Seok Won Bang CONTACT INFORMATION EDUCATION. Principal Research Engineer. The Robotics Institute Carnegie Mellon University

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1 Seok Won Bang Principal Research Engineer The Robotics Institute Carnegie Mellon University 5000 Forbes Avenue, Newell Simon Hall A408B Pittsburgh, Pennsylvania CONTACT INFORMATION Tele Phone Office: Home: Cellular: s EDUCATION Sep Ph.D. ~ Aug Electrical and Electronics Engineering Korea Advanced Institute of Science & Technology, Daejeon, Korea Advisor: Prof. Myungjin Chung Thesis: Omnidirectional range and intensity data based indoor mobile Robot navigation Mar M.S. ~ Aug Electrical and Electronics Engineering Korea Advanced Institute of Science & Technology, Seoul, Korea Advisor: Prof. Myungjin Chung Thesis: Implementation of vision system for mobile robot using pulse phase difference & structured light Mar B.S. ~ Aug Electrical Engineering, Seoul National University, Seoul, Korea Seok Won Bang Curriculum Vitae 1

2 PROFESSIONAL EXPERENCES Jan Engineer V ~ Present The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania US Research Topics Mono-Vision Based Vehicle & Bike Detection for Autonomous Driving Assistant System (ADAS) Structure from Motion (SfM)-based Object Detection & Dynamic Calibration for Around View Monitor (AVM) System 3D Perception and Robot Navigation Technology for Unstructured Environment (PERCEPTRON) Oct Visiting Scholar ~ Dec.2011 The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania USA Key Results Multimodal Image Camera Multimodal Image Based 3D SLAM for Robot Navigation Oct Principal Research Engineer ~ Sep The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania USA Key Results Hybrid Visual Landmark Based Simultaneous Localization and Mapping (HVL-SLAM) for Hospital Service Robot Technology Roadmap of Consumer Robotics Apr Visiting Scholar ~ Sep The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania USA Jan Robot Navigation Group Project Leader (GPL) ~ Feb Micro Systems Lab Samsung Advanced Institute of Technology (SAIT) Yongin-Si, Gyeonggi-Do, Korea Seok Won Bang Curriculum Vitae 2

3 Key Results Embedded Ceiling s Visual features based Simultaneous Localization and Mapping (CV-SLAM) Module Embedded Dead Reckoning Module Using MEMS Gyro and Accelerometer 3D Structure Recognition System for Welding/Painting and Obstacle Detection for Large Ship Building Jan Home Care Agent Program Leader ~ Dec Interaction Lab Samsung Advanced Institute of Technology (SAIT) Yongin-Si, Gyeonggi-Do, Korea Key Results 2D Range Sensing Module Using Structured Laser Light Range Data Based Active Localization Algorithm One Click UI Device for Target Positioning of Robot Movement 3D Graphic Simulator for Robot Navigation Algorithm Jan Context Aware for Home Service Robot Project Leader ~ Dec Human Computer Interaction Lab Samsung Advanced Institute of Technology (SAIT) Key Results Indoor Robot Localization Using Visual Feature on the Ceiling Sound Source Localization for Finding Speaker Moving People Detection & Tracking Aug Intelligence for Human Robot Interaction Project Leader ~ Dec Human Computer Interaction Lab Samsung Advanced Institute of Technology (SAIT) Yongin-Si, Gyeonggi-Do, Korea Key Results Human Robot Interaction System Design and Integration Aug Emotion Recognition Using Physiological Signal Project Leader ~ Dec Human Computer Interaction Lab, SAIT Yongin-Si, Gyeonggi-Do, Korea Key Results Human Emotion Recognition Using Physiological Signals Stress Monitoring System for Personal Digital Assistant (PDA) Seok Won Bang Curriculum Vitae 3

4 Potable Body Fat Measuring Device Sep Research Engineer ~ Jul Electric Technology Team Samsung Motors Research Center Yongin-Si, Gyeonggi-Do, Korea Research Topics Collision Avoidance and Auto Cruising System Electrical Controlled Suspension (ECS) Controller Auto Transmission Control Unit (TCU) Strategy Planning of Hybrid Electric Vehicle (HEV) Seok Won Bang Curriculum Vitae 4

5 ROBOT SYSTEM DEVELOPING EXPERIENCES (as a project leader) Feb Hauzen RE70V - World s first vacuum cleaning robot product using natural ceiling images - - Samsung is selling this robot from Feb Joint development with Samsung Home Appliance Department - Embedded CV- SLAM robot navigation module is applied - Localization based optimal path planning - Auto return to charging station at any place Oct Oct Nov Nov Home Security & Cleaning Robot - Presented at Samsung Tech. Fair Embedded CV- SLAM robot navigation module is applied - Intruder detection using structured laser light - Auto navigation for patrol - Tele-operation & monitoring through Internet Samsung Premium Cleaning Robot - Prototype of Samsung Premium Cleaning Robot product - Joint Development with Samsung Home Appliance Department - Mapping cleaning using the 2D range sensor and UWB range sensor - One-click positioning UI, Extra corner vacuum cleaner SHR SAIT Home Robot Series3 - Presented a Samsung Tech. Fair Joint development with Samsung Mechatronics Center - Navigation using natural visual features on the ceiling - Call & Come using sound localization - User following using Structured Laser Light Mobile Air-Purifier - World s first auto navigating Air-Purifier - Presented a Samsung Tech. Fair Moving by wall-following algorithm Sep CRUBO - Samsung s first vacuum cleaning robot product (But, failed to launch owing to the high cost) - Joint development with Samsung Home Appliance Department - Navigation using IR retro-reflective marks on the ceiling Seok Won Bang Curriculum Vitae 5

