• Journal of Electrical Engineering and Technology
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• 제9권1호
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• pp.344-351
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• 2014

In order to accomplish complex navigational commands, humanoid robot should be able to modify its walking period, step length and direction independently. In this paper, a novel walking pattern generation algorithm is proposed to satisfy these requirements. Modification of the walking pattern can be considered as a transition between two periodic walking patterns, which follows each navigational command. By assuming the robot as a linear inverted pendulum, the equations of motion between ZMP(Zero Moment Point) and CM(Center of Mass) state is easily derived and analyzed. After navigational command is translated into the desired CM state, corresponding CM motion is generated to achieve the desired state by using simple ZMP functions. Moreover, when the command is not feasible, feasible command is alternated by using binary search algorithm. Subsequently, corresponding CM motion is generated. The effectiveness of the proposed algorithm is verified by computer simulation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권11호
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• pp.4310-4330
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• 2020

With the continuous emergence of new applications and cyberattacks and their frequent updates, the need for automatic protocol reverse engineering is gaining recognition. Although several methods for automatic protocol reverse engineering have been proposed, each method still faces major limitations in extracting clear specifications and in its universal application. In order to overcome such limitations, we propose an automatic protocol reverse engineering method using a two-pathway model based on a contiguous sequential pattern (CSP) algorithm. By using this model, the method can infer both command-oriented protocols and non-command-oriented protocols clearly and in detail. The proposed method infers all the key elements of the protocol, which are syntax, semantics, and finite state machine (FSM), and extracts clear syntax by defining fine-grained field types and three types of format: field format, message format, and flow format. We evaluated the efficacy of the proposed method over two non-command-oriented protocols and three command-oriented protocols: the former are HTTP and DNS, and the latter are FTP, SMTP, and POP3. The experimental results show that this method can reverse engineer with high coverage and correctness rates, more than 98.5% and 99.1% respectively, and be general for both command-oriented and non-command-oriented protocols.

• Journal of Electrical Engineering and Technology
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• 제10권6호
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• pp.2368-2375
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• 2015

To accommodate various navigational commands, a humanoid should be able to change its walking motion in real time. Using the modifiable walking pattern generation (MWPG) algorithm, a humanoid can handle dynamic walking commands by changing its walking period, step length, and direction independently. If the humanoid is given a command to perform an infeasible movement, the algorithm substitutes the infeasible command with a feasible one using binary search. The feasible navigational command is subsequently translated into the desired center-of-mass (CM) state. Every sample time CM reference is generated using a zero-moment-point (ZMP) variation scheme. Based on this algorithm, various complex walking patterns can be generated, including backward and sideways walking, without detailed consideration of the feasibility of the navigational commands. In a previous study, the effectiveness of the MWPG algorithm was verified by dynamic simulation. This paper presents experimental results obtained using the small-sized humanoid robot platform DARwIn-OP.

• Journal of Electrical Engineering and Technology
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• 제11권3호
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• pp.751-758
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• 2016

The modifiable walking pattern generation (MWPG) algorithm can handle dynamic walking commands by changing the walking period, step length, and direction independently. When an infeasible command is given, the algorithm changes the command to a feasible one. After the feasibility of the navigational command is checked, it is translated into the desired center of mass (CM) state. To achieve the desired CM state, a reference CM trajectory is generated using predefined zero moment point (ZMP) functions. Based on the proposed algorithm, various complex walking patterns were generated, including backward and sideways walking. The effectiveness of the patterns was verified in dynamic simulations using the Webots simulator.

• 대한전기학회논문지
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• 제33권10호
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• pp.381-386
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• 1984

This paper deals with the microcomputer realization of EMG pattern recognition system which provides identification of motion commands from the EMG signals for the on-line control of a prosthetic arm. A probabilistic model of pattern is formulated in the feature space of integral absolute value(IAV) to describe the relation between a motion command and the location of corresponding pattern. This model enables the derivation of sample density function of a command in the feature space of IAV. Classification is caried out through the multiclass sequential decision process, where the decision rule and the stopping rule of the process are designed by using the simple mathematical formulas defined as the likelihood probability and the decision measure, respectively. Some floating point algorithms such as addition, multiplication, division, square root and exponential function are developed for calculating the probability density functions and the decision measure. Only six primitive motions and one no motion are incorporated in this paper.

