• Journal of Engineering Education Research
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• v.13 no.6
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• pp.171-179
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• 2010

In this paper, we describe a case study of a new lab. project that improves efficiency for education and interest on learning in image processing and pattern recognition related subjects by using LEGO Mindstorms. In addition we verify the validity with analysis of the practical application. LEGO Mindstorms is already used in many educational institution of several countries since about 10 years ago and various case studies have been published. The use of LEGO Mindstorms is generally positive but the negative comments about this exist. The main cause of negative opinion is from unpredictability. The unpredictability from mainly analog characteristics of robot can degrade the effective learning. The describing lab. project suppresses occurrence of unpredictability by minimizing dependence on robots. Students can concentrate on learning the related algorithms by minimizing the learning content and further consideration.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.5
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• pp.1677-1684
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• 2010

Recently, due to the development of mobile phone and supply of smart phone, many contents have been developed. Especially, since the small-sized cameras are equiped in mobile devices, people are interested in the image based contents development, and it also becomes important part in their practical use. Among them, the character recognition system can be widely used in the applications such as blind people guidance systems, automatic robot navigation systems, automatic video retrieval and indexing systems, automatic text translation systems. Therefore, this paper proposes a system that is able to extract text area from the natural images captured by smart phone camera. The individual characters are recognized and result is output in voice. Text areas are extracted using Adaboost algorithm and individual characters are recognized using error back propagated neural network.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.5
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• pp.1690-1710
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• 2014

In this paper, we propose the rapid implementation of a 3-dimensional (3D) facial reconstruction from a single frontal face image and introduce a design for its application on a mobile device. The proposed system can effectively reconstruct human faces in 3D using an approach robust to lighting conditions, and a fast method based on a Canonical Correlation Analysis (CCA) algorithm to estimate the depth. The reconstruction system is built by first creating 3D facial mapping from a personal identity vector of a face image. This mapping is then applied to real-world images captured with a built-in camera on a mobile device to form the corresponding 3D depth information. Finally, the facial texture from the face image is extracted and added to the reconstruction results. Experiments with an Android phone show that the implementation of this system as an Android application performs well. The advantage of the proposed method is an easy 3D reconstruction of almost all facial images captured in the real world with a fast computation. This has been clearly demonstrated in the Android application, which requires only a short time to reconstruct the 3D depth map.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.169-175
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• 2014

In this study, it is intended to provide a slip detector is an important function in the research on the slip control can be addressed uncontrollably path withdrawal might during driving of the power wheelchair, slip phenomenon occurs. By detecting and electric wheelchairs, the state of the motor during running, the detection of the slip, slip detection information calculated using an encoder that is connected to the left and right motor with six-axis IMU sensor for the electric wheelchair using an algorithm to calculate the slip ratio. Slip rate calculated in this way is used as control variable for improving the safety of the electric wheelchair. It was confirmed from the slip phenomenon of the path the proposed experiments slim detector proposed in this study. The maximum slip ratio detection zone during the experiment, can occur during turning of the electric wheelchair has been confirmed.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.2
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• pp.114-119
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• 2009

Sound source localization systems in service robot applications estimate the direction of a human voice. Time delay information obtained from a few separate microphones is widely used for the estimation of the sound direction. Correlation is computed in order to calculate the time delay between two signals. Inverse cosine is used when the position of the maximum correlation value is converted to an angle. Because of nonlinear characteristic of inverse cosine, the accuracy of the computed angle is varied depending on the position of the specific sound source. In this paper, we propose an efficient sound source localization system using angle division. By the proposed approach, the region from $0^{\circ}$ to $180^{\circ}$ is divided into three regions and we consider only one of the three regions. Thus considerable amount of computation time is saved. Also, the accuracy of the computed angle is improved since the selected region corresponds to the linear part of the inverse cosine function. By simulations, it is shown that the error of the proposed algorithm is only 31% of that of the conventional a roach.

• Journal of the Korea Computer Graphics Society
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• v.23 no.2
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• pp.23-27
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• 2017

We propose an inter-leg collision avoidance method that compensates the disadvantage of the data-driven biped control method. The data-driven biped control technique proposed by Lee et. al [1] sometimes generates the movement that the two legs intersect with each other while walking, which can not be realized in walking of a real person or a biped robot. The proposed method changes the angle of the swing hip so that the swing foot can move inward only after passing the stance foot. This process introduces an additional angle adjustment algorithm to avoid collisions with the stance leg to the original feedback rule of the stance hip. It generates a stable walking simulation without any inter-leg collisions, by adding minimal changes and additional calculations to the existing controller behavior.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.37 no.5
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• pp.1-10
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• 2000

In this paper, we propose a Fuzzy Classifier System(FCS) makes the classifier system be able to carry out the mapping from continuous inputs to outputs. The FCS is based on the fuzzy controller system combined with machine learning. Therefore the antecedent and consequent of a classifier in FCS are the same as those of a fuzzy rule. In this paper, the FCS modifies input message to fuzzified message and stores those in the message list. The FCS constructs rule-base through matching between messages of message list and classifiers of fuzzy classifier list. The FCS verifies the effectiveness of classifiers using Bucket Brigade algorithm. Also the FCS employs the Genetic Algorithms to generate new rules and modify rules when performance of the system needs to be improved. Then the FCS finds the set of the effective rules. We will verify the effectiveness of the poposed FCS by applying it to Autonomous Mobile Robot avoiding the obstacle and reaching the goal.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.2
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• pp.154-160
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• 2017

In this paper, we studied the Bartlett method to correctly estimate the targets of a unmanned vehicles. The Bartlett method estimates the desired signals by making the gain constant for the received signal incident on the array antenna. In this paper, the weights of the Bartlett method are updated by applying the winner method and steepest descent method in order to estimation the accurate unmanned. The updated weights improve the resolution of the existing Bartlett method by applying optimal weights to all received signals received at the array antenna. Through simulation, we are comparative analysis about the performance of proposed method. From result of simulation, We showed the superior performance of the proposed method relative to the classical method, and Bartlett using steep descent method showed more superior than one using wiener method.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.2
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• pp.192-197
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• 2017

In this paper, image filter optimization method based on common sub-expression elimination is proposed for low-power image feature extraction hardware design. Low power and high performance object recognition hardware is essential for industrial robot which is used for factory automation. However, low area Gaussian gradient filter hardware design is required for object recognition hardware. For the hardware complexity reduction, we adopt the symmetric characteristic of the filter coefficients using the transposed form FIR filter hardware architecture. The proposed hardware architecture can be implemented without degradation of the edge detection data quality since the proposed hardware is implemented with original Gaussian gradient filtering algorithm. The expremental result shows the 50% of multiplier savings compared with previous work.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.5
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• pp.364-371
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• 2016

We developed a prediction model of assistance force for the opening/closing of an automobile door depending on the condition of the parking ground. The candidates of the learning models for the operating assistance force were compared to determine the proper force according to the slope and user's force, etc. The reduced experimental model was developed to obtain learning data for the estimation model. The learning algorithm was composed to predict the assistance force to incorporate real assistance force data. Among these algorithms, an Artificial Neural Network (ANN) and Support Vector Machine(SVM) were applied and the adaptability was compared between these models. The SVM provided more adaptability for the learning process of the door assistance force prediction. This paper proposes a system for determining the assistance force to control a door motor to compensate for the deviation of required door force in the slope condition, as needed in the plane condition.