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Solid-State LiDAR 기반 밭 농업용 자율주행 로봇의 두둑 감지를 통한 실시간 주행 경로 생성 알고리즘
백승범(Seungbeom Baek),김봉상(Bongsang Kim),이재욱(Jaewook Lee),문희창(Heechang Moon) 제어로봇시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.2
Autonomous robots driving in agricultural environments need to create accurate routes to prevent damaging farmland. Herein, a real-time path planning algorithm based on ridge detection using the Livox Mid70 LiDAR is proposed. The field has a steep slope between the furrow and the ridge, and we find data corresponding to this slope from the lidar data. Using two Mid70 LiDARs, we collect the left and right slope data and linearly fit the slope data using the RANSAC algorithm. Finally, the driving route is obtained from the average of the two straight lines. To verify the algorithm, the steering angle needed to follow the driving path was calculated, and an autonomous driving test was conducted in the actual field environment: it was observed that the robot drove stably. Additional tests will be conducted in more rugged terrain.
백승범 ( Seungbeom Baek ),김용휘 ( Yonghwi Kim ) 한국정보처리학회 2017 한국정보처리학회 학술대회논문집 Vol.24 No.2
본 연구에서는 Java기반 Android App과 라즈베리파이 보드를 기반으로 Wi-fi 통신을 통해 스마트폰과 라즈베리파이를 연동하여 집안의 커튼, 전구, 카메라 등과 같은 기기들을 제어하는 시스템을 구현하는 방법을 제시하였다. 기존의 가정의 전구와 커튼과 같은 전자기기들을 스마트폰을 통하여 자택에서 편안하게 제어할 수 있으며 향후 지어지는 신축 아파트들이나 병원과 같은 시설에서 이러한 IoT 기술이 접목될 가능성이 있기 때문에 라즈베리파이와 하드웨어를 연동하여 가정기기를 제어하는 시스템을 구현하였다.
어포던스 이론 기반 인터렉티브 VR 영화의 특성 및 요소 연구
백승범 ( Baek Seungbeom ),한정엽 ( Han Jungyeob ) 한국공간디자인학회 2020 한국공간디자인학회논문집 Vol.15 No.8
(Background and Purpose) The number of VR films has been increasing steadily, as well as the number of domestic and overseas film festivals. In addition, interactive VR films that allow the user interaction have recently attracted attention. As interactive VR films reflect user's interaction in real time within the story experience, the affordance that induces user’s natural behavior in the film needs to be effectively designed. Thus, this study aimed to investigate characteristics and elements of affordance-based interactive VR films by applying affordance theory to interactive VR films. (Methodology) The concept and characteristics of affordance theory have been defined differently by different researchers. This study aimed to investigate the affordance for inducing the behaviors of interactive VR films users, thus placing the focus of discussion on Hartson's theory, which links user's behavior stages with affordance and subdivides the classification. Moreover, this study derived an analysis frame by reflecting the characteristics of VR films based on the analyses from preceding studies that incorporated Hartson’s theory, and it applied the derived frame to each case to examine the characteristics and elements. (Results) Based on theoretical consideration, affordance of interactive VR films was classified into cognitive, physical, sensory, and functional affordance, and a total of four cases were selected and analyzed. Cognitive affordance factors, analyzed through representative examples, included icon arrangement, object movement, and event arrangement in front of user, dynamic object movement, character directing, and lighting representation, and had the characteristics of strengthening mainly the discoverability, distinction, and attention of user to increase the ease of recognizing the story contents. Physical affordance factors included guidance and control of user’s position movement, virtual hand, and reinforcement of virtual body behavior, and it had the characteristics of increasing the position accessibility of user to aid in the object manipulation and physical behavior. Sensory affordance factors included large text, color, haptic effects, dynamics, and real-time graphic elements, and showed the characteristics of strengthening mainly cognitive affordance and physical affordance through the senses. Finally, functional affordance factors included system warning information and menus, as well as the experience mode and environment control, and they had the characteristics of adjusting user’s experience environment easily through system functions. (Conclusion) Interactive VR films utilized the affordance actively to induce or facilitate users' interactions within films, suggesting that affordance designing is crucial for production of interactive VR films. Furthermore, consistent affordance designing in each work was found to be important. Finally, further research into affordance theories, reflecting the characteristics of interactive VR films, will be required.
내장 그래픽 칩 기반 머신 러닝과 딥러닝의 알고리즘 융합을 활용한 실시간 교통 신호인지
이재욱(Jaewook Lee),백승범(Seungbeom Baek),최은지(Eunji Choi),문희창(Heechang Moon) 제어로봇시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.2
The recognition of traffic light in unmanned autonomous driving is one of the key functions. In general, to achieve this goal, deep learning and image processing technology are mainly used in autonomous driving industry. Both technologies have high recognition rates alone, but misrecognition can occur because of interference of the environment. misrecognitions are considered important problem because it may lead to big accidents. In this paper, we suggest using machine learning based on LabVIEW and deep running grounded in Python to increase recognition rate at intersection. By using both technologies, we can minimize the impact of the environment on traffic light recognition and reduce misrecognition.