• 조명전기설비학회논문지
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• 제23권1호
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• pp.156-161
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• 2009

본 논문에서는 카메라 렌즈에서 흔히 발생할 수 있는 렌즈의 왜곡에 의한 화상을 보정하고, 로봇 좌표를 인식하기 위해 사용하는 패치의 변경에 의한 로봇의 위치 및 각도오차를 줄여 축구로봇 시스템의 성능 개선에 대한 새로운 방법을 제시한다. 그리고 렌즈의 왜곡 중 기하학적인 왜곡을 보정하여 로봇의 위치오차를 줄여 실시간 환경인 축구로봇 시스템에 적용한다. 로봇의 인식과 로봇의 좌표 및 방향을 판별하기 위하여 사용하는 패치는 그 모양에 따라 로봇이 가지게 되는 위치오차와 각도오차가 발생하게 된다. 본 논문에서는 개선한 로봇패치에 따른 로봇의 위치 및 각도 오차를 줄이는 방법을 제안하고 실험을 통하여 이를 검증하였다.

• 제어로봇시스템학회논문지
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• 제10권9호
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• pp.825-832
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• 2004

A small biped robot system is designed and implemented. The robot system consists of a mechanical robot body, a control system, a sensor system, and a user interface system. The robot has 12 dofs for two legs, 6 dofs for two arms, 2 dofs for a neck, so it has total 20 dofs to have dexterous motion capability. The implemented robot has the capability of performing intelligent actions such as playing soccer, resisting external forces, and walking on a slope terrain. In this paper, we focus on the robot's capability of playing soccer. The robot uses a color CCD camera attached on its head as a sensor for playing soccer. To make the robot play soccer with only one camera, an algorithm, which consists of searching, localization, and motion planning, is proposed and experimented. The results show that the robot can play soccer successfully in the given environments.

• International Journal of Control, Automation, and Systems
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• 제1권2호
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• pp.236-242
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• 2003

This paper presents a cooperation strategy between a human operator and autonomous robots for an interactive robot soccer game, The interactive robot soccer game has been developed to allow humans to join into the game dynamically and reinforce entertainment characteristics. In order to make these games more interesting, a cooperation strategy between humans and autonomous robots on a team is very important. Strategies can be pre-programmed or learned by robots themselves with learning or evolving algorithms. Since the robot soccer system is hard to model and its environment changes dynamically, it is very difficult to pre-program cooperation strategies between robot agents. Q-learning - one of the most representative reinforcement learning methods - is shown to be effective for solving problems dynamically without explicit knowledge of the system. Therefore, in our research, a Q-learning based learning method has been utilized. Prior to utilizing Q-teaming, state variables describing the game situation and actions' sets of robots have been defined. After the learning process, the human operator could play the game more easily. To evaluate the usefulness of the proposed strategy, some simulations and games have been carried out.

• International Journal of Control, Automation, and Systems
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• 제1권2호
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• pp.243-251
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• 2003

In this paper, a new model for mobile soccer robot, a type of linear system, is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and plant be well conditioned and the outer loop is a well-known PI controller designed for tracking the reference input, is suggested. Because the plant, the soccer robot, is parameter dependent, it requires the controller to be insensitive to the parameter variation. To achieve this objective, the pole-sensitivity as a pole-variation with respect to the parameter variation is defined and design algorithms for state-feedback controllers are suggested, consisting of two matrices one of which is for general pole-placement and other for parameter insensitive. This paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ cost. By using these properties, we suggest a tuning procedure for the PI controller. We that the control algorithm in this paper, based on the linear system theory, is well work by simulation, and the LPD system modeling and control are more easy treatment for soccer robot.

• 한국운동역학회지
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• 제19권4호
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• pp.617-625
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• 2009

The primary purpose of this study was to compare the hamstring-to-quadriceps strength(H/Q) ratios in collegiate soccer players and normal age-matched healthy students, and the secondary purpose was to investigate the changes in the H/Q ratio according to the degree of knee flexion. Twenty-five subjects volunteered to participate in this study. The study group comprised 12 healthy male collegiate soccer players, and the control group, 13 healthy age-matched male collegiate students. The modified N-K table was used for isometric strength measurement(unit: N). Mann-Whitney tests were performed to determine the differences in the H/Q ratios of soccer players and age-matched students at different knee flexion angles of the dominant leg. The strength of the hamstring muscle in the study group was significantly lower than that observed in the control group at knee flexion angles of $60^{\circ}$ (p<.001), $90^{\circ}$ (p<.01), and $120^{\circ}$ (p<05). The strength of the quadriceps muscle in the study group was significantly higher than that observed in the control group at flexion angles of $30^{\circ}$ (p<.001) and $60^{\circ}$ (p<.05). The H/Q ratios in the study and control groups differed significantly at all angles ($60^{\circ}$, p<.001, $90^{\circ}$, p<.001 and $120^{\circ}$, p<.001).

