• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2018.05a
• /
• pp.158-159
• /
• 2018

It analyzed the domestic and overseas trends related to smart ship development in the world and identifies key functions required for smart vessels, especially autonomous vessels, and introduces key technologies that can be utilized in the development of INS(Integrated Navigation System) for autonomous vessels.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.8
• /
• pp.810-816
• /
• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• Journal of Internet Computing and Services
• /
• v.20 no.6
• /
• pp.157-166
• /
• 2019

oneM2M has been adopted to national and global smart city platforms leveraging its benefits, oneM2M platform assures interoperability to devices and services with standard APIs. Existing access control mechanisms in the standard should be extended to easily distribute smart city data. Compared to the as-is standard, this paper proposes a new access control method with minimum human interventions during data distribution between data sellers and buyers. The proposal has been implemented as the new data marketplace APIs to oneM2M platform and used for data marketplace portal interworking. This also has been demonstrated with smart city PoC service.

• International Journal of Internet, Broadcasting and Communication
• /
• v.16 no.2
• /
• pp.149-160
• /
• 2024

For examining Web3.0 video streaming (VS) platforms in terms of the decentralized technology, tokenization and decentralized autonomous organization (DAO), we look at four platforms like DLive, DTube, Livepeer, and Theta Network (Theta). As a result, DLive which firstly partnered with Medianova for CDN and with Theta for peer to peer (P2P) network and migrates to Tron blockchain (BC), receives no commission from what creators earn, gives rewards to viewers by measuring engagement, and incentivizes participation by allowing 20% of donation & fees for funding development, 5% to BitTorrent Token (BTT) stakeholders (among these 5%, 20% to partners, 80% to other BTT stakeholders). DTube on its own lower-layer BC, Avalon, offers InterPlanetary File System (IPFS), gives 90% of the created value to creators or curators, and try to empower the community. Livepeer on Ethereum BC offers decentralized CDN, P2P, gives Livepeer Token (LPT) as incentive for network participants, and delegators can stake their LPT to orchestrators doing good. Theta on its native BC pulls streams from peering caching nodes, creates P2P network, gives Theta utility token, TFUEL for caching or relay nodes contributors, and allows Theta governance token, THETA as staking token. We contribute to the categorization of Web3.0 VS platforms: DLive and DTube reduce the risk of platform censorship, promote the diverse content, and allow the community to lead to more user-friendly environments. On the other hand, Livepeer and Theta provide new methods to stream content, but they have some differences. Whereas Livepeer focuses on the transcoding layer, Theta concentrates both on the video application layer and content delivery layer. It means, Theta tries to deliver value to all participants by enhancing network quality, reducing CDN cost, and rewarding users in utility tokens for the storage and bandwidth they provide.

• Journal of Korea Society of Digital Industry and Information Management
• /
• v.5 no.4
• /
• pp.77-85
• /
• 2009

In this paper, the implementation of creative engineering robot with MCU platform is described. This robot, as a platform of robot system to be used as creative engineering education, has to satisfy restrictions in many aspects in order to study algorithm and apply for the processor based function and pattern recognition application. Considering many restrictions of the mobile platform for creative robot system, we made this robot autonomous by using efficiently the LINUX embedded system. And we choose Marvell Monahan processor(PXA320) as MCU flatform, and used CentOS5.2 as an embedded OS that has the function of robustness and optimality. For flexibility and modularity, the platform has expansion ports. The results of experiment are described to show the pattern matching of creative engineering mobile robot with LINUX programming environments.

• Journal of Ocean Engineering and Technology
• /
• v.33 no.2
• /
• pp.168-177
• /
• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.21 no.6
• /
• pp.177-193
• /
• 2022

In the near future, it is expected that the use of autonomous mobility-on-demand services will increase. Considering its complicated service components, including vehicle convenience, driving and matching speed, and platform convenience, the priorities of them will need to be determined for a successful establishment. In this context, this study examined the importance rank of each service component through an online survey of potential users of autonomous mobility-on-demand services. As a result of the AHP (Analytic Hierarchy Process) with respect to the upper-level components, driving and matching speed component is selected as most important, followed by platform convenience and vehicle convenience. Mean rank analysis with respect to lower-level components showed that the in-vehicle congestion level of vehicle convenience, waiting time of driving and matching speed, and pre-booking availability of platform convenience each ranked first. Additional analysis regarding each group was conducted to establish a group-specific strategy. As a result, it would be better to focus on a vehicle than a mobile platform when designing services for the region with a high proportion of the older. Moreover, it is recommended to speed up the driving and matching speeds more than the current public transport, alleviate in-vehicle congestion, and enable the users to book the schedule in advance.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.19 no.6
• /
• pp.639-645
• /
• 2018

This paper is intended to develop a decision model that can be applied to autonomous vehicles and autonomous mobile vehicles. The developed module has an independent configuration for application in various driving environments and is based on a platform for organically operating them. Each module is studied for decision making on lane changes and for securing safety through reinforcement learning using a deep learning technique. The autonomous mobile moving body operating to change the driving state has a characteristic where the next operation of the mobile body can be determined only if the definition of the speed determination model (according to its functions) and the lane change decision are correctly preceded. Also, if all the moving bodies traveling on a general road are equipped with an autonomous driving function, it is difficult to consider the factors that may occur between each mobile unit from unexpected environmental changes. Considering these factors, we applied the decision model to the platform and studied the lane change decision system for implementation of the platform. We studied the decision model using a modular learning method to reduce system complexity, to reduce the learning time, and to consider model replacement.

• 중국학논총
• /
• no.63
• /
• pp.121-136
• /
• 2019

Graded reading is to match reading competency of readers with difficulty levels of text, based on the study of readability. This article discusses how to apply new media to develop Chinese graded reading materials which are more interesting, scientific and practical than traditional paper materials. The graded materials on the new media platform can be used for Chinese second language learners to self-study, and also for instructors to support reading and writing instruction in class or after class.

• Journal of Platform Technology
• /
• v.8 no.4
• /
• pp.11-19
• /
• 2020

In an autonomous driving environment, dynamic recognition of objects is essential as the situation changes in real time. In addition, as the number of sensors and control modules built into an autonomous vehicle increases, the amount of data the central control unit has to process also rapidly increases. By minimizing the output data from the sensor, the load on the central control unit can be reduced. This study proposes a dynamic object recognition algorithm solely using the embedded processor on a LiDAR sensor. While there are open source algorithms to process the point cloud output from LiDAR sensors, most require a separate high-performance processor. Since the embedded processors installed in LiDAR sensors often have resource constraints, it is essential to optimize the algorithm for efficiency. In this study, an embedded processor based object recognition algorithm was developed for autonomous vehicles, and the correlation between the size of the point clouds and processing time was analyzed. The proposed object recognition algorithm evaluated that the processing time directly increased with the size of the point cloud, with the processor stalling at a specific point if the point cloud size is beyond the threshold