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성격과 친밀도를 지닌 로봇의 일반화된 상황 입력에 기반한 감정 생성
권동수,박종찬,김영민,김형록,송현수,Kwon, Dong-Soo,Park, Jong-Chan,Kim, Young-Min,Kim, Hyoung-Rock,Song, Hyunsoo 대한임베디드공학회 2008 대한임베디드공학회논문지 Vol.3 No.2
For a friendly interaction between human and robot, emotional interchange has recently been more important. So many researchers who are investigating the emotion generation model tried to naturalize the robot's emotional state and to improve the usability of the model for the designer of the robot. And also the various emotion generation of the robot is needed to increase the believability of the robot. So in this paper we used the hybrid emotion generation architecture, and defined the generalized context input of emotion generation model for the designer to easily implement it to the robot. And we developed the personality and loyalty model based on the psychology for various emotion generation. Robot's personality is implemented with the emotional stability from Big-Five, and loyalty is made of familiarity generation, expression, and learning procedure which are based on the human-human social relationship such as balance theory and social exchange theory. We verify this emotion generation model by implementing it to the 'user calling and scheduling' scenario.
외란관측기를 바탕으로 $H_{\infty}$제어 방법을 이용한 수중 로봇 팔의 원격조종 제어기 설계
유지환,권동수,이판묵,홍석원,Ryu, Jee-Hwan,Kwon, Dong-Soo,Lee, Pan-Moon,Hong, Seok-Won 제어로봇시스템학회 2000 제어·로봇·시스템학회 논문지 Vol.6 No.7
This paper presents a robust and systematic bilateral controller design method for a teleoperation of an underwater manipulator. Disturbance observer is used as a local controller of the master and underwater slave manipulator to set up the teleoperation system as a nominal model by compensating coupled nonlinear terms model uncertainties and external disturbances in the water. Using the linearized master/slave model a $H_{\infty}$ optimal control scheme is applied to systematically construct a force reflecting bilateral controller.
비디오 에스노그래피를 이용한 서비스 로봇의 대기상태 행동패턴 연구
송현수 ( Hyun Soo Song ),김민중 ( Min Joong Kim ),정상훈 ( Sang Hoon Jeong ),석현정 ( Hyeon Jeong Suk ),권동수 ( Dong Soo Kwon ),김명석 ( Myung Suk Kim ) 한국감성과학회 2008 감성과학 Vol.11 No.4
현재 진행되고 있는 대부분의 로봇 연구는 특정한 목적을 수행함에 있어서 기능적으로 안정적이고 원활한 움직임을 보이는 것과 더불어 사용자가 원하는 정보를 적절하게 전달하는 것에 초점을 맞춰 진행하고 있다. 본 논문에서는 로봇의 작업수행 상태가 아닌 외부로부터 입력 값이 없는 대기상태의 행동패턴을 제시하여 보다 자연스러운 인간-로봇 상호작용을 제시하고자 하였다. 로봇의 대기상태 행동패턴을 디자인함에 있어서 비디오 판독 방법을 선택하였고, 실제 서비스업에 종사하는 10명의 사람들을 비디오로 녹화하여 사람들과 상호작용이 없는 대기상태의 반복적인 행동패턴을 관찰하였다. 각각의 비디오 데이터로부터 총 21개의 반복적 행동을 기록하였고, 비슷한 항목들을 통합하여 최종적으로 11개의 행동패턴을 추출하였다. 추출된 패턴들 가운데 6개의 대표적인 행동들을 EEEX라는 로봇에 적합하도록 인코딩 작업을 하였고, 이것들이 사람들에게 올바르게 인식되는지를 확인하기 위하여 검증실험을 수행하였다. 사람들은 대부분의 로봇 행동패턴을 실험에서 의도한 바와 같이 인식하였으나 로봇의 하드웨어 특성상 몸과 팔의 움직임에서 약간의 혼동 요소가 있었다. 추후 실험을 통해 EEEX를 대형 마트의 입구에 실제로 배치하여 대기 중에 중립행동을 보일 때와 보이지 않을 때의 손님의 관심도 차이를 조사해보고자 한다. In recent years, a large number of robots have been developed in several countries, and these robots have been built for the purpose to appeal to users by well designed human-robot interaction. In case of the robots developed so far, they show proper reactions only when there is a certain input. On the other hands, they cannot perform in a standby mode which means there is no input. In other words, if a robot does not make any motion in standby mode, users may feel that the robot is being turned-off or even out of work. Especially, the social service robots maintain the standby status after finishing a certain task. In this period of time, if the robots can make human-like behavioral patterns such like a person in help desk, then they are expected to make people feels that they are alive and is more likely to interact with them. It is said that even if there is no interaction with others or the environment, people normally reacts to internal or external stimuli which are created by themselves such as moving their eyes or bodies. In order to create robotic behavioral patterns for standby mode, we analyze the actual facial expression and behavior from people who are in neutral affective emotion based on ethnographic methodology and apply extracted characteristics to our robots. Moreover, by using the robots which can show those series of expression and action, our research needs to find that people can feel like they are alive.
만성신부전 환자에서 신이식 전후의 골수소견 및 생체외 CFU - GM 에 관한 연구
김홍기(Hong Khee Kim),방동수(Dong Soo Bang),이기영(Khee Yong Lee),권오선(Oh Sun Kwon),이태원(Tae Won Lee),임천규(Chun Kyu Im),윤휘중(Hwi Joong Yoon),조경삼(Kyung Sam Cho),김명재(Myung Jae Kim) 대한내과학회 1987 대한내과학회지 Vol.33 No.4
N/A We have studied bone marrow finding and inhibitory effect on the CFU-GM culture in 8 patients with chronic renal failure who had been treated with renal transplantation. Tho following results were observed, 1) There was not alteration on neutrophil count in peripheral blood but increased cellularity of bone marrow and decreased M/E ratio were observed after renal transplantation. 2) There was no difference of the CFU-GM colony count of bone marrow cell itself before and after renal transplantation. 3) The effect of serum of the patients on the CFU-GM culture showed no difference before and after renal transplantation, 4) The CFU-GM colony count did not correlate with the duration of renal failure and hemodialysis, level of renal function, or neutrophil count in petipheral blood Therefore, the results suggest that erythropoiesis can be improved, but there is no significant change in effect on the CFU-GM colony count after renal transplantation.