• Journal of KIISE:Information Networking
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• v.35 no.1
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• pp.46-55
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• 2008

As a mobility support for IP have studied, Internet Engineering Task Force(IETF) standardized the Mobile IPv6(MIPv6) protocol. When a mobile node moves between subnets, MIPv6 maintains connectivity to network and supports seamless communication, and these processes are called a Handover. Whenever the mobile node moves between subnets, the Handover is performed. The mobile node can not communicate during the Handover. This period is Galled Handover latency. To reduce this latency, mipshop working group standardizes Fast Handovers for Mobile IPv6(FMIPv6), but latency which the mobile node registers its new care-of address to a home agent and a correspondent node is still long. To solve this problem, we propose a scheme that the mobile node registers the new care-of address to the home agent and initiates Return Routability procedure in advance during layer 2 handover, based on FMIPv6 and IEEE 802.11. We analyze MIPv6, FMIPv6 and the proposed scheme in term of packet transmission cost during the Handover. Compared to MIPv6 the proposed scheme gains 79% improvement, while it gains 31% improvement compared to FMIPv6.

• Journal of The Korean Astronomical Society
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• v.40 no.3
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• pp.67-82
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• 2007

The basic building block of solar filaments/prominences is thin threads of cool plasma. We have studied the spectral properties of velocity threads, clusters of thinner density threads moving together, by analyzing a sequence of $H{\alpha}$ images of a quiescent filament. The images were taken at Big Bear Solar Observatory with the Lyot filter being successively tuned to wavelengths of -0.6, -0.3, 0.0, +0.3, and +0.6 ${\AA}$ from the centerline. The spectra of contrast constructed from the image data at each spatial point were analyzed using cloud models with a single velocity component, or three velocity components. As a result, we have identified a couple of velocity threads that are characterized by a narrow Doppler width($\Delta\lambda_D=0.27{\AA}$), a moderate value of optical thickness at the $H{\alpha}$ absorption peak($\tau_0=0.3$), and a spatial width(FWHM) of about 1". It has also been inferred that there exist 4-6 velocity threads along the line of sight at each spatial resolution element inside the filament. In about half of the threads, matter moves fast with a line-of-sight speed of $15{\pm}3km\;s^{-1}$, but in the other half it is either at rest or slowly moving with a line-of-sight velocity of $0{\pm}3km\;s^{-1}$. It is found that a statistical balance approximately holds between the numbers of blue-shifted threads and red-shifted threads, and any imbalance between the two numbers is responsible for the non-zero line-of-sight velocity determined using a single-component model fit. Our results support the existence not only of high speed counter-streaming flows, but also of a significant amount of cool matter either being at rest or moving slowly inside the filament.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.6
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• pp.130-138
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• 2012

There are increasing demands from the industry for intelligent robot-calibration solutions, which can be tightly integrated to the manufacturing process. A proposed solution can simplify conventional robot-calibration and teaching methods without tedious procedures and lengthy training time. iGPS(Indoor GPS) system is a laser based real-time dynamic tracking/measurement system. The key element is acquiring and reporting three-dimensional(3D) information, which can be accomplished as an integrated system or as manual contact based measurements by a user. A 3D probe is introduced as the user holds the probe in his hand and moves the probe tip over the object. The X, Y, and Z coordinates of the probe tip are measured in real-time with high accuracy. In this paper, a new approach of robot-calibration and teaching system is introduced by implementing a 3D measurement system for measuring and tracking an object with motions in up to six degrees of freedom. The general concept and kinematics of the metrology system as well as the derivations of an error budget for the general device are described. Several experimental results of geometry and its related error identification for an easy compensation / teaching method on an industrial robot will also be included.

• Korean Journal of Crystallography
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• v.3 no.2
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• pp.120-128
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• 1992

Single crysals of BaTiO3 were grown by TSSG technique at various cooling rates. Morpolo girts, defects and domain structures of the grown crystals were investigated. At the cooling rates below 0.5℃/hr, equant single crystals were obtained and the 11111 faces were dominantly developed. If the cooling rate was much faster or if the vortical temperature gradient in the so lotion was very large, the solution became unstable and the needle formed BasTil04 o crystals were precipitated. Two sets of parallel lamella domains are arranged perpendicular to each other and the irregularly shaped boundaries are fixed between them. These sets of domains show remarkable orientation contrast in x-ray topography. Heating the crystal above 127℃, the phase transition from tetragonal to cubic occurs. The phase transition front (PTF) moves in the direction of temperature gradient. Domains in the tetragonal phase are successively rearranged and regular strain patterns appear in the cubic phase. The habit plane of PTF in BaTi03 is found to deviate from a l1101 lattice plane by app roximately 9°.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.40 no.8
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• pp.511-517
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• 2016