6 Aug SHR-50 - SAIT Home Robot Series2 - Navigation using IR retro-reflective marks on the ceiling Jun April - Prototype of emotional interaction robot - Broadcasted on Discovery Channel in Action control by wired RC servo motor - Posture control to the music, sound localization Nov SHR-00 - SAIT Home Robot Series1 - Vacuum cleaning, tele-operation & monitoring by mobile phone, face expression Nov Banggar - Samsung s First Service Robot - Presented at Samsung Tech. Fair Speech recognition/synthesis, multi-face Detection, face recognition, information retrieval DEVELOPING EXPERIENCES OTHER THAN ROBOT SYSTEM Nov Affection Reading Device Wrist Watch Type1 Wrist Watch Type2 Bio-signal sensing module - Sensing signals : BVP, SKT, EDA, ECG - 4 Emotions and Stress Classification Seok Won Bang Curriculum Vitae 6

7 Nov Stress Measuring Device - - Designed for Mobile Device like PDA - - Sensing Signals: PPG, GSR, ECG, SKT - Nov Fat Measuring Device - 4 Electrode Measuring Type - An Accessory of Samsung Welling Phone(SPH-E3330) Sep Heartbeat & Calorie measuring Device - Sensing signal: PPG - Applied to Samsung YEPP YP-60V Product RESEARCH AREAS Technology research: Robot Navigation, Environment Perception, Human Robot Interaction, Multi-sensor fusion, Artificial Intelligence for Robot system, Bio-signal sensing & Analysis, Affective Computing, Emotional Interaction Applications development: Home/Building service robot, Industry service robot Business opportunity searching for Consumer Robotics & Quality of Life Technology HONORS & AWARDS Jan ~ Feb. 2008Chairman of the Samsung s Research Society on Intelligent Robot and Sensor Application, Jan ~ Present IEEE Member Feb ~ Present Member of the Working Group for Service Robot Standardizations at OMG Robotics Domain Task Force JAN The Winner of 無限探究 Award in SAIT May 2007 The Winner of Breakthrough of Award in SAIT Jan The Winner of This Year s Researcher Award in SAIT Dec The Winner of Management Innovation Award in SAIT Seok Won Bang Curriculum Vitae 7

8 PUBLICATIONS International Journals 1. Hyoung-Ki Cho, Seokwon Bang, Paul E. Rybski and Wende Zhang, "Real-Time Pedestrian and Vehicle Detection for Automotive Active Safety Systems, is submitted to IEEE Transactions on Intelligent Transportation Systems 2. Hyun Myung, Hyoung-Ki Lee, Kiwan Choi, and Seokwon Bang, Mobile Robot Localization with Gyroscope and Constrained Kalman Filter, Int l Journal of Control, Automation, and Systems, vol.8, no.3, pp , June Hyun Myung, Hae-min Jeon, Woo-Yeon Jeong and Seok Won Bang, Virtual Door Algorithm for Coverage Path Planning of Mobile Robot, Lecture Notes in Computer Science (LNCS) 5744, FIRA CIRAS 2009, pp , Woohun Lee, Hokyoung Ryu, Gyunghye Yang, Hyunjin Kim, Youngkuk Park, and Seok Won Bang, Design guidelines for map-based human robot interfaces: A collocated workspace perspective, International Journal of Industrial Ergonomics, vol. 37, pp , May Kyunghwan Kim, Seok Won Bang, and Sangryong Kim, "Emotion recognition system using short-time monitoring of physiological signals," Medical and Biological Engineering and Computing, vol. 42, no. 3, pp , May Seok Won Bang, M.J. Chung, "Sensor Fusion for Omnidirectional Sensor-Based Local Homing Navigation Using Fuzzy Arithmetic, Intelligent Automation and Soft Computing, vol. 1, No. 3, pp. 1-12, July 1998 Korean Journals 1. Jungwon Kang, Seok Won Bang, Christopher G. Atkeson, Youngjin Hong, Jinho Suh, Jungwoo Lee, Myung Jin Chung,"Monocular Vision Based Localization System using Hybrid Features from Ceiling Images for Robot Navigation in an Indoor Environment",The Journal of Korea Robotics Society, Vol. 6, No. 3, pp , September 이우훈, 김연지, 김현진, 양경혜, 박용국, 방석원, 청소용로봇의맵빌딩과정에서 인간과로봇의효율적상호작용을위한사용자인터페이스연구, Journal of Korean Society of Design Science, 통권제 60 호 Vol. 18. No. 2 pp , 2005 Seok Won Bang Curriculum Vitae 8

9 3. Seok Won Bang, M.J.Chung, "A Sensor Fusion Method on Local Homing Robot Navigation Using Omnidirectional Sensor-Based Model and Fuzzy Arithmetic", 제어자동화시스템공학회논문지, vol.1 no.1 pp , Jan International Conferences 1. J. Kang, S. W. Bang, M. J. Chung, C. G. Atkeson, Y. Hong, J. Suh and J. Lee, "Ceiling Vision Based Autonomous Navigation of a Mobile Robot using Hybrid Visual Features in a Large Indoor Environment", The 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2010), pp. 653, November 24-27, 2010, Busan, Korea 2. Hyoung-Ki Lee, Kiwan Choi, Jiyoung Park, Yeonho Kim, and Seok Won Bang, Improvement of Dead Reckoning Accuracy of a Mobile Robot by Slip Detection and Compensation Using Multiple Model, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp , September, 2008, Nice, France 3. Hyun Myung, Donggeon Kong, Seok Won Bang, SLAM for Mobile Robot Using a Range-Finder with Limited Resolution and Range, International Conference on Advanced Robotics, August, 2007, Jeju, Korea 4. Jungwon Kang, Sijong Kim, Myungjin Chung, Hyun Myung, Junho Park and Seok Won Bang, Path Planning for Complete and Efficient Coverage Operation of Mobile Robots, IEEE Intl Conf. on Mechatronics and Automation, August, 2007, Harbin, China 5. Vladimir Y. Skvortzov, Hyoungki Lee, Seok Won Bang, and Yongbeom Lee, Application of electronic compass for mobile robot in an indoor environment, IEEE International Conference on Robotics and Automation, April, 2007, Roma, Italy 6. Hyun Myung, Kiwan Choi, Hyoung-Ki Lee, and Seok Won Bang, Mobile Robot Localization Using a Gyroscope and Constrained Kalman Filter, SICE-ICCAS, October, 2006, Busan, Korea 7. Hyun Myung, Hyoung-Ki Lee, Kiwan Choi, Seok Won Bang, Yong-Beom Lee, and Sang-Ryoung Kim, Constrained Kalman Filter for Mobile Robot Localization with Gyroscope, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, Beijing, China 8. Jaywoo Kim, Mi-hee Lee, Hyoung-Ki Lee, Kiwan Choi, Seok Won Bang, and Sangryong Kim, Heart Rate Monitor for Portable MP3 Player, IEEE Engineering in Medicine and Biology 27th Annual Conference, September, 2005, Shanghai, China Seok Won Bang Curriculum Vitae 9

