• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.9
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• pp.871-877
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• 2015

Deep-sea equipment such as underwater robots and unmanned submersible vehicles, include various machine components and sensors, and it is important that their reliabilities be tested before use in the fields. This is necessary because they are affected by complex extreme-environment conditions, such as high pressures, extreme temperatures, and tidal forces that are present in the deep sea. We require test equipment that can conduct empirical tests in conditions that mimic these complex oceanic environments. In this study, we propose specifications that should be met, and a design plan for the primary components, which should limit their use to a maximum water pressure of 2.0 MPa, water temperature of $5{\sim}60^{\circ}C$, and a maximum flow velocity of 2 m/s. in work-in type underwater combined environment test equipment and. We present test system development procedures to verify the reliability of products and systems used in deep-sea environments.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.5
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• pp.555-563
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• 2009

When a mobile mapping system or a robot is equipped with only a GPS (Global Positioning System) and multiple stereo camera system, a transformation from a local camera coordinate system to GPS coordinate system is required to link camera poses and 3D data by V-SLAM (Vision based Simultaneous Localization And Mapping) to GIS data or remove the accumulation error of those camera poses. In order to satisfy the requirements, this paper proposed a novel method that calculates a camera rotation in the GPS coordinate system using the three pairs of camera positions by GPS and V-SLAM, respectively. The propose method is composed of four simple steps; 1) calculate a quaternion for two plane's normal vectors based on each three camera positions to be parallel, 2) transfer the three camera positions by V-SLAM with the calculated quaternion 3) calculate an additional quaternion for mapping the second or third point among the transferred positions to a camera position by GPS, and 4) determine a final quaternion by multiplying the two quaternions. The final quaternion can directly transfer from a local camera coordinate system to the GPS coordinate system. Additionally, an update of the 3D data of captured objects based on view angles from the object to cameras is proposed. This paper demonstrated the proposed method through a simulation and an experiment.

• Journal of Korea Society of Industrial Information Systems
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• v.12 no.4
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• pp.138-147
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• 2007

Metabolic pathway is a series of chemical reactions occuning within a cell and can be used for drug development and understanding of life phenomenon. Many biologists are trying to extract metabolic pathway information from huge literatures for their metabolic-circuit regulation study. We propose a text-mining technique based on the keyword and pattern. Proposed technique utilizes a web robot to collect huge papers and stores them into a local database. We use gene ontology to increase compound recognition rate and NCBI Tokenizer library to recognize useful information without compound destruction. Furthermore, we obtain useful sentence patterns representing metabolic pathway from papers and KEGG database. We have extracted 66 patterns in 20,000 documents for Glycosphingolipid species from KEGG, a representative metabolic database. We verify our system for nineteen compounds in Glycosphingolipid species. The result shows that the recall is 95.1%, the precision 96.3%, and the processing time 15 seconds. Proposed text mining system is expected to be used for metabolic pathway reconstruction.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.5
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• pp.444-450
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• 2015

The accuracy of small and low cost CCD camera is insufficient to provide data for precisely tracking unmanned aerial vehicles(UAVs). This study shows how UAV can hover on a human targeted tracking object by using CCD camera rather than imprecise GPS data. To realize this, UAVs need to recognize their attitude and position in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for an UAV to estimate of his attitude by environment recognition for UAV hovering, as one of the best important problems. In this paper, we describe a method for the attitude of an UAV using image information of a maker on the floor. This method combines the observed position from GPS sensors and the estimated attitude from the images captured by a fixed camera to estimate an UAV. Using the a priori known path of an UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a marker on the floor and the estimated UAV's attitude. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the UAV. The Kalman filter scheme is applied for this method. its performance is verified by the image processing results and the experiment.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.1
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• pp.29-37
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• 1999

In general, the information processing capability of a neural network is determined by its architecture and efficient training patterns. However, there is no systematic method for designing neural network and selecting effective training patterns. Evolutionary Algorithms(EAs) are referred to as the methods of population-based optimization. Therefore, EAs are considered as very efficient methods of optimal system design because they can provide much opportunity for obtaining the global optimal solution. In this paper, we propose a new method for finding the optimal structure of neural networks based on competitive co-evolution, which has two different populations. Each population is called the primary population and the secondary population respectively. The former is composed of the architecture of neural network and the latter is composed of training patterns. These two populations co-evolve competitively each other, that is, the training patterns will evolve to become more difficult for learning of neural networks and the architecture of neural networks will evolve to learn this patterns. This method prevents the system from the limitation of the performance by random design of neural networks and inadequate selection of training patterns. In co-evolutionary method, it is difficult to monitor the progress of co-evolution because the fitness of individuals varies dynamically. So, we also introduce the measurement method. The validity and effectiveness of the proposed method are inspected by applying it to the visual servoing of robot manipulators.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.46 no.2
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• pp.89-96
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• 2009

