Hyun-Gu Lee

Paternity probability when a relative of the father is an alleged father.

When scientists use DNA evidence in court, coancestry effects such as population structure and relatedness are usually ignored. In paternity cases, only if a particular man has the childs paternal allele at a certain locus, can he not be excluded in the paternity dispute. However, it is certainly true that close relatives will be far more likely to have the childs paternal allele than will random members of the reference population. In particular, the probability that the true fathers brother has the paternal allele is very much greater than that for any other relationship. In this paper, the authors describe a method for inference in a case where the true father may be a relative of the alleged father. This paper also reports that most current methods overstate the probability that the alleged father is the father.

New architecture for mobile robots in home network environment using Jini

In this paper, by using network protocol Jini, we propose an advanced resource sharing architecture (RSA) for a mobile robot. We made several services with all resources around the robot by using Jini. There is a task managing service for a certain task, and the service uses other service to perform a task as well as make a new service of other services. To verify our architecture we built a simple experimental space. In this space we performed the experiments such as a detection of desired objects, path generation and motion control for a robot, obstacle avoidance, and so on. Experimental results show that the mobile robot with our advanced RSA performs various tasks successfully.

A design of a data accessing service for a real-time vision service in the resource sharing architecture

A resource sharing architecture (RSA) is a robot architecture for a mobile robot in a networked and intelligent space. A robot based on a RSA performs its tasks by sharing many external resources around it and thus has a simple, flexible and low priced structure. However, RSA has a problem as it must guarantee a real-time condition, because it is designed to use the network protocol JINI. For an example, a time delay occurs in transferring data from a vision service to a robot control service. In this paper, we propose a data accessing service (DAS) to solve this problem. It is a service of a network protocol JINI, which transfers data between two services. Its basic function is to find a data source service that a data destination service needs, and after doing this, the DAS transfers data between two services using not JINI, but another network protocol such as TCP/IP or UDP. As a result, we can reduce the time delay to access data. Some experimental results show the validity of our proposition.

Occupant Classification for Smart Airbag Using Stereovision and Support Vector Machines

Airbag in the cars plays an important role for the safety of occupants. However, Highway Traffic Safety report shows that many occupants are actually killed by wrong deployment of the airbags. For reducing risk caused by airbag, designing a smart airbag is an important issue. The present paper describes an occupant classification system, by which triggering of the airbag deployment can be controlled. The system consists of a pair of stereo cameras and a SVM classifier. Performance of the system shows its feasibility as a vision-based airbag controller.

Human machine interface with augmented reality for the network based mobile robot

The human-machine interface is an essential part of intelligent robotic system. Through the human-machine interface, human being can interact with the robot. Especially, in tele-robotics environment, the human-machine interface can be developed with remarkable extended functionality. In this paper, we propose a human-machine interface with augmented reality for the network based mobile robot. Generally, we can take some meaningful information from humans motion such as movement of head or fingers. So, it is very useful to take these motions as input for systems. We synchronize head motion of human being and the camera motion of the mobile robot using visual information. So user of the mobile robot can monitor environment of the mobile robot as eyesight of mobile robot. Then we use gesture recognition for control the mobile robot. In the implemented framework, the user can monitor what happens in environment as eyesight of mobile robot and control the mobile robot easily and intuitively by using gesture.

Pose Classification of Car Occupant Using Stereovision and Support Vector Machines

Airbag in the cars plays an important role for the safety of occupants. However, Highway traffic safety report shows that many occupants are actually killed by wrong deployment of the airbags. For reducing risk caused by airbag, designing a smart airbag is an important issue. The present study describes an occupants’ pose classification system, by which triggering and intensity of the airbag deployment can be controlled. The system consists of a pair of stereo cameras and a SVM classifier. Performance of the system shows its feasibility as a vision-based airbag controller.

Task management of robots for the automatic construction

Construction automation systems and construction robots are needed because of social request for aging, skill worker shortage, safety, etc. According as many kinds of construction robots and automation systems apply to many construction sites, it is very important to systematize construction process through analysis of the construction process. And task management of robots for the automatic construction is important as well. In this paper, we introduce construction process for the automatic steel frame fabrication. And in the case where robots apply to, we describe how to manage task of the robots for the automatic construction. We present simulation results for task management of robots.

Human interface for the robot control in networked and multi-sensored environment

In this paper, we propose a human-robot interface in networked and multi-sensored environments. The human robot interface is an essential part of intelligent robotic system. Through the human robot interface, human being can interact with the robot. Especially, in multi-sensored environment, the human robot interface can be developed with remarkably extended functionality. Generally, handheld device such as PDA is a suitable for human robot interface because of its mobility and network ability. In this paper, we select PDA as device of human robot interface. In the implemented framework, the robot user can monitor what happens in multi-sensored environment and control the mobile robot easily and intuitively.

A stereovision based advanced airbag system

Occupant classification in the car is an essential issue for an advanced airbag system. The present paper describes a stereovision based occupant classification system (OCS) within an embedded system, by which triggering of the airbag deployment can be intelligently controlled. The embedded system consists of dual Digital Signal Processors; one is for stereo matching algorithm and the other is for calculating an SVM algorithm for the OCS. Performance was evaluated using our stereo image database. Results suggest that the system is satisfactory as an embedded OCS system.