10 9. Jaywoo Kim, Mi-hee Lee, Hyoung-Ki Lee, Kiwan Choi, Seok Won Bang, and Sangryong Kim, Method of Measuring Calorie Consumption for Portable Apparatus, IEEE Engineering in Medicine and Biology 27th Annual Conference, September, 2005, Shanghai, China 10. Changkyu Choi, Donggeon Kong, Sujin Lee, Kiyoung Park, Sun-Gi Hong, Hyoung- Ki Lee, Seok Won Bang, Yongbeom Lee, and Sangryong Kim, Real-Time Audio-Visual Localization of User Using Microphone Array and Vision Camera, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2005, Edmonton, Canada 11. Myungjin Jung, Hyun Myung, Hyoung-Ki Lee, and Seok Won Bang, Ambiguity Resolving in Structured Light 2D Range Finder for SLAM Operation for Home Robot Applications, IEEE Workshop on Advanced Robotics and its Social Impacts, June, 2005, Nagoya, Japan 12. Kyo Chul Kang, Moonzoo Kim, Jaejoon Lee, Byungkil Kim, Youngjin Hong, Hyoungki Lee, and Seok Won Bang, 3D Virtual Prototyping of Home Service Robots Using SADAL/OBJ, IEEE International Conference on Robotics and Automation, April, 2005, Barcelona, Spain 13. Hyun Myung, Myung-Jin Jung, Sun-Gi Hong, DongRyeol Park, Hyoung-Ki Lee and Seok Won Bang, "Evolutionary Simultaneous Localization and Map-building (SLAM) in Home Environments Using Structured Light 2D Range Finder, SEAL2004, October, Mi-hee Lee, Gyunghye Yang, Hyoung-Ki Lee, and Seok Won Bang, Development Stress monitoring System based on Personal Digital Assistant (PDA), 26th Annual International Conference IEEE Engineering in Medicine and Biology Society, September, 2004, San Francisco, USA 15. Changkyu Choi, Donggeon Kong, Jaywoo Kim, and Seok Won Bang, "Speech Enhancement and Recognition Using Circular Microphone Array for Service Robots, Proc. IEEE/RSJ International Conf. IROS, October, 2003, Las Vegas, USA 16. Kyunghwan Kim, Seok Won Bang, and Sangryong Kim, Development of person-independent emotion recognition system based on multiple physiological signals, 24th Annual International Conference of the IEEE/EMBS, October, 2002, Houston, USA 17. Seok Won Bang, S.D. Kim, and M.J. Chung, "Sensor Fusion for Omnidirectional Sensor-based Local Homing Navigation Using Fuzzy Theory," Proceedings of IEEE Seok Won Bang Curriculum Vitae 10

11 Mediterranean Symposium on New Directions in Control and Automation, pp , Maleme, June, 1996, Crete, Greece 18. Seok Won Bang, W.P. Yu, and M.J. Chung, "Sensor-based Local Homing Using Omnidirectional Range and Intensity Sensing System for Indoor Mobile Robot Navigation, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS '95) - Human Robot Interaction and Cooperative Robots, pp , August, 1995, Pittsburgh, USA 19. Seok Won Bang, W. Yu, and M. J. Chung, "Omnidirectional Sensor Data Fusion for Local Homing Using Fuzzy Arithmetic," in Proc. 12th Annual Conf. Robotic Society of Japan, pp , 1994, Fukuoka, Japan PROJECTS EXPERIENCES Project Period Institution Sponsor Role Navigation for Hospital Service Robot Robot Navigation Group Project Cleaning & Security Robot Home Care Agent Program Context Aware for Home Service Robot Intelligence for Human Robot Interaction Emotion Recog. Using Physiological Signals Samsung Hybrid Car Planning Project Intelligent Car Project Intelligent Control System for Teleoperational Robot in Uncertain Environment VR for Nuclear Reactor Robot Control Fuzzy Starting Controller for Boiler ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ RI, CMU SAIT SAIT SAIT SAIT SAIT SAIT Samsung Motors Samsung Motors KAIST KAIST PIRO Samsung Electronics Samsung S1 SAIT SAIT SAIT SAIT Samsung Motors Samsung Motors National Research Foundation of Korea Korea Atomic Energy Research Institute Principal Researcher Project Leader Project Leader Program Leader Project Leader Project Leader Project Leader Researcher Researcher Researcher Researcher KAIST KECPO Researcher Seok Won Bang Curriculum Vitae 11

12 Turbine 3D Vision Sensor Using Structured Laser Light ~ KAIST MKE Researcher SAIT : Samsung Advanced Institute of Technology Seok Won Bang Curriculum Vitae 12