• 대한통합의학회지
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• 제5권3호
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• pp.49-55
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• 2017

Purpose: The purpose of this study was to investigate effect of open kinetic chain exercise on the motor function of the lower limb in middle school soccer players. Method: The subjects consisted of 14 soccer players who attend middle school in Gwangju. All subjects received open kinetic chain exercise for 3 weeks. The muscle strength of the ankle was measured by a commander muscle tester. Postural control ability was measured using a hopping test. All measurements for each subject were conducted pre-intervention and 3 weeks post-intervention. Result: There were significant differences post-intervention in the muscle strength and-the postural control ability of the open kinetic chain exercise group(p<.05). Conclusion: Open kinetic chain exercise had a significant positive effect on the motor function of the lower limb in soccer players. Therefore, open kinetic chain exercise may prevent and resolve injury with careful management while soccer players are training or playing games. It could be helpful to extend the lives of athletes and improve their records.

• 대한임상전기생리학회지
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• 제10권1호
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• pp.45-52
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• 2012

Purpose : This study is carried out to investigate the effect of asymmetric exercises on soccer players' vertebral abnormality and weight bearing. Methods : A total of 40 soccer players were divided into either a group of 20 players who use a unilateral foot or a group of 20 players who use both feet. 3-dimensional spine structure analyzer was used to analyze body inclination, pelvic inclination, pelvic torsion, turning of spinal segment, spinal curvature, thoracic kyphosis curvature, lumbar lordosis curvature, left/right weight distribution, and front/back weight distribution. Results : The result of the two groups showed that there were significant differences (p<0.05) for every item except turning of spinal segment and lumbar lordosis curvature. Conclusion : From this result, we can find that spinal and pelvic deformity and body weight are unilaterally supported for soccer players with asymmetric exercises.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -2
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• pp.727-730
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• 2000

Recently, RoboCup soccer simulation has been regarded as a good benchmark problem for multiagent researches. Soccer agents have to make decision based on visual and auditory information, which are sent from the soccer server. In order to develop a strong team, we have to design decision-making process of each player agent. However, it is very difficult for us to design the decision-making processes in detail, because we don't know what actions of each player are effective for the team. In this paper, we attempt to apply co-evolutionary method, which is one type of analogies of evolution, to improve the team play. Agents have hand coded basic skills, which include dribble, shoot, pass etc. Agents already can play autonomously and independently. Individual agent skills are characterized by some parameters. By coevolving teams with these parameters, we obtained relatively interesting teams, in which players behave cooperatively in order to win the soccer game. From some experiments, we discuss what teams are evolved.

• PNF and Movement
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• 제18권1호
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• pp.87-95
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• 2020

Purpose: The purpose of this study was to investigate the effect of whole-body vibration training on the flexibility and agility of professional soccer players. Methods: Sixteen professional soccer players participated voluntarily in the study. Subjects were allocated to two groups: the experimental group received whole-body vibration (WBV) and team training, and the control group received only team training. Team training was conducted in 15 sessions of 70 min duration over 3 weeks. WBV training was applied at 40 Hz frequency, 5 sets (1 min-training, 1 min-resting) in a squatting position. Outcomes from sit-and-reach, side-step test, burpee test, and T-test were measured before and after training. To examine pre- and post-intervention differences between the two groups, a paired t-test was used. Independent t-tests were performed to compare pre- and post-test scores and the time difference of the two groups. Results: Significant improvements in sit-and-reach and agility variables were observed in the experimental group (p < 0.05). In particular, flexibility (sit-and-reach) and agility (the side-step test and the burpee test) were significantly different between the two groups (p < 0.05). Conclusion: These findings suggest that whole-body vibration training has a positive effect on performance enhancement for professional soccer players.

• Advances in Computational Design
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• 제7권4호
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• pp.297-319
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• 2022

Due to their natural and social revelation, also their ease and flexibility, human collective behavior and teamwork sports are inspired to introduce optimization algorithms to solve various engineering and scientific problems. Nowadays, meta-heuristic algorithms are becoming some striking methods for solving complex real-world problems. In that respect in the present study, the authors propose a novel meta-innovative algorithm based on soccer teamwork sport, suitable for optimization problems. The method may be referred to as the Soccer League Optimization-based Championship Algorithm, inspired by the Soccer league. This method consists of two main steps, including: 1. Qualifying competitions and 2. Main competitions. To evaluate the robustness of the proposed method, six different benchmark mathematical functions, and two engineering design problem was performed for optimization to assess its efficiency in achieving optimal solutions to various problems. The results show that the proposed algorithm may well explore better performance than some well-known algorithms in various aspects such as consistency through runs and a fast and steep convergence in all problems towards the global optimal fitness value.