• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2022년도 춘계학술대회
• /
• pp.686-687
• /
• 2022

기존의 의류 상품 검색은 텍스트 검색만으로 가능하여 사용자가 찾고자 하는 상품 검색이 제대로 이루어지지 않고, 원하는 상품 검색을 하기 위해 많은 시간이 걸렸다. 또한 소호몰 상품과 같이 브랜드 없는 상품 판매처를 알기 어려웠으며 패션 상품의 디테일한 속성을 검색하기도 어려웠다. 이를 해결하기 위해 학습된 이미지 검색을 통해 사용자가 원하는 정확한 정보를 검색할 수 있는 딥러닝 기법을 제안하고자 한다.

• 한국컴퓨터정보학회논문지
• /
• 제19권12호
• /
• pp.21-29
• /
• 2014

본 논문에서는 효율적인 로봇공연시스템(RPS:Robot Performance System)을 제안한다. 본 논문에서 제안하는 로봇공연시스템은 외부 음향재생장치의 도움 없이 휴머노이드 로봇 몸체에 개발한 사운드보드를 삽입하여 음향을 재생하고 공연에 필요한 음원을 사운드보드내의 외부기억장치에 기억할 수 있도록 하드웨어를 개발하였다. 또한 공연 기획 시나리오 생성 전문 소프트웨어인 RPPDP(Robot Performance Planning Development Program)를 개발하였는데, RPPDP를 이용하면 기존에 개발된 로봇의 기본동작, 응용동작 및 특별한 상황에 적용되는 동작 등을 모션데이터베이스에서 검색하여 사용할 수 있어서, 적은 비용과 짧은 시간으로 누구나 쉽게 로봇공연을 기획할 수 있도록 하였다.

• 로봇학회논문지
• /
• 제4권4호
• /
• pp.265-272
• /
• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• 제어로봇시스템학회논문지
• /
• 제17권2호
• /
• pp.108-115
• /
• 2011

This paper describes a new sensor system for mobile robot motion estimation using stereo infrared light sources and a camera. Visibility is being applied to robotic obstacle avoidance path planning and localization. Using simple visibility computation, the environment is partitioned into many visibility sectors. Based on the recognized edges, the sector a robot belongs to is identified and this greatly reduces the search area for localization. Geometric modeling of the vision system enables the estimation of the characteristic pixel position with respect to the robot movement. Finite difference analysis is used for incremental movement and the error sources are investigated. With two characteristic points in the image such as vertices, the robot position and orientation are successfully estimated.

• 로봇학회논문지
• /
• 제11권4호
• /
• pp.235-241
• /
• 2016

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 1997년도 춘계학술대회 학술발표 논문집
• /
• pp.259-262
• /
• 1997

This paper presents a visual servoing of RV-M2 robot manipulators to track and grasp moving object, using pruned dynamic recurrent neural networks(DRNN). The object is stationary in the robot work space and the robot is tracking and grasping the object by using CCD camera mounted on the end-effector. In order to optimize the structure of DRNN, we decide the node whether delete or add, by mutation probability, first in case of delete node, the node which have minimum sum of input weight is actually deleted, and then in case of add node, the weight is connected according to the number of case which added node can reach the other nodes. Using evolutionary programming(EP) that search the struture and weight of the DRNN, and evolution strategies(ES) which train the weight of neuron, we pruned the net structure of DRNN. We applied the DRNN to the Visual Servoing of a robot manipulators to control position and orientation of end-effector, and the validity and effectiveness of the pro osed control scheme will be verified by computer simulations.

• 로봇학회논문지
• /
• 제13권2호
• /
• pp.121-128
• /
• 2018

Obstacle avoidance is one of the most important parts of autonomous mobile robot. In this study, we proposed safe and efficient local path planning of robot for obstacle avoidance. The proposed method detects and tracks obstacles using the 3D depth information of an RGB-D sensor for path prediction. Based on the tracked information of obstacles, the paths of the obstacles are predicted with probability circle-based spatial search (PCSS) method and Gaussian modeling is performed to reduce uncertainty and to create the cost function of caution. The possibility of collision with the robot is considered through the predicted path of the obstacles, and a local path is generated. This enables safe and efficient navigation of the robot. The results in various experiments show that the proposed method enables robots to navigate safely and effectively.

• EDISON SW 활용 경진대회 논문집
• /
• 제5회(2016년)
• /
• pp.384-388
• /
• 2016

This paper proposed a m.Sketch to search the optimal link lengths for a legged walking robot. In order to apply the m.Sketch for the proposed, set the design parameters of the constraints and use the m.Skecth to get optimal GL(Groud Length) and GAC(Ground Angle Coefficient). The legged robot designed based on four-bar linkage theory and Theo Jansen mechanism. The stride length of the legged walking robot was defined based on the proposed kinematic analysis. Use the Edison Design m.Sketch simulate and find the optimal link length having the best of the Ground Length (GL) and Ground Angle Coefficient(GAC). And use these length implemented the Theo Jansen mechanism both in Science box parts and acrylic. In addition to the further expansion of the legs to reach the goaltranslating heavy objects or person.

• 로봇학회논문지
• /
• 제1권1호
• /
• pp.9-16
• /
• 2006

The Mobile robots are increasingly being used to perform tasks in unknown environments. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently search in an environment. An algorithm has been developed for robots which explore the environment to measure the physical properties (dust in this paper). While the robot is moving, it measures the amount of dust and registers the value in the corresponding grid cell. The robot moves from local maximum to local minimum, then to another local maximum, and repeats. To reach the local maximum or minimum, simple gradient following is used. Robust estimation of the gradient using perturbation/correlation, which is very effective when analytical solution is not available, is described. By introducing the probability of each grid cell, and considering the probability distribution, the robot doesn't have to visit all the grid cells in the environment still providing fast and efficient sensing. The extended algorithm to coordinate multiple robots is presented with simulation results.

• 한국자동차공학회논문집
• /
• 제2권6호
• /
• pp.57-65
• /
• 1994

A collision-free path planning algorithm between an articulated robot and polyhedral obstacles using configuration space is presented. In configuration space, a robot is treated as a point and obstacles are treated as grown forbidden regions. Hence path planning problem is transformed into moving a point from start position to goal position without entering forbidden regions. For mapping to 3D joint space, slice projection method is used for first revolute joint and inverse kinematics is used for second and third revolute joint considering kinematic characteristics of industrial robot. Also, three projected 2D joint spaces are used in search of collision-free path. A proper example is provided to illustrate the proposed algorithm.