• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1977-1978
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tele-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• Convergence Security Journal
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• v.17 no.3
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• pp.31-40
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• 2017

UAV (Unmanned Aerial Vehicle) is increasingly used in diverse fields such as disaster, distributi on, and logistics, but it is pointed out that the inadequacy of related laws and invasion of privacy is an obstacle to industrial growth. The regulatory framework for UAV convergence services is pr oposed based on the regulatory framework. From the technical point of view, regulation on archite ctural design, from the market point of view, concurrent operation of services in a limited area, a l egal evaluation based on post-evaluation rather than a pre-regulation under the legislation of visua l information protection law and a social consensus will contribute to the early settlement of UAV -based convergence services.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.549-557
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• 2005

The requirements of multi-resolution models of feature-based solids, which represent an object at many levels of feature detail, are increasing for engineering purposes, such as analysis, network-based collaborative design, virtual prototyping and manufacturing. To provide multi-resolution models for various applications, it is essential to generate adequate solid models at varying levels of detail (LOD) after feature rearrangement, based on the LOD criteria. However, the non-commutative property of the union and subtraction Boolean operations is a severe obstacle to arbitrary feature rearrangement. To solve this problem we propose history-based Boolean operations that satisfy the commutative law between union and subtraction operations by considering the history of the Boolean operations. Because these operations guarantee the same resulting shape as the original and reasonable shapes at the intermediate LODs for an arbitrary rearrangement of its features, various LOD criteria can be applied for multi-resolution modeling in different applications.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.11
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• pp.2875-2882
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• 2000

Typically, the ultrasonic sensors can be used in navigation systems for modeling of the enviornment, obstacle avoidance, and map building. In this paper, we tried to approach an object classification method using the range data of the ultrasonic sensors. A characterization of the sonar scan is described that allows the differentiation of planes, corners, edges, cylindrical and rectangular pillars by processing the scanned data from three sonars. To use the data from the ultrasonic sensors as input to the neural networks, we have introduced a clustering, threshold, and bit operation algorithm for the obtained raw data, After repeated training of the neural network, the performance of the proposed method was obtained through experiments. Also, the recognition ranges of the proposed method were investigated. As a result of experiments, we found that the proposed method successfully recognized the objects within the accuracy of 78%.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.123-125
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tole-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• Journal of Electrical Engineering and Technology
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• v.9 no.1
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• pp.352-362
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• 2014

In this paper, a fuzzy logic controller is designed for a DC motor which can be used for navigation control of mobile robots. These mobile robots can be used for agricultural, defense and assorted social applications. The robots used in these fields can reduce manpower, save human life and can be operated using remote control from a distant place. The developed fuzzy logic controller is used to control navigation speed and steering angle according to the desired reference position. Differential drive is used to control the steering angle and the speed of the robot. Two DC motors are connected with the rear wheels of the robot. They are controlled by a fuzzy logic controller to offer accurate steering angle and the driving speed of the robot. Its location is monitored using GPS (Global Positioning System) on a real time basis. IR sensors in the robot detect obstacles around the robot. The designed fuzzy logic controller has been implemented in a robot, which depicts that the robot could avoid obstacle as well as perform its operation efficiently with remote online control.

• Journal of the Korea Safety Management & Science
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• v.17 no.4
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• pp.247-258
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• 2015

The purpose of this study is to let the entire logistics system be managed in cyberspace by effectively sharing the logistics information between companies involved in the process, changing conventional commerce to electronic commerce. Most of the goods traded through electronic commerce are small goods involving small business transactions. This produces many problems in shipping and delivery and the leads an inefficient logistics system. Another problems is that there is no sharing of information that process the logistics flow and no systematic management of pick-up and delivery information. As a result, rise in logistics cost, longer delivery period and poor service quality are inevitable and these results are becoming an obstacle in the widespread usage of the electronic commerce. Companies that are part of logistics center can cooperate logistics business in Cyber space and share the entire logistics information through the cyber logistics center. This turns out in effective sharing of logistics information, and thus, allows efficient management of logistics, improves logistics service, and reduces logistics cost.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.90-98
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• 2003

The real-time industrial network, often referred to as fieldbus, is an important element for building automated manufacturing systems. Thus, in order to satisfy the real-time requirements of field devices, numerous fieldbus protocols have been announced. But the application of fieldbus has been limited due to the high cost of hardware and the difficulty in interfacing with multi-vendor products. Therefore, as an alternative to fieldbus, the computer network technology, especially Ethernet (IEEE 802.3), is being adapted to the industrial environment. However, the crucial technical obstacle for Ethernet is its non-deterministic behavior that makes it inadequate for industrial applications where real-time data have to be delivered within a certain time limit. Recently, the development of switched Ethernet shows a very promising prospect for industrial application due to the elimination of uncertainties in the network operation resulting in much improved performance. This paper focuses on the application of the switched Ethernet for industrial communications. More specifically, this paper presents an analytical and experimental performance evaluation of the switched Ethernet and a case study about networked control system.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.8
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• pp.718-725
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• 2004

The real-time industrial network, often referred to as fieldbus, is an important element for intelligent manufacturing systems. Thus, in order to satisfy the real-time requirements of field devices, numerous fieldbus protocols have been announced. But, the application of fieldbus has been limited due to the high cost of hardware and the difficulty in interfacing with multi-vendor products. Therefore, as an alternative to fieldbus, the computer network technology, especially Ethernet (IEEE 802.3), is being adapted to the industrial environment. However, the crucial technical obstacle for Ethernet is its non-deterministic behavior that makes it inadequate for industrial applications where real-time data have to be delivered within a certain time limit. Recently, the development of switched Ethernet shows a very promising prospect for industrial application due to the elimination of uncertainties in the network operation resulting in much improved performance. This paper focuses on the application of the switched Ethernet with cascade structure for industrial communications. More specifically, this paper presents an analytical performance evaluation of switched Ethernet with cascade structure, and a case study about networked control system.

• Physical Therapy Rehabilitation Science
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• v.2 no.1
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• pp.7-11
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• 2013

Objective: Final goal of nerve advancement therapy is to provide maximum ability to function independently in life to patients. This paper appraises and describes basic concepts of the virtual reality (VR) based exercise program to improve functional movement for neurologically impaired patients. Design: Review article. Methods: Stroke patients from the physical therapy department while wearing comfortable clothing receive therapy and also VR based motion therapy administered by the therapist in charge. After evaluation of stroke patients, therapy includes an exercise program that is suitable for use with stroke patients; stroke patients wear head-mounted display while in front of the computer, where the camera is located; they follow the action on the screen and the computer perceives the operation of the stroke patients according to subject accomplishment. Results: According to obstacle condition of stroke patients using the method, which is various environments after setting, in stroke patients, there is a possibility of presenting suitable therapeutic environments. The display presentation of the method, which is identical, causes difficulty for all stroke patients. According to subject accomplishment; stroke patients result in execution of repetition training and deepening study, which leads to mobility. Conclusions: The VR based rehabilitation training programs is a difference of the existing video training program, is immediate feedback and compensation method. It will provide rehabilitation training services for the family of the patient whose condition could be improved with rehabilitative therapy where it is a continuous circumstance as a matter of the social welfare facility therapy.