space projection (CANS) that solves these two problems is proposed. To this end, a modified repulsive force that overcomes the non-holonomic constraints of a mobile platform is generated by adding a virtual repulsive force in the direction of its instantaneous velocity. And by converting this repulsive force into a repulsive velocity and applying it to the null space, the end-effector of the robot avoids a collision while moving along its original trajectory. The proposed CANS algorithm showed excellent performance through self-collision avoidance tests and door opening tests.

• 국제초고층학회논문집
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• 제12권3호
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• pp.263-272
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• 2023

Role of architecture should not be limited to function of providing an inhabitable space but also include urban and social role of its impact to the public and surrounding area. Role of landmark building should be further expanded beyond and landmark building speaks out its aesthetics with mass form and/or with its appearance of façade. With study of this project, idea of landmark building is shifted from vertical extrusion of the land to horizontal extrusion of large space from the face of building. It is a double extrusion creating large assembly space up in the air linking surrounding masses.