13 PATENTS US Patents Registration 1. Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot, Lee, Hyoung-ki Hong, Sun-gi Bang, Seok-won Kim, Il-hwan Choi, Ki-wan, , 12/28/ System, apparatus, and method of preventing collision of remote-controlled mobile robot, Park, Jun-ho Kim, Yeon-ho Bang, Seok-won, , 12/14/2010, US 3. Apparatus and Method for Correcting Bias of Gyroscope Mounted on Mobile Robot, Lee, Hyoung-ki Choi, Ki-wan Kim, Dong-yoon Bang, Seok-won, , 11/23/2010, US 4. "Moving Apparatus, Method, and Medium for Compensating Position of the Moving Apparatus, Choi, Ki-wan Lee, Hyoung-ki Bang, Seok-won Kim, Dong-yoon, , 8/3/2010, US 5. "Apparatus and method for detecting blood flow signal free from motion artifact and stress test apparatus using the same," Choi, Ki-wan Lee, Hyoung-ki Bang, Seok-won, , 6/1/2010, US 6. "System and method for human body communication," Lee, Mi-hee Bang, Seok-won Lee, Hyoung-ki Kim, Sang-ryong, , 5/25/2010, US 7. "Method and apparatus for estimating position of robot," Kong, Dong-geon Choi, Eun-young Myeong, Hyeon Lee, Yong-beom Bang, Seok-won, , 3/16/2010, US 8. "Method and apparatus for processing line pattern using convolution kernel," Park, Dongryeol Bang, Seok-won, , 1/26/ "System and method for extracting corner point in space using pixel information, and robot," Jung, Myung-Jin Park, Dong-Ryeol Bang, Seok-won Lee, Hyoung-Ki, , 1/26/2010, US 10. "Method, and apparatus for measuring distance using radio frequency signal," Park, Jun-ho Bang, Seok-won Park, Ji-young, , 1/19/2010, US 11. "Method, apparatus, and medium for calibrating compass sensor in consideration of magnetic environment and method, apparatus, and medium for measuring azimuth using the compass sensor calibration method, apparatus, and medium," Skvortsov, Vladimir Bang, Seok-won Lee, Hyoung-ki, , 11/3/2009, US 12. "Mobile robot, and system and method for autonomous navigation of the same," Park, Dongryeol Bang, Seok-won, , 11/3/ "Robot having an obstacle detection unit and method of controlling the same," Cho, Joon-kee Bang, Seok-won Kim, Yeon-ho Choi, Ki-wan, , 10/13/2009, US 14. "Microphone array method and system, and speech recognition method and system using the same," Kong, Dong-geon Choi, Chang-kyu Bang, Seok-won Lee, Bon-young, , 7/28/2009, US Seok Won Bang Curriculum Vitae 13

14 15. "System and method for recognizing user's emotional state using short-time monitoring of physiological signals," Kim, Kyung-hwan Bang, Seok-won Kong, Dong-geon, , 6/16/2009, US 16. "Method and apparatus for allowing mobile robot to return to docking station," Lee, Hyoung-ki Hong, Sun-gi Bang, Seok-won Kim, Il-hwan Choi, Ki-wan, , 6/9/2009, US 17. "Method, system, and medium for estimating location using ultrasonic waves," Kong, Donggeon Bang, Seok-won, , 5/19/2009, US 18. "Method of detecting object using structured light and robot using the same," Park, Dongryeol Lee, Hyoung-ki Kim, Dong-jo Bang, Seok-won, , 3/24/2009, US 19. "Apparatus and method for synthesizing emotions based on the human nervous system," Lee, Mi-hee Bang, Seok-won Lee, Hyoung-ki, , 2/19/2008, US 20. "Method and apparatus for measuring animal's condition by acquiring and analyzing its biological signals," Kim, Kyung-hwan Bang, Seok-won Lee, Hyoung-ki, , 10/16/2007, US 21. "Apparatus and method for detecting heartbeat using PPG," Lee, Mi Hee Bang, Seok Won Kim, Kyung Hwan, , 6/14/2005, US 22. "Object growth control system and method, Kim, Jay-woo Kim, Kyung-hwan Bang, Seokwon Lee, Mi-hee Kong, Dong-geon Lee, Hyoung-ki, , 11/9/2004," US 23. "Apparatus and method for perceiving physical and emotional state," Kim, Jay-woo Bang, Seok-won Kim, Jeong-hwan Lee, Hyoung-ki, , 12/2/2003, US Korean Patents-Registration 1. 비접촉식별자를이용한로봇의접근금지구역설정방법및장치 (Method for deciding approach forbidden area for mobile robot using noncontact identification, and apparatus for the same), Yang, Gyung-hye Park, Young-kuk Kim, Hyun-jin Bang, Seok Won, , 12/1/2010, Republic of Korea 2. " 이동로봇의도킹스테이션귀환방법및장치 (Method and apparatus for allowing mobile robot to return to a docking station)," Lee, Hyoung-ki Hong, Sun-gi Bang, Seok Won Kim, Il Hwan Choi, Ki-wan, , 11/20/2009, Republic of Korea 3. " 이동로봇의자세측정방법및상기방법을이용한위치측정방법및장치 (Method for measuring pose of a mobile robot and method and apparatus for measuring position of the mobile robot using the method)," Lee, Hyoung-ki Choi, Ki-wan Bang, Seok Won Jeong, Woo Yeon Park Ji Young, , 10/13/2009, Republic of Korea 4. " 이동로봇의리로케이션방법및장치 (Method and apparatus for relocating a mobile robot)," Choi, Ki-wan Park Ji Young Bang, Seok Won Lee, Hyoung-ki, , 8/12/2009, Republic of Korea 5. " 이동로봇의자이로센서를캘리브레이션하는장치및방법 (Apparatus and method for calibrating gyro-sensor of mobile robot)," Lee, Hyoung-ki Choi, Ki-wan Park Ji Young Bang, Seok Won Hong, Sun Kyung, , 2/24/2009, Republic of Korea 6. " 이동로봇을위한맵생성및청소를동시에수행하는방법및장치 (Method and apparatus Seok Won Bang Curriculum Vitae 14

