• Journal of rehabilitation welfare engineering & assistive technology
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• v.11 no.4
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• pp.355-361
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• 2017

This paper is the design for the welfare robot of apple artificial pollination by a survey for 25 elders' needs of Daegu-Gyeongbuk rural region. The results are summarized as follows. 1) In the apple farms of the region, most of farmers are the couples of 50 years thru 70 years to plant the apple trees only. The apple farm requires the senior farmers lots of painful works including their bone and muscle system problem to result in safety accidents. 2) For the aging progress of rural area, the senior farmers spend lots of labor hours and cost to do artificial pollination, a proper deletion of small fruits, and a speed spray, etc.. Most of them agree to the development of the welfare robot for an apple artificial pollination. 3) The survey results could be applied to the conceptual design in the users' point of view. Therefore, they are used as the important effects for the detail design and commercial design to develop the welfare robot for the rural seniors.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.835-838
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• 2003

Computer vision and natural-language dialogue play an important role in friendly human-machine interfaces for service robots. In this paper we describe an integrated face detection and face recognition system for a welfare robot, which has also been combined with the robot's speech interface. Our approach to face detection is to combine neural network (NN) and genetic algorithm (GA): ANN serves as a face filter while GA is used to search the image efficiently. When the face is detected, embedded Hidden Markov Model (EMM) is used to determine its identity. A real-time system has been created by combining the face detection and recognition techniques. When motivated by the speaker's voice commands, it takes an image from the camera, finds the face inside the image and recognizes it. Experiments on an indoor environment with complex backgrounds showed that a recognition rate of more than 88% can be achieved.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.47.3-47
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• 2001

This paper describes the control of a health care robot (called Welfare Liferobot) with voice commands. The welfare liferobot is an intelligent autonomous mobile robot with its own control system on-board and the set of sensors to perceive an environment. It is a natural way to control the welfare liferobot by use of voice command for the usage of keyboard and mouse may present a difficult problem to the elderly and the handicapped. Voice input as the main control modality can offer many advantages. A set of oral commands is included, and each command has its associated function. These control words (commands) have to be chosen by user. Each time a voice command is recognized by the robot, it executes the pre-assigned action ...

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.13-20
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• 2000

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1265-1271
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• 2011

These days the number of aged and disabled people is increasing rapidly. But most of the disabled or the aged who have the ability to work, want to engage in economic activities and solve social restrictions as well as their bad financial conditions. This paper concerns about the tracking control of an electric wheelchair robot for welfare vehicle where the seat and electric wheelchair are separated and electric wheelchair robot must be autonomously controlled without the help of assistant. So the aged or the disabled people can drive welfare vehicle by himself by adopting this system. Therefore the concept of both an autonomous driving of electric wheelchair and path tracking robots is required in this system. Finally we suggested fuzzy controller in order to control the path tracking of electric wheelchair robot and compared the capability of the proposed controller with conventional PID controller.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.2
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• pp.167-174
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• 2014

In this paper, we address a task allocation problem for a robot team that performs a search and attack mission. The robots are limited in sensing and communication capabilities, and carry different types of resources that are used to attack a target. The environment is uncertain and dynamic where no prior information about targets is given and dynamic events unpredictably happen. The goal of robot team is to collect total utilities as much as possible by destroying targets in a mission horizon. To solve the problem, we propose a distributed task allocation framework incorporated with effective resource management based on resource welfare. The framework we propose enables the robot team to retain more robots available by balancing resources among robots, and respond smoothly to dynamic events, which results in system performance improvement.

• Annual Conference of KIPS
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• 2006.05a
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• pp.621-624
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• 2006

본 논문은 기존의 수화 발생 시스템이 갖는 처리 성능의 한계와 신체요소의 움직임에 대한 문제점을 지적하고, 이를 개선하기 위해 하이퍼 수화문장을 제안한다. 하이퍼 수화문장은 기존 수화문장의 구조를 확장하여 수화단어와 신체효소의 동작기호로 구성된 수화문장이다. 제안한 하이퍼 수화문장 생성 방법에 따라 하이퍼 수화어절을 연결하여 수화동작을 합성하고 수화문장에 대한 아바타의 움직임을 실제 수화자와 유사하게 생성하는 시스템을 보인다.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.739-740
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• 2006

본 논문에서는 입력한 데이터를 분석하고 비교하여 손 모양 데이터 편집기의 기준 손 모양을 결정하는 방법을 제안한다. 즉, 입력한 손 모양 데이터에 대해 빈도수 혹은 평균값을 사용하여 기준 손 모양을 결정하는 방법을 제안한다. 입력한 손 모양 데이터로부터 제안한 방법을 통해 얻어진 손 모양이 실제 표현하고 자 한 손 모양과 일치하는지 실험을 통해 비교하였는데, 6,135개의 입력 데이터에 대해 두 가지 방법 모두 90.6% 일치하였다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.6 s.312
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• pp.9-15
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• 2006

The recent development in robot field shows that service robot which interacts with human and provides specific service to human has been researched continually. Especially, robot for human welfare becomes the center of public concern. At present time, guide robot is priority field of general welfare robot and helps the blind keep safe path when he walks outdoor. In this paper, guide robot provides not only collision avoidance but also the best walking direction and velocity to blind people while recognizing environment information from various kinds of sensors. In addition, it is able to provide the most safe path planing on behalf of blind people.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1163-1168
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• 2005

This paper proposes a soft-remote-control (soft-remocon) system based on EMG signals for the Intelligent Sweet Home. The proposed system is applied to Intelligent Sweet Home which was developed to help the independence living of the elderly and physically handicapped individuals. The goal of proposed system is to control home-installed electronic devices such as TV, air-conditioner, curtain and lamp in Intelligent Sweet Home using EMG signals. Features such as VAR and DAMV having good separability performance are selected for pattern classification. FMMNN is adopted as a pattern classifier. Classification results are allowed to a developed remote control module and then corresponding infrared pulses can operate home-installed electronic devices. We concluded that EMG as an input interface for home-installed electronic devices in Intelligent Sweet Home.