• Journal of KIISE:Software and Applications
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• v.35 no.5
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• pp.297-305
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• 2008

We present a cleaning robot algorithm that can be implemented on low-cost robot architecture while the cleaning performance far exceeds the conventional random style cleaning through human-robot interaction. We clarify the advantages and disadvantages of the two notable cleaning robot styles: the random and the mapping styles, and show the possibility how we can achieve the performance of the complicated mapping style under the random style-like robot architecture using the idea of human-aided cleaning algorithm. Experimental results are presented to show the performance.

• Proceedings of the Korea Information Processing Society Conference
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• 2009.11a
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• pp.181-182
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• 2009

본 논문에서는 IEEE 802.15.4a 근거리 무선 네트워크를 이용하여 다중 이동 로봇을 사용자 휴대 단말을 이용하여 실시간으로 편리하게 제어하기 위한 플랫폼을 설계하고 그 기본기능을 검증한다. 제안한 원격제어 플랫폼은 IEEE 802.15.4a 기반의 최초의 원격제어 플랫폼으로서 그 의의를 가지며, 자동 스페이싱(auto-spacing)을 기반한 다중 로봇 그룹이동과 IEEE 802.15.4a의 거리측정 기능과 초음파 및 자이로센서를 이용한 상대각측정 기능을 이용한 협동위치인식(cooperative localization) 기능을 제공하는데 기존 기법들과의 차별성이 존재한다.

• Journal of Korea Multimedia Society
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• v.16 no.2
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• pp.138-146
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• 2013

In this paper, we propose a new 3D PUI(Physical User Interface) system in which the index fingertip points and moves a mouse position on a given monitor screen. There are two 3D PUI schemes to control smart devices like smart TVs remotely, the relative pointing one and the absolute pointing one. The former has a problem in that it does not match the human perception process, and the latter requires excessive movement of the body. We combined the relative one and the absolute one, and develop a new intuitive and user-friendly pointing method, 3D PUI. It requires an establishment of a pyramid shape visible area (view volume) to point a mouse position on a screen with the dominant eye. In order to maintain the real-time view volume, however, it requires large computation depending on the movement of the dominant eye. We optimized the computation of the view volume in which it determines the internal and external position on the screen. In addition, Kalman filter is applied with tracing of the mouse pointer position to stabilize the trembling of the pointer and offers the user ease of use.

• Fire Science and Engineering
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• v.31 no.1
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• pp.116-123
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• 2017

The purpose of this paper is to improve the evacuation stability of residents in apartment fire. For this purpose, the actual condition survey about the obstacles was conducted on 3,056 escape stairs in the 183 apartments. In addition, the questionnaire investigation was carried out a survey targeting the residents of apartments about their experience of fire safety education, perception on safety management of escape stairs, and perception on fire safety. As a result of investigation, we confirmed that the obstacles were formed in the 1,916 escape stairs among the 3,056 escape stairs of the 183 apartments (percent of barricades in escape stairs: 62.70%). Furthermore, it showed that fire safety education experience was found to be 83.10% of subject. The perception on safety management of the subjects in the escape step and the perception on fire safety were $3.84{\pm}0.75%$, and $3.49{\pm}0.61$, respectively. In the results, most of the subjects had a fire safety education and knew how to safety management the escape stairs but, the practice of the safety management action was low. Based on the results in the paper, the policy proposal is that the fire safety education is emphasized to change from the perception to action.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.11
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• pp.2083-2090
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• 2006

In an proposed Context-Aware SOA(Service Oriented Architecture) based OSGi(Open Service Gateway initiative) platform, Service provider manages relative kinds of services in an integrative basis from various sensors, puts each service in a SOAP (Simple Object access Protocol) message, and register thorn to the UDDI(Universal Description Discovery and Integration) server of service registry, service requester retrivel the specified kinds of services and call them to service provider. Recently most context-aware technologies for ubiquitous home network are mainly putting emphasis on RFID/USN and location-based technology. Because of this, service-oriented architecture researches have not been made enough. Under the environment of an OSGi service platform, various context-aware services are dynamically mapping from various sensors, new services are being offered for the asking of users, and existing services are changing. Accordingly, the data sharing between services provided, management of service life cycle, and the facilitation of service distribution are needed. Taking into considering all these factors, this study has suggested an Context-Aware SOA based eclipse SOA Tools Platform using OSGi platform that can transaction throughtput of more than 546 TPS of distributional Little's Law from ATAM(Architecture Tradeoff Analysis Method) while remaining stable other condition.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.2
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• pp.508-516
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• 2010