15 of building map for a mobile robot and cleaning simultaneously)," Lee, Su Jinn Jeong, Woo Yeon Myeong, Hyeon Bang, Seok Won, , 12/26/2008, Republic of Korea 7. " 파티클필터기반의이동로봇의자세추정방법및장치 (Method and apparatus of pose estimation in a mobile robot based on particle filter)," Myeong, Hyeon Jeong, Woo Yeon Bang, Seok Won, , 12/26/2008, Republic of Korea 8. " 동잡음제거된혈류량신호검출장치및방법 (PPG SIGNAL DETECTING APPARATUS OF REMOVED MOTION ARTIFACT AND METHOD THEREOF)," Choi, Ki-wan Lee, Hyoung-ki Bang, Seok Won, , 11/26/2008, Republic of Korea 9. " 이동로봇의위치추정방법및장치 (Method for estimating position of moving robot and apparatus thereof)," Kong, Dong Geon Choi, Eun Young Myeong, Hyeon Lee, Young Beom Bang, Seok Won, , 9/24/2008, Republic of Korea 10. " 이동로봇의자세추정장치및방법 (Pose estimation apparatus used in a mobile robot and method thereof)," Hong, Bing Rong Luo, Rong Hua Li, Mao Hai Bang, Seok Won Kim, Yeon Ho Myeong, Hyeon, , 8/26/2008, Republic of Korea 11. " 심박수검출장치, 심박수검출방법및그기록매체 (Apparatus and method for detecting heart beat rate and recordable medium thereof)," Lee, Hyoung-ki Choi, Ki-wan Bang, Seok Won, , 7/9/2008, Republic of Korea 12. " 이동로봇의주행상태판별장치및방법 (Apparatus and method for distinguishing the movement state of moving robot)," Lee, Hyoung-ki Cho, Joon Kee Bang, Seok Won, , 6/26/2008, Republic of Korea 13. " 이동로봇의격자지도작성방법및장치와이를이용한영역분리방법및장치 (Method of building gridmap in mobile robot and method of cell decomposition using it)," Myeong, Hyeon Kong, Dong Geon Lee, Su Jinn Bang, Seok Won, , 6/26/2008, Republic of Korea 14. " 이동로봇의자기위치인식방법및장치 (Method and apparatus for reckoning position of moving robot)," Lee, Hyoung-ki Myeong, Hyeon Choi, Ki-wan Lee, Young Beom Bang, Seok Won, , 5/28/2008, Republic of Korea 15. " 카펫감지청소용로봇및카펫경계검출방법 (Cleaning robot using carpet detector and search method of carpet boundary using the same)," Kim, Yeon Ho Bang, Seok Won Cho, Joon Kee, , 4/28/2008, Republic of Korea 16. " 무선주파수신호를이용한거리측정방법및장치 (Method and apparatus for measuring the distance by using radio frequency signal)," Park, Jun Ho Bang, Seok Won Park, Ji Young, , 2/26/2008, Bang, Seok Won 17. " 파티클필터기반의이동로봇의자세추정방법및장치 (Method and apparatus of pose estimation in a mobile robot based on particle filter)," Myeong, Hyeon Bang, Seok Won Kong, Dong Geon Lee, Su Jinn, , 2/26/2008, Republic of Korea 18. " 이동로봇의끼임을방지하는끼임판별장치및이를이용한경계선추정방법 (System to detect jamming of mobile robot and method to reckon boundary line using it)," Park, Ji Young Bang, Seok Won Choi, Eun Young, , 2/26/2008, Republic of Korea 19. " 스트럭처드라이트를이용한이동체감지시스템및방법, 상기시스템을포함하는이동로봇 (System and method for sensing moving body using structured light, mobile robot Seok Won Bang Curriculum Vitae 15

16 including the system)," Park, Jun Ho Park, Dong Ryeol Bang, Seok Won, , 1/29/2008, Republic of Korea 20. " 스트럭쳐드라이트를이용한거리측정장치및방법 (Apparatus and method for measuring distance using structured light)," Park, Dong Ryeol Jeong, Woo Yeon Bang, Seok Won Lee, Hyoung-ki, , 12/27/2007, Republic of Korea 21. " 이동로봇의영역분리방법및장치 (Method and system of cell decomposition in mobile robot)," Myeong, Hyeon Bang, Seok Won Kang, Jung Won Kim, Si Jong Chung Myung-Jin Lee, Su Jinn, , 12/27/2007, Republic of Korea 22. " 특징점을이용한영역구분방법및장치와이를이용한이동청소로봇 (Method for dividing regions by feature points and apparatus thereof and mobile cleaning robot)," Lee, Su Jinn Myeong, Hyeon Lee, Young Beom Bang, Seok Won, , 12/27/2007, Republic of Korea 23. " 이동로봇및발신장치간의상대적위치를추정하는방법및장치 (Method for estimating relative position between moving robot and transmitter and apparatus thereof)," Kong, Dong Geon Bang, Seok Won Myeong, Hyeon, , 12/27/2007, Republic of Korea 24. " 이동로봇의원격조종을위한충돌방지시스템, 장치및방법 (System, apparatus and method to prevent collision for remote control of mobile robot)," Park, Jun Ho Kim, Yeon Ho Bang, Seok Won, , 12/27/2007, Republic of Korea 25. " 증기압력을사용하여에너지소모를최소화하며스팀을발생시키는청소장치및방법 (Apparatus and method for generating steam with minimizing energy consumption using steam pressure)," Cho, Woo Jong Cho, Sung Moon Choi, Sang Eun Bang, Seok Won Lee, Hyoung-ki, , 12/27/2007, Republic of Korea 26. " 숙면및기상유도장치및방법 (APPARATUS AND METHOD FOR INDUCING SOUND SLEEP AND WAKE-UP)," Lee, Mihee Bang, Seok Won, , 12/27/2007, Republic of Korea 27. " 이동로봇에장착된자이로의바이어스를보정하는장치및방법 (Apparatus and Method for correcting bias of gyroscope on a moving robot)," Lee, Hyoung-ki Choi, Ki-wan Kim Dong Yun Bang, Seok Won, , 10/29/2007, Republic of Korea 28. " 절대방위각을이용한로봇및이를이용한맵작성방법 (Robot using absolute azimuth and method for mapping by the robot)," Bang, Seok Won Lee, Su Jinn, , 10/29/2007, Republic of Korea 29. " 장애물감지기능을가지는로봇및그제어방법 (Robot for sensing obstacle and controlling method for the same)," Cho, Joon Kee Bang, Seok Won Kim, Yeon Ho Choi, Ki-wan, , 10/29/2007, Republic of Korea 30. " 동잡음제거된혈류량신호검출장치및방법, 그리고이를이용한스트레스검사장치 (PPG SIGNAL DETECTING APPRATUS OF REMOVED MOTION ARTIFACT AND METHOD THEREOF, AND STRESS TEST APPRATUS USING THEREOF)," Choi, Ki-wan Lee, Hyoung-ki Bang, Seok Won, , 9/27/2007, Republic of Korea 31. " 잡음에강인한화자위치추정방법및장치와이를이용한카메라제어시스템 (Method and apparatus for robust speaker localization and camera control system employing the same)," Choi, Chang Kyu Kong, Dong Geon Lee, Bon Yong Bang, Seok Won, , 8/27/2007, Republic of Korea 32. " 구조광을이용한물체검출방법및이를이용한로봇 (Method for detecting an object using Seok Won Bang Curriculum Vitae 16