• 한국멀티미디어학회논문지
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• 제19권8호
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• pp.1544-1552
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• 2016

If the undo/redo function is not reflected in the initial design of an application, it makes it difficult to implement the undo/redo function additionally, in this paper, we examined some examples to design the sodoku game and analyzed problems of the design to implement the undo/redo functions. For an efficient design of the undo/redo functions without using swing.undo package, we propose a class design using the Command, Memento, and Observer pattern these are used as organic. The proposed method is more efficient for distributed work than other method. We implemented a sudoku game using proposed design. In the undo/redo function testing, we could see that it works well.

• 한국정보통신학회논문지
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• 제23권6호
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• pp.645-651
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• 2019

대용량 데이터가 쏟아져 나오고 있는 지금, 대용량 데이터의 처리를 위해 데이터 처리 특성상 쓰기 작업보다 읽기작업이 많아 소프트웨어 아키텍처나 데이터 저장 패턴에 많은 변화가 가해지고 있다. 이에 따라 본 논문에서는 명령(Command)과 쿼리(Query)의 책임을 분리하는 CQRS(Command Query Responsibility Segregation) 패턴의 쿼리 모델을 사용해 사용자의 요구사항에 효율적인 대용량 데이터 조회 시스템을 구현한다. 본 논문의 대용량 데이터는 기상청 Open API의 2018년 온도, 습도, 강수 데이터를 활용하여 약 23억 건의 데이터를 RDBMS(PostgreSQL)와 NoSQL(MongoDB)에 알맞게 저장한다. 또한 구현한 웹 서버 (Web Server) 입장에서의 CQRS패턴을 적용한 시스템과 CQRS 패턴을 적용하지 않은 시스템의 성능, 각 데이터베이스의 저장구조 성능, 데이터 처리 특징에 맞는 성능을 비교 및 분석한다.

• Journal of Electrical Engineering and Technology
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• 제10권5호
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• pp.2142-2148
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• 2015

This paper proposes novel real-time footstep planning and following methods for the navigation of humanoid robots. A footstep command is defined by a walking direction and step lengths for footstep planning. The walking direction is determined by a uni-vector field navigation method, and the allowable yawing range caused by hardware limitation is considered. The lateral step length is determined to avoid collisions between the two legs while walking. The sagittal step length is modified by a binary search algorithm when collision occurs between the robot body and obstacles in a narrow space. If the robot body still collides with obstacles despite the modification of the sagittal step length, the lateral step length is shifted at the next footstep. For footstep following, a walking pattern generator based on a 3-D linear inverted pendulum model is utilized, which can generate modifiable walking patterns using the zero-moment point variation scheme. Therefore, it enables a humanoid robot to follow the footstep command planned for each footstep. The effectiveness of the proposed method is verified through simulation and experiment.

• 산업경영시스템학회지
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• 제28권4호
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• pp.134-141
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• 2005

Due to the complexity and stochastic nature of automated warehousing system, items are usually queued up at I/O point. We introduce a storage/retrieval policy : dual-command. We present quick approximations to queueing phenomena under these policies. It is assumed that the storage and retrieval arrival pattern follow the same poisson process. We also assumed that storage queue and retrieval queue being operated separately. The approximation attempts are performed under the proposed storage/retrieval policies after we derive S/R machine travel time distributions.

• 한국의류학회지
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• 제12권3호
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• pp.319-331
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• 1988

The purpose of this study was to develop a computer program for pattern making of women's Dooroomaky. The following results were given through utilizing the Computer in pattern making of Dooroomaky for women. 1. Computerization of the pattern making process was expected to provide higher accuracy and efficiency in pattern making. 2. Basic pattern was drafted by the hand-operation. In this study, this Dooroomaky basic pattern was selected. And a computer program for drafting was developed. Refer to