An autonomous and automatic home mess-cleanup robot is newly developed in this paper. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot (McBot) to completely overcome this problem. The robot needs the capability for agile navigation and a novel manipulation system for mess-cleanup. The autonomous navigational system has to be controlled for the full scanning of the living room and for the precise tracking of the desired path. It must be also be able to recognize the absolute position and orientation of itself and to distinguish the messed object that is to be cleaned up from obstacles that should merely be avoided. The manipulator, which is not needed in a vacuum-cleaning robot, has the functions of distinguishing the large trash that is to be cleaned from the messed objects that are to be arranged. It needs to use its discretion with regard to the form of the messed objects and to properly carry these objects to the destination. In particular, in this paper, we describe our approach for achieving accurate localization using RFID for home mess-cleanup robots. Finally, the effectiveness of the developed McBot is confirmed through live tests of the mess-cleanup task.

• Journal of the Korean GEO-environmental Society
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• v.7 no.5
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• pp.41-48
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• 2006

Crib wall is one of the segmental grid retaining walls using headers and stretchers to establish the framework of the wall. In this method, grids formed by the intersection of headers and stretchers are generally filled with the gravel to maintain the weight of the wall. Therefore, the construction can be carried out with higher speed and much economically when compared with the concrete retaining wall. Furthermore, it has high drain capacity, and environmentally friendly aspects also have been pointed out because the possibility of the planting at the front of the wall. However, in the crib wall method, the relative movement between the individual headers and stretchers was generally recognized, and stress redistribution in the gravel filling was also observed when subjected to the external loading and self-weight of filling. Therefore, it has been thought that the distribution of the earth pressure in the crib wall system differ from that of the concrete retaining wall. In this study, the surcharge tests using the scaled model crib wall was carried out to observe the distribution of the earth pressure in the segmental grid retaining wall. The earth pressure was measured in the six specified height of wall, and the distribution of the pressure was analyzed. Furthermore, the earth pressure by computation or by the test using the concrete retaining wall was also considered to make comparison.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.1
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• pp.77-82
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• 2004

In this paper we present a barcode reader to decode two-dimensional symbology PDF417 and propose a novel method to extract the bar-space Patterns directly from the gray-level barcode image, which employs the location and the distance between extreme points of each row or column of the barcode image. This algerian proves to be very robust from the high convolutional distortion environments such as defocussing and warping, even under badly illuminating condition. If the scanned barcode image is a result of the convolution of a Gaussian-shaped point spread function with a hi-level image, popular image segmentation methods such as image thresholding can not distinguish between very narrow bar-space patterns. The Proposed algorithm shows improved Performance over current barcode readers.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.1
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• pp.44-51
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• 2005

In this paper, reduction characteristics of the AC and DC flashover voltage in the horizontal air gap of sphere-sphere electrode system were investigated when the combustion flame was present near the high voltage electrode. The voltage and current waveforms were measured, when the flashover is occurred, in order to examine the flashover polarity by flame. The reduction characteristics of AC flashover voltage were discussed with the thermal ionization process, the relative air density and the deflection phenomena in the shape of flames that caused by the coulomb's force. As the results of an experimental investigation, It was found that the reduction of flashover voltages in sphere-sphere system, in comparison with the no flame case, are $79.9[\%]$ for k=0, $82.9[\%]$ for k=0.5, $87.5[\%]$ for k=1.0, $85.0[\%]$ for h=0[cm], $40.8[\%]$ for h=5[cm] and $28.2[\%]$ for h=9[cm] when ac voltage is applied. The influence for thermal ionization process of the combustion flame in small scale no particular change is recognized.

• Journal of the Korea Society of Computer and Information
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• v.16 no.6
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• pp.79-88
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• 2011

In this paper, We propose real-time sound editing and playback systems which is based on Augmented Reality. The proposed system are composed with music maker which is based on AR maker and music board. By using music marker's contents, the proposed system selects the kinds of musical instruments and pre-defined midi track and by calculating the relative location of music marker on 2-dimensional plane, we set the spatial relative parameter in midi track. For performance evaluation, we check the jitter value of in various resolutions by using CAM which supports $1600{\pm}1200$ as the maximum resolution. As a result, when we set the configuration value of CAM as $860{\pm}600$ pixels and process two frames per minute, the success ratio of recognizing music markers and jitter values are accegnable. It can be utilized in the fields of alternative cmacine which is based on music and also be utilized in the educational aspects because child or elderly who don't know enough musical theory can easily handle it.