17 structured light and robot using the same)," Park, Dong Ryeol Lee, Hyoung-ki Kim, Dong Jo Bang, Seok Won, , 6/28/2007, Republic of Korea 33. " 코너검출방법및코너검출장치 (Corner detection method and apparatus therefor)," Lee, Hyoung-ki Park, Dong Ryeol Bang, Seok Won, , 12/8/2006, Republic of Korea 34. " 스테레오음향제공장치및방법 (Apparatus and method for providing stereophonic sound)," Myeong, Hyeon Lee, Young Beom Bang, Seok Won, , 10/31/2006, Republic of Korea 35. " 컨볼루션커널을이용한라인패턴처리방법및장치 (Method and apparatus for processing line pattern using convolution kernel)," Park, Dong Ryeol Bang, Seok Won, , 10/31/2006, Republic of Korea 36. " 인체의신경계기반정서합성장치및방법 (Human nervous-system-based emotion synthesizing device and method for the same)," Lee, Mihee Bang, Seok Won Lee, Hyoung-ki, , 9/8/2006, Republic of Korea 37. " 마이크로폰어레이방법및시스템및이를이용한음성인식방법및장치 (Microphone array method and system, and speech recongnition method and system using the same)," Kong, Dong Geon Choi, Chang Kyu Bang, Seok Won Lee, Bon Yong, , 8/30/2006, Republic of Korea 38. " 칼로리측정방법및장치 (Method and apparatus for calculating calory)," Lee, Mihee Bang, Seok Won Lee, Hyoung-ki, , 8/8/2006, Republic of Korea 39. "3 차원위치측정센서 (3 Dimensional Location Measurement Sensor)," Chung, Myung Jin Bang, Seok Won Lee, Hyoung-ki Kim, Il Whan, , 8/8/2006, Republic of Korea 40. " 카메라픽셀정보를이용하여공간상의코너포인트를추출하는시스템및방법, 상기시스템을포함하는이동로봇 (System and method for extracting corner point in space using pixel information on camera, robot including the system)," Chung, Myung Jin Bang, Seok Won Lee, Hyoung-ki Park, Dong Ryeol, , 5/30/2006, Republic of Korea 41. " 생리신호의단시간모니터링을통한사용자정서인식장치및방법 (Apparatus and method for recognizing user emotional status using short-time monitoring of physiological signals)," Kim, Bang, Seok Won Kong, Dong Geon, , 5/9/2006, Republic of Korea 42. " 오브젝트성장제어시스템및그방법 (Object growth control system and method)," Kim, Jay-woo Kim, Kyung-hwan Bang, Seok Won Lee, Mihee Kong, Dong Geon Lee, Hyoung-ki, , 5/9/2006, Republic of Korea 43. " 자율주행기기의주행제어방법및장치 (Method and apparatus for controlling navigation in jautomatic navigation vehicle)," Yang, Gyung-hye Park, Yong-kuk Kim Hyun-Jin Bang, Seok Won, , 4/11/2006, Republic of Korea 44. " 로봇용로컬라이제이션시스템 (Robot localization system)," Lee, Hyoung-ki Kim, Jay-woo Bang, Seok Won, , 3/10/2006, Republic of Korea 45. " 이동로봇의자기위치및방위각추정방법및장치 (Method and apparatus for localization in mobile robot)," Hong, Sun-gi Bang, Seok Won Park, Dong Ryeol, , 2/9/2006, Republic of Korea 46. " 이동로봇및그에따른자율주행시스템및방법 (MOBILE ROBOT AND AUTONOMIC TRAVELING SYSTEM AND METHOD THEREOF)," Park, Dong Ryeol Bang, Seok Won, Seok Won Bang Curriculum Vitae 17