As increasing the number of digital control devices installed on aircrafts and their transmission speed, various digital data buses have been introduced to provide reliable and high-speed characteristics. These characteristics of avionics data bus are highly related on the fault-tolerant performance which can make minimize jitter and loss during data transfer. In this paper, we concerned about a new traffic shaping scheme for increasing the reliability of Avionics Full Duplex Switched Ethernet (AFDX) systems based on ARINC 664 standard. We note that the conventional AFDX with a single regulator per virtual link system may produce aggregated traffics as the number of virtual links increasing. The aggregated traffic results in large jitters among frames. To remedy for the jitter and loss of data, we propose a dual regulator scheme for the AFDX system. The purpose of the additional regulator is to additionally regulate aggregated traffics from a number of per virtual link regulators. Using NS-2 simulator, we show that the proposed scheme provides a better performance than the single regulator one. It is worthwhile note that the proposed AFDX with Dual Regulator scheme can be employed to not only aircraft networks but other QoS sensitive networks for robot and industrial control systems.

• KIPS Transactions on Computer and Communication Systems
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• v.6 no.8
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• pp.359-368
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• 2017

What is the term "intelligence information society", which is a term that has been continuously discussed recently? This means that the automation beyond the limits of human ability in the whole societies based on intelligent information technology is a universalized social future. In particular, it is a concept that minimizes human intervention and continuously pursues evolution to data (or big data) -based automation. For example, autonomous automation is constantly aiming at unmanned vehicles with artificial intelligence as a key element. However, until now, intelligent information research has focused on the intelligence itself and has made an effort to improve intelligence logic and replace human brain and intelligence. On the other hand, in order to replace the human labor force, we have continued to make efforts to replace workers with robots by analyzing the working principles of workers and developing optimized simple logic. This study proposes important strategies and directions to implement intelligent information education policy and intelligent information technology research strategy by suggesting access strategy, education method and detailed policy road map for intelligent information technology research strategy and educational service. In particular, we propose a phased approach to intelligent information education such as basic intelligence education, intelligent content education, and intelligent application education. In addition, we propose education policy plan for the improvement of intelligent information technology, intelligent education contents, and intelligent education system as an important factor for success and failure of the 4th industrial revolution, which is centered on intelligence and automation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.6
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• pp.350-361
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• 2019

The fourth industrial revolution based on the intelligent revolution has revolutionized the society as a whole, and it has also affected the defense sector. Various aspects of the war have been changing with the development of technology. In particular, various strategies such as research and development of core technology related to defense unmanned system field and infrastructure are being established based on the fourth industrial revolution technology. In this paper, we have conducted a study to select the technology required for maritime unmanned systems, which can be considered as a priority consideration for the future development of the core technology to be secured prior to the development of the weapon system. First, the core technology prioritization model for the marine unmanned system was established, and the technology fields of the unmanned robot were reclassified and integrated in the related literature such as the classification of the defense technology standard. For the empirical analysis, a questionnaire survey was conducted for 12 specialists who are engaged in the planning of weapons systems, and the importance of technical fields that require development in the development of marine unmanned systems was analyzed. As a result, it was possible to identify the key technology areas that should be considered in selecting the key technologies proposed by the military groups, research institutes, and companies. This could contribute to the establishment of the technology roadmap to develop the marine unmanned system from the future point of view.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.19 no.1
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• pp.63-70
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• 2009

Recently, in the security token based authentication system, there is an increasing trend of using fingerprint for the token holder verification, instead of passwords. However, the security of the fingerprint data is particularly important as the possible compromise of the data will be permanent. In this paper, we propose an approach for secure fingerprint verification by distributing both the secret and the computation based on the fuzzy vault(a cryptographic construct which has been proposed for crypto-biometric systems). That is, a user fingerprint template which is applied to the fuzzy vault is divided into two parts, and each part is stored into a security token and a server, respectively. At distributing the fingerprint template, we consider both the security level and the verification accuracy. Then, the geometric hashing technique is applied to solve the fingerprint alignment problem, and this computation is also distributed over the combination of the security token and the server in the form of the challenge-response. Finally, the polynomial can be reconstructed from the accumulated real points from both the security token and the server. Based on the experimental results, we confirm that our proposed approach can perform the fuzzy vault-based fingerprint verification more securely on a combination of a security token and a server without significant degradation of the verification accuracy.

• Journal of Appropriate Technology
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• v.7 no.2
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• pp.196-205
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• 2021

As industrial safety increases, various industrial accident prevention technologies using smart factory technology are being studied. However, small and medium enterprises (SMEs), which account for the majority of industrial accidents, are having difficulties in preventing industrial accidents by applying these smart factory technologies due to practical problems. In this study, customized monitoring and warning systems for each type of industrial accident were developed and applied to the actual field. Through this, we demonstrated industrial accident prevention technology through appropriate smart factory technology used by SMEs. A customized monitoring system using vision, current, temperature, and gas sensors was established for the four major disaster types: worker body access, short circuit and overcurrent, fire and burns due to high temperature, and emission of hazardous gas. In addition, a notification method suitable for each work environment was applied so that the monitored risk factors could be recognized quickly, and real-time data transmission and display enabled workers and managers to understand the disaster risk effectively. Through the application and demonstration of these appropriate smart factory technologies, the spread of these industrial safety technologies is to be discussed.