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공정식,Kong, Jung-Shik 대한의용생체공학회 2010 의공학회지 Vol.31 No.2
This paper deals with the recognition algorithm of walking will based on torque estimation. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to control aids during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose walking will recognition algorithm by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Here, all the processes are verified by simulation and experiment in the real world.
헬스케어 로봇으로의 응용을 위한 음색기반의 감정인식 알고리즘 구현
공정식,권오상,이응혁,Kong, Jung-Shik,Kwon, Oh-Sang,Lee, Eung-Hyuk 한국전기전자학회 2009 전기전자학회논문지 Vol.13 No.4
음성신호는 화자에 대한 고유한 정보와 주변의 음향환경에 대한 정보는 물론 감정과 피로도 등 다양한 정보가 포함되어 있다. 이에 음성신호를 이용한 연구분야에서 감정 상태를 파악하기 위한 연구가 지속되어 왔다. 이에 본 논문에서는 화자의 감정을 인식하기 위해 ETSI의 3GPP2 표준코덱인 Selectable Mode Vocoder(SMV)를 분석한다. 이를 기반으로 감정 인식에 효과적인 특징들을 제안한다. 이후 선정된 특징 벡터를 이용하여 Gaussian Mixture Model(GMM) 기반의 감정 인식 알고리즘을 개발하고 Mixture component 개수를 변화시키면서 성능을 검증한다. This paper deals with feeling recognition from people's voice to fine feature vectors. Voice signals include the people's own information and but also people's feelings and fatigues. So, many researches are being progressed to fine the feelings from people's voice. In this paper, We analysis Selectable Mode Vocoder(SMV) that is one of the standard 3GPP2 codecs of ETSI. From the analyzed result, we propose voices features for recognizing feelings. And then, feeling recognition algorithm based on gaussian mixture model(GMM) is proposed. It uses feature vectors is suggested. We verify the performance of this algorithm from changing the mixture component.
유전알고리즘을 이용한 반도체식 가스센서 최적 필터 설계
공정식,Kong, Jung-Shik 한국금형공학회 2022 한국금형공학회지 Vol.16 No.1
This paper is about elimination the situation in which gas sensor data becomes inaccurate due to temperature control when a semiconductor gas sensor is driven. Recently, interest in semiconductor gas sensors is high because semiconductor sensors can be driven with small and low power. Although semiconductor-type gas sensors have various advantages, there is a problem that they must operate at high temperatures. First temperature control was configured to adjust the temperature value of the heater mounted on the gas sensor. At that time, in controlling the heater temperature, gas sensor data are fluctuated despite supplying same gas concentration according to the temperature controlled. To resolve this problem, gas and temperature are extracted as a data. And then, a relation function is constructed between gas and temperature data. At this time, it is included low pass filter to get the stable data. In this paper, we can find optimal gain and parameters between gas and temperature data by using genetic algorithm.
공정식(Jung-Shik Kong),이보희(Bo-Hee Lee),김진걸(Jin-Geol Kim) Korean Society for Precision Engineering 2006 한국정밀공학회지 Vol.23 No.7
This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.
프리플렉스 강재로 보강된 콘크리트 박스구조물 단절점부의 해석적 평가연구
공정식 ( Kong Jung-sik ),민대홍 ( Min Dae-hong ),김기암 ( Kim Ki-am ),조현덕 ( Jo Hyuen-duck ) 한국구조물진단유지관리공학회 2019 한국구조물진단유지관리공학회 학술발표대회 논문집 Vol.23 No.1
In this study, concrete box structure was analyzed for reinforcement of the corner using the proposed pre-flexed steel members, Numerical results confirmed that the proposed reinforcement method can enhance the load capacity of the concrete box structures.