• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.1-147
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• 2001

Future robots, especially service and personal robots, will need much more intelligence, robustness and user-friendliness. The ability to learn contributes to these characteristics and is, therefore, becoming more and more important. Three of the numerous varieties of learning are discussed together with results of real-world experiments with three autonomous robots: (1) the acquisition of map knowledge by a mobile robot, allowing it to navigate in a network of corridors, (2) the acquisition of motion control knowledge by a calibration-free manipulator, allowing it to gain task-related experience and improve its manipulation skills while it is working, and (3) the ability to learn how to perform service tasks ...

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.315-316
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• 2007

This paper presents a tracking algorithm, which is insensitive to light conditions. The proposed algorithm uses the depth information as well as the intensity information to track objects reliably. Specifically we use a disparity map to detect an object and employ the intensity histogram to track the motion of the object. Simulation results demonstrate the performance of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.84.4-84
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• 2001

In this paper, we present a method to classify electromyogram (EMG) signals which are utilized to be control signals for patient-responsive walker-supported system for paraplegics. Patterns of EMG signals for dierent walking motions are classied via adequate filtering, real EMG signal extraction, AR-modeling, and modified self-organizing feature map (MSOFM). More efficient signal processing is done via a data-reducing extraction algorithm. Moreover, MSOFM classifies and determines the classified results are presented for validation.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.9
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• pp.127-135
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• 2013

In order to acquire images in low-light environments, it is usually necessary to adopt long exposure times or resort to flash lights. However, flashes often induce color distortion, cause the red-eye effect and can be disturbing to subjects. On the other hand, long-exposure shots are susceptible to subject-motion, as well as motion-blur due to camera shake when performed hand-held. A recently introduced technique to overcome the limitations of traditional low-light photography is that of multi-spectral flash. Multi-spectral flash images are a combination of UV/IR and visible spectrum information. The general idea is that of retrieving details from the UV/IR spectrum and color from the visible spectrum. However, multi-spectral flash images themselves are subject to color distortion and noise. This works presents a method to compute multi-spectral flash images so that noise can be reduced and color accuracy improved. The proposed approach is a previously seen optimization method, improved by the introduction of a weight map used to discriminate uniform regions from detail regions. The weight map is generated by applying canny edge operator and it is applied to the optimization process for discriminating the weights in uniform region and edge. Accordingly, the weight of color information is increased in the uniform region and the detail region of weight is decreased in detail region. Therefore, the proposed method can be enhancing color reproduction and removing artifacts. The performance of the proposed method has been objectively evaluated using long-exposure shots as reference.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.20-29
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• 2017

Motion synchronization between developed real and virtual robots for object recognition and target tracking is introduced. ASUS's XTION PRO Live is implemented as a sensor and configured to recognize walls and obstacles, and perceive objects. In order to create virtual reality, Unity 3D is adopted to be associated with the real robot, and the virtual object is controlled by using an input device. A Bluetooth serial communication module is used for wireless communication between the PC and the real robot. The motion information of a virtual object controlled by the user is sent to the robot. Then, the robot moves in the same way as the virtual object according to the motion information. Through motion synchronization, two scenarios, which map the real space and current object information with virtual objects and space, were demonstrated, yielding good agreement between the two spaces.

• Journal of Korea Multimedia Society
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• v.3 no.4
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• pp.356-364
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• 2000

Block based fast motion estimation algorithm use the fixed search pattern to reduce the search point, and are based on the assumption that the error in the mean absolute error space monotonically decreases to the global minimum. Therefore, in case of many local minima in a search region we are likely to find local minima instead of the global minimum and highly rely on the initial search points. This situation is evident in the motion boundary. In this paper we define the candidate regions within the search region using the motion information of the neighbor blocks and we propose the multiple local search method (MLSM) which search for the solution throughout the candidate regions to reduce the possibilities of isolation to the local minima. In the MLSM we mark the candidate region in the search point map and we avoid to search the candidate regions already visited to reduce the calculation. In the simulation results the proposed method shows more excellent results than that of other gradient based method especially in the search of motion boundary. Especially, in PSNR the proposed method obtains similar estimate accuracy with the significant reduction of search points to that of full search.

• Design & Manufacturing
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• v.11 no.3
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• pp.41-45
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• 2017

Drones can be manipulated in a variety of ways. One of the most common controller is joystick method. But joystick controller uses both hands and takes a long time to learn. Particularly, in the case of 8-character flight, it is necessary to use both front and rear flight (pitch), left and right flight (Roll), and body rotation (Yaw). Joystick controller has limitations to intuitively control it. In particular, when the main body rotates, the viewpoint of the forward direction is changed between the drones and the user, thereby causing a mental rotation problem in which the user must control the rotating state of the drones. Therefore, we developed a motion matching controller that matches the motion of the drones and the controller. That is, the movement of the drone and the movement of the controller are the same. In this study, we used a gyro sensor and an acceleration sensor to map the controller's forward / backward, left / right and body rotation movements to drone's forward / backward, left / right, and rotational flight motion. The motor output is controlled by the throttle dial at the center of the controller. As the motions coincide with each other, it is expected that the first drone operator will be able to control more intuitively than the joystick manipulator with less learning.

• Journal of Broadcast Engineering
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• v.25 no.3
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• pp.405-417
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• 2020

Due to the popularization of the Extended Reality, research is actively underway to implement human motion in real-time 3D animation. In particular, Microsoft developed Kinect cameras for 3D motion information can be obtained without the burden of facilities and with simple operation, real-time animation can be generated by combining with 3D formats such as FBX. Compared to the marker-based motion capture system, however, Kinect has low accuracy due to its lack of estimated performance of joint information. In this paper, two algorithms are proposed to correct joint estimation errors in order to realize natural human motion in motion capture animation system in Kinect camera-based FBX format. First, obtain the position information of a person with a Kinect and create a depth map to correct the wrong joint position value using the human body segment length constraint information, and estimate the new rotation value. Second, the pre-set joint motion range constraint is applied to the existing and estimated rotation value and implemented in FBX to eliminate abnormal behavior. From the experiment, we found improvements in human behavior and compared errors between algorithms to demonstrate the superiority of the system.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.2
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• pp.68-78
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• 2000

This paper suggests a new map-matching algorithm for matching traveling trace of vehicle, which is measured by GPS receiver, to the road of a digital map This eventually brings the Improvement of positioning accuracy of the vehicle with GPS receiver After representing the travelling vehicle's motion by state equations using Singer's model, the proposed map-matching algorithm places the position of a vehicle right on the road and also improves the positioning accuracy of the vehicle using a Kalman filter In the crossroad, since it is difficult to determine precisely a current travelling road, we take linear regression to the estimated values from Kalman filtering This gives the direction angle of turning vehicle, then we can determine the correct route direction after comparing with each route-direction angle at the intersection.

• Korean Journal of Cognitive Science
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• v.25 no.1
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• pp.25-49
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• 2014

Advertisement for one type of product competes against another type using different advertising strategies. It is important to know which factors influence people's perception of the message within the advertisement and their formation of attitudes towards the advertisement. Using multidimensional scaling, this study investigated what main factors were important when people perceive beverage advertisements on TV. A positioning map was constructed based on similarity ratings of 14 drink advertisements. We examined the meaning of the three dimensions of the positioning map by asking a different group of participants to rate on components of attention, attitudes toward advertisements and products, and intention to purchase the product in each advertisement. It was found that three dimensions in the map was attention to content, color, and motion respectively. More importantly, the attentional component to content was related to the attitude of affection and action toward a beverage introduced in advertisement. These results suggest that content-based attention in advertisements induces a positive attitude toward the advertisements.