Sangbum Park

Fuzzy Controller based Biped Robot Balance Control using 3D Image

In this paper, we propose a balance control algorithm based on fuzzy controller using 3D (Dimensional) geometric information obtained from sequential images. The pose of a biped robot is acquired from image information instead of different sensors, and this pose information is used for fuzzy controller to keep biped robot in a stable balanced condition. Initially, the camera mounted on the head of robot obtains the pose information of the target object while walking. We acquired corresponding points between characteristic features on the target object and CAD (Computer Aided Design) information in DB (Data Base) using SURF (Speeded Up Robust Features) algorithm. Three arbitrary features from SURF algorithm are able to generate a virtual plane, which represent the geometric information of the target objects pose data. The camera pose information for the target object is calculated using pose information derived from the virtual planes. As the camera pose information is related to pose of a biped robot, we can easily get the pose information of a biped robot. With this the difference between current and desired pose of a biped robot is obtained. This difference is used as input data for the fuzzy controller. The fuzzy controller keeps the biped robot in stable pose using the recent pose and velocity of a biped robot. The efficiency of the proposed algorithm has been proven by the experiments performed on even floor using a mini humanoid robot.

Multiple face tracking using kalman estimator based color SSD algorithm

This paper proposes a new tracking algorithm using the Kalman estimator based color SSD algorithm. The Kalman estimator includes the color information as well as the position and size of the face region in its state vector, to take care of the variation of skin color while faces are moving. Based on the estimated face position, the color SSD algorithm finds the face matching with the one in the previous frame even when the color and size of the face region vary. The features of a face region extracted by the color SSD algorithm are used to update the state of the Kalman estimator. In the experiments, it has been shown that the proposed algorithm traces multiple faces successfully even when they are overlapped for a moment.

A Study on the Characteristics of Electroencephalography (EEG) by Listening Location of OLED Flat TV Speaker

Along with the development in OLED TV panel manufacturing technology, the thickness of the panel is thinned, and the durability is also improved. It is also possible to generate sound by directly driving the panel. In this study, we have analyzed the acoustic characteristics of a directly driving the OLED panel speakers, using electroencephalography (EEG), in addition study the advantages of direct driving sound. For the experiment, we found that it is important that the two focal points coincide with each other through the EEG analysis when the focus of the screen and the focus of the sound are changed by adjusting the sound generated by the position in the OLED flat panel TV speaker. OLED TV with direct drive speakers has a basic effect of matching the positions of the screen and sound. This is because the direction of the sound and the direction of the screen coincide with the viewers of the TV, so that the stress is less and the viewing is comfortable compared to the conventional TV. The acoustic characteristics of proposed OLED speakers are high in resolution. And the sound quality is better than ordinary TVs, because of direct transferred sound instead of listening to reflections or difference sound sources compared with.

An acoustic analysis of Arirang, a representative folk song of Korea

Arirang, a representative folk song of Korea, became inscribed on the Representative List of the Intangible Cultural Heritage of Humanity program by UNESCO in 2012. Since then, the Korean government as well as some Korean private sector companies have been promoting the song and its unique feelings in melody and lyrics drawn from Korea’s own historical backgrounds. This study presents an acoustic analysis of Arirang from a psychoacoustic point of view, first concerning its rhythm/tempo and second concerning its acoustic characteristics found in certain vowels and consonants in lyrics. Since Arirang has so many versions according to different regional origins in Korea, Arirang can produce contradictory feelings to its listeners depending on its version as well as its tempo. In general, when played slowly, the listeners may feel sad and compassionate, but when played fast the listeners may feel cheerful and even excited. As far as its lyrics are concerned, certain vowels and consonants evoke special feeling...

The 3D Geometric Information Acquisition Algorithm using Virtual Plane Method

This paper presents an algorithm to acquire 3D geometric information using a virtual plane method. The method to measure 3D information on the plane is easy, because it’s not concerning value on the z-axis. A plane can be made by arbitrary three points in the 3D space, so the algorithm is able to make a number of virtual planes from feature points on the target object. In this case, these geometric relations between the origin of each virtual plane and the origin of the target object coordinates should be expressed as known homogeneous matrices. To include this idea, the algorithm could induce simple matrix formula which is only concerning unknown geometric relation between the origin of target object and the origin of camera coordinates. Therefore, it’s more fast and simple than other methods. For achieving the proposed method, a regular pin-hole camera model and a perspective projection matrix which is defined by a geometric relation between each coordinate system is used. In the final part of this paper, we demonstrate the techniques for a variety of applications, including measurements in industrial parts and known patches images.