18 506533, 7/28/2005, Republic of Korea 47. " 청소로봇의청소궤적생성 추종방법및장치 (Method and apparatus for generating and tracing cleaning trajectory for home cleaning robot)," Lee, Hyoung-ki Hong, Sun-gi Bang, Seok Won Kim, Il Whan Choi, Ki-wan, , 4/22/2005, Republic of Korea 48. " 정서유도장치및방법 (APPARATUS AND METHOD FOR INDUCING EMOTION)," Lee, Mihee Bang, Seok Won Yang, Gyung Hae, , 4/19/2005, Republic of Korea 49. "PPG 기반의심박검출장치및방법 (APPARATUS AND METHOD FOR DETECTING HEART BEAT USING PPG)," Kim, Kyung-hwan Bang, Seok Won Lee, Mihee, , 12/7/ " 생리신호획득및해석을이용한동물의상태파악방법및장치 (Method and apparatus for understanding the condition of animal using acquisition and analysis of physiological signal of the animal)," Kim, Kyung-hwan Bang, Seok Won Lee, Hyoung-ki, , 10/22/2004, Republic of Korea 51. " 신체및감정상태인식장치및방법 (Apparatus and method for perceiving physical and emotional state)," Kim, Jay-woo Bang, Seok Won Kim, Jung-hwan Lee, Hyoung-ki, , 3/19/2004 US Patents Application 1. US Patent Application No: 12/155,552, Method and apparatus for estimating pose of mobile robot using particle filter, Hyeon Myeong, Woo-Yeon Jeong, Seok Won Bang 2. US Patent Application No: 11/898,060, "Obstruction Determining Apparatus for Preventing Mobile Robot from Becoming Obstructed and Boundary Estimation Method and Medium Using the Obstruction Determining Apparatus, Ji Young Park, Eun Young Choe, Seok Won Bang 3. US Patent Application No: 11/822,438, "Apparatus, Method, and Medium for Localizing Moving Robot and Transmitter," Dong Geon Kong, Hyeon Myeong, Seok Won Bang 4. US Patent Application No: 11/772,500, "System, Method, and Medium for Detecting Moving Object Using Structured Light, and Mobile Robot Including System Thereof," Jun Ho Park, Seok Won Bang, Dong Ryeol Park 5. US Patent Application No: 11/822,407, "Apparatus, Method, and Medium for Dividing Regions by Using Feature Points and Mobile Robot Using the Same," Su Jinn Lee, Yong Beom Lee, Hyeon Myeong, Seok Won Bang 6. US Patent Application No: 11/654,015, Method, Apparatus and Medium for Building Grid Map in Mobile Robot and Method, Apparatus and Medium for Cell Decomposition that Uses Grid Map, Hyeon Myeong, Su Jinn Lee, Seok Won Bang, Dong Geon Kong 7. US Patent Application No: 11/634,146, Cleaning Robot Having Carpet Detector and Method of Detection Carpet Boundary Using The Same, Joon Kee Cho, Seok Won Bang, Yeon Ho Kim 8. US Patent Application No: 11/594,163, Robot Using Absolute Azimuth and Mapping Method Thereof, Seok Won Bang, Su Jin Lee Seok Won Bang Curriculum Vitae 18

19 9. US Patent Application No: 11/715977, Indoor Map Building Apparatus, Method, and Medium for Mobile Robot, Hyoung Ki Lee, Dong Yoon Kim, Hyeon Myeong, Seok Won Bang 10. US Patent Application No: 11/688,983, Robot and Method and Medium for Localizing the Same by Using Calculated Covariance, Hyeon Myeong, Eun Young Choe, Yong Beom Lee, Ki Wan Choi, Seok Won Bang, Hyoung Ki Lee 11. US Patent Application No: 11/606,329, Self Control Moving Robot and Controlling Method for the Same, Yeon Ho Kim, Seok Won Bang 12. US Patent Application No: 11/581,489, Method and Apparatus for Reckoning Position of Moving Robot, Yong Beom Lee, Ki Wan Choi, Hyeon Myeong, Seok Won Bang, Hyoung Ki Lee 13. US Patent Application No: 11/513,080, Apparatus and/or Method for Inducing Sound Sleep and Waking, Mi Hee Lee, Seok Won Bang 14. US Patent Application No: 11/282,605, Method and Apparatus for Detecting Corner, Myung Jin Jung, Seok Won Bang, Hyoung Ki Lee, Dong Ryeol Park 15. US Patent Application No: 11/095,551, Method, Medium, and Apparatus for Portable Measuring Calorie Consumption, Seok Won Bang, Hyoung Ki Lee, Mi Hee Lee 16. US Patent Application No: 10/072,436, Traveling Control Method, Medium, and Apparatus for Autonomous Navigation, Gyung Hye Yang, Yong Gook Park, Hyun Jin Kim, Seok Won Bang 17. US Patent Application No: 10/962,516, Method and Apparatus for Robust Speaker Localization and Camera Control System Employing the Same, Chang Kyu Choi, Seok Won Bang, Bon Young Lee, Dong Geon Kong 18. US Patent Application No: 10/941,846, Apparatus and Method for Estimating a Position and an Orientation of a Mobile Robot, Sun Gi Hong, Seok Won Bang, Dong Ryeol Park 19. US Patent Application No: 10/747,228, Robot Localization System, Seok Won Bang, Jay Woo Kim, Hyoung Ki Lee 20. US Patent Application No: 10/681,137, Mobile Device Having Health Care Function Based on Biomedical Signals and Health Care Method Using the Same, Kyung Hwan Kim, Seok Won Bang, Hyoung Ki Lee, Dong Geon Kong 21. US Patent Application No: , Apparatus and Method for Inducing Emotion, Gyung Hye Yang, Seok Won Bang, Mi Hee Lee 22. US Patent Application No: 10/339,461, Methods and Apparatus for Measuring Animal s Condition by Acquiring and Analyzing Its Biological Signals, Kyung Hwan Kim, Seok Won Bang, Hyoung Ki Lee Korean Patents-Application 1. Korean Patent Application No: P , "Apparatus and Method for Building 3D Map Using Structured Light", Dong Ryeol Park, Dong Jo Kim, Seok Won Bang, Hyoung Ki Lee 2. Korean Patent Application No: P , "Method and Apparatus for Speech Seok Won Bang Curriculum Vitae 19