Three-dimensional models of stenosis blood vessels were prepared using a 3D printer. The models included a straight pipe with axisymmetric stenosis and a pipe that was bent $10^{\circ}$ from the center of stenosis. A refractive index matching method was utilized to measure accurate velocity fields inside the 3D tubes. Three different pulsatile flows were generated and controlled by changing the rotational speed frequency of the peristaltic pump. Unsteady velocity fields were measured by a time-resolved particle image velocimetry method. Periodic shedding of vortices occurred and moves depended on the maximum velocity region. The sizes and the positions of the vortices and symmetry are influenced by mean Reynolds number and tube geometry. In the case of the bent pipe, a recirculation zone observed at the post-stenosis could explain the possibility of blood clot formation and blood clot adhesion in view of hemodynamics.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.700-710
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• 2009

A computer vision technique of estimating the location of an unmanned ground vehicle is proposed. Identifying the location of the unmaned vehicle is very important task for automatic navigation of the vehicle. Conventional positioning sensors may fail to work properly in some real situations due to internal and external interferences. Given a DSM(Digital Surface Map), location of the vehicle can be estimated by the registration of the DSM and multiview range images obtained at the vehicle. Registration of the DSM and range images yields the 3D transformation from the coordinates of the range sensor to the reference coordinates of the DSM. To estimate the vehicle position, we first register a range image to the DSM coarsely and then refine the result. For coarse registration, we employ a fast random sample matching method. After the initial position is estimated and refined, all subsequent range images are registered by applying a pair-wise registration technique between range images. To reduce the accumulation error of pair-wise registration, we periodically refine the registration between range images and the DSM. Virtual environment is established to perform several experiments using a virtual vehicle. Range images are created based on the DSM by modeling a real 3D sensor. The vehicle moves along three different path while acquiring range images. Experimental results show that registration error is about under 1.3m in average.

• Korean Journal of Optics and Photonics
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• v.20 no.2
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• pp.102-109
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• 2009

In this paper, we introduce an eye-tracking 3D display system using variable parallax barrier and DDC communication. A barrier of variable parallax barrier composed of 4 sub-barriers and a commercially available web camera is utilized to implement the eye-tracking system. The coordinates of a viewer is extracted from the web camera transfer to 3D display via DDD/CI communication. The variable barrier attached to the LCD moves electrically according to the right eye position for 3D images. This system is compared experimentally with the commercial parallax barrier methods.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.604-607
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• 2013

A handoff call require more high QoS than that of a new call to satisfy continuity of communication on cellular networks. In case of a handoff call, after start connection of communication, the handoff call moves among cells. Therefore, Blocking of handoff call provides more bad service to respect to user. In this paper, we propose a 3 states guard channel schem to provide a stable environment of communication for a handoff call. The proposed scheme assigns the number of usable channels discriminatorily by distinguishing between of a new call and a handoff call. This scheme can reduce a handoff call blocking probability and improvement QoS of cellular networks. In this scheme, a handoff call classify by a partial handoff call and a full handoff call according to their handoff probability otherwise known as a previous guard scheme.

• The Journal of the Korea Contents Association
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• v.18 no.1
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• pp.250-257
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• 2018

Today, the integration of the rapid development of ICT and the smart devices moves our lives quickly into an online community environment through not only quick and easy information search but also various social media. Accordingly, individual activities in the smart media environment are pouring out vast quantities of data in many fields, accumulating a tremendous amount of data. The everyday data of individuals is reproducing different values from the previous ones, while suggesting new customized services that utilize them in various fields. Recently, big data utilization has attracted a great attention in the field of healthcare. Especially, development of healthcare service linked with mobile is expected to bring a new paradigm in this field. In this study, creation of a 3D avatar character model as a means to transfer information to individuals more efficiently is proposed in the development of mobile customized service for health promotion and growth prediction of children and adolescents, at the same time, an effective visual expression method to have a sense of immersion and unity is searched.