20 Registration", Dong Geon Kong, Hyeon Myeong, Seok Won Bang, Jae Sam Yoon, Yoo Rhee Oh, Min A Kim, Hong Kook Kim, Ji Hun Park 3. Korean Patent Application No: P , "Apparatus and Method for Calculating Position of Robot", Ki Wan Choi, Ji Young Park, Seok Won Bang, Hyoung Ki Lee 4. Korean Patent Application No: P ,"Apparatus and Method for Localization of Moving Robot", Woo Yeon Jeong, Jun Ho Park, Seok Won Bang 5. Korean Patent Application No: P , "Cleaning Robot Using Floor Image Information and Control Method Using the Same", Su Jinn Lee, Hyeon Myeong, Yong Beom Lee, Seok Won Bang, Dong Ryeol Park 6. Korean Patent Application No: P , Method for Estimating Position of Moving Robot and Apparatus Thereof, Hyeon Myeong, Seok Won Bang, Dong Geon Kong, Yong Beom Lee 7. Korean Patent Application No: P , "Apparatus and Method for Measuring Distance Using Structured Light", Dong Ryeol Park, Woo Yeon Jeong, Seok Won Bang, Hyoung Ki Lee 8. Korean Patent Application No: P , "Apparatus and Method for Distinguishing the Movement State of Moving Robot", Joon Kee Cho, Seok Won Bang, Hyoung Ki Lee 9. Korean Patent Application No: P , "Method and Apparatus for Measuring the Distance by Using Radio Frequency Signal", Jun Ho Park, Ji Young Park, Seok Won Bang 10. Korean Patent Application No: P , "System to Detect Jamming of Mobile Robot and Method to Reckon Boundary Line Using It", Ji Young Park, Eun Young Choe, Seok Won Bang 11. Korean Patent Application No: P , Method and System of 2-axis Compass Calibration Considering Magnetic Environment and Method and System of Measuring Azimuth Using It, Skvortsov Vladimir, Seok Won Bang, Hyoung Ki Lee 12. Korean Patent Application No: P , Method and System of Cell Decomposition in Mobile Robot, Hyeon Myeong, Seok Won Bang, Jung Won Kang, Si Jong Kim, Myung Jin Chung, Su Jinn Lee 13. Korean Patent Application No: P , "Method for Estimating Relative Position between Moving Robot and Transmitter and Apparatus Thereof", Dong Geon Kong, Hyeon Myeong, Seok Won Bang 14. Korean Patent Application No: P , "Method for Dividing Regions by Feature Points and Apparatus Thereof and Mobile Cleaning Robot", Su Jinn Lee, Yong Beom Lee, Hyeon Myeong, Seok Won Bang 15. Korean Patent Application No: P , "Moving Apparatus and Method for Compensating Position", Ki Wan Choi, Hyoung Ki Lee, Seok Won Bang, KIM Dong Yoon 16. Korean Patent Application No: P , "Method and Apparatus for Moving Robot by Remote Control", Dong Geon Kong, Eun Young Choe, Yong Beom Lee, Hyeon Myeong, Seok Won Bang 17. Korean Patent Application No: P , "System, Apparatus and Method to Prevent Collision for Remote Control of Mobile Robot", Jun Ho Park, Yeon Ho Kim, Seok Won Bang Seok Won Bang Curriculum Vitae 20

21 18. Korean Patent Application No: P , "PPG Signal Detecting Apparatus of Removed Motion Artifact and Method Thereof, and Stress Test Apparatus Using Thereof", Ki Wan Choi, Seok Won Bang, Hyoung Ki Lee 19. Korean Patent Application No: P , Apparatus for Indoor Map Building of Mobile Robot and Method Thereof, Dong Yoon Kim, Hyeon Myeong, Seok Won Bang, Hyoung Ki Lee 20. Korean Patent Application No: P , "Cleaning Robot Using Carpet Detector and Search Method of Carpet Boundary Using the Same", Joon Kee Cho, Seok Won Bang, Yeon Ho Kim 21. Korean Patent Application No: P , "Method and Apparatus for Reckoning Position and Building Map of Moving Robot with Movable Beacon", Hyoung Ki Lee, Dong Yoon Kim, Hyeon Myeong, Seok Won Bang 22. Korean Patent Application No: P , "Cleaning Robot Using Floor Image Information and Control Method Using the Same", Su Jinn Lee, Hyeon Myeong, Yong Beom Lee, Seok Won Bang, Dong Ryeol Park 23. Korean Patent Application No: P , "System and Method for Human Body Communication", Mi Hee Lee, Hyoung Ki Lee, Sang Ryong Kim, Seok Won Bang 24. Korean Patent Application No: P , Self Control Moving Robot and Controlling Method for the Same, Yeon Ho Kim, Seok Won Bang 25. Korean Patent Application No: P , Method and Apparatus for Controlling Movement of Robot, Dong Ryeol Park, Hyeon Myeong, Seok Won Bang, Hyoung Ki Lee 26. Korean Patent Application No: P , Apparatus and Method for Generating Steam with Minimizing Energy Consumption Using Steam Pressure, Sung Mun Cho, Woo Jong Cho, Sang On Choi, Seok Won Bang, Hyoung Ki Lee 27. Korean Patent Application No: P , Method and Apparatus for Reckoning Position of Moving Robot, Yong Beom Lee, Ki Wan Choi, Hyeon Myeong, Seok Won Bang, Hyoung Ki Lee 28. Korean Patent Application No: P , Apparatus and Method for Founding a Remote Controller, Yong Beom Lee, Ki Wan Choi, Seok Won Bang, Hyoung Ki Lee, Dong Geon Kong 29. Korean Patent Application No: P , Apparatus and Method for Inducing Sound Sleep and Wake-Up, Mi Hee Lee, Seok Won Bang 30. Korean Patent Application No: P , System and Method for Estimating Location Using Ultrasonic Wave, Seok Won Bang, Dong Geon Kong 31. Korean Patent Application No: P , Apparatus and Method for Detecting Heart Beat Rate and Recordable Medium Thereof, Wan Choi, Seok Won Bang, Hyoung Ki Lee 32. Korean Patent No: P , Method and Apparatus for Robust Speaker Localization and Camera Control System Employing the Same, Chang Kyu Choi, Seok Won Bang, Bon Young Lee, Dong Geon Kong Seok Won Bang Curriculum Vitae 21