• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.469-472
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• 2014

S-MAC is hybrids of CSMA and TDMA approaches that use local sleep-wake schedules to coordinate packet exchanges and reduce idle listening. In this method, all the nodes are considered with equal priority which may lead to increased delay during heavy traffic. The method introduced in this paper provides high throughput and small end-to-end delay suitable for applications such as real-time voice streaming and its functionality is independent of underlying synchronization protocol. The novel idea behind our scheme is that it uses the priority concept with (m,k)-firm scheduling in order to achieve its objectives. The performance of our scheme is obtained through simulations for various packet sizes, traffic loads which show significant improvements in packet delivery ratio, and delay compared to existing protocols.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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• pp.269-277
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• 2022

In this paper, we overview the system development status of the national maritime precise point positioning-real-time kinematic (PPP-RTK) service in Korea, also known as the Precise POsitioning and INTegrity monitoring (POINT) system. The development of the POINT service began in 2020, and the open service is scheduled to start in 2025. The architecture of the POINT system is composed of three provider-side facilities-a reference station, monitoring station, and central control station-and one user-side receiver platform. Here, we propose the detailed functionality of each component considering unidirectional broadcasting of augmentation data. To meet the centimeter-level user positioning accuracy in maritime coverage, new reference stations were installed. Each reference station operates with a dual receiver and dual antenna to reduce the risk of malfunctioning, which can deteriorate the availability of the POINT service. The initial experimental results of a testbed from corrections generated from the testbed network, including newly installed reference stations, are presented. The results show that the horizontal and vertical accuracies satisfy 2.63 cm and 5.77 cm, respectively. For the purpose of (near) real-time broadcasting of POINT correction data, we designed a correction message format including satellite orbit, satellite clock, satellite signal bias, ionospheric delay, tropospheric delay, and coordinate transformation parameters. The (near) real-time experimental setup utilizing (near) real-time processing of testbed network data and the designed message format are proposed for future testing and verification of the system.

• Journal of Multimedia Information System
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• v.8 no.2
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• pp.121-130
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• 2021

Foot bionic robot could be supported and towed through a series of discrete footholds and be adapted to rugged terrain through attitude adjustment. The vibration isolation of the robot could decouple the fuselage from foot-end trajectories, thus, the robot walked smoothly even if in a significant terrain. The gait programming and foot end trajectory algorithm were simulated. The quadruped robot of parallel five linkages with eight degrees of freedom were tested. The kinematics model of the robot was established by setting the corresponding coordinate system. The forward and inverse kinematics of both supporting and swinging legs were analyzed, and the angle function of single leg driving joint was obtained. The trajectory planning of both supporting and swinging phases was carried out, based on the control strategy of compound cycloid foot-end trajectory planning algorithm with zero impact. The single leg was simulated in Matlab with the established kinematic model. Finally, the walking mode of the robot was studied according to bionics principles. The diagonal gait was simulated and verified through the foot-end trajectory and the kinematics.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.05a
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• pp.363-366
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• 2013

오늘날 도난방지, 화재, 범죄예방 등의 안전한 생활을 위한 감시 시스템의 중요성이 강조되고 있다. 이에 영상보안 시장 규모가 급속히 증가하고 있으며 관련 기술도 인공지능을 겸비한 형태로 발전하고 있다. 우리나라도 영상보안 시스템의 수요가 2002년부터 기업과 정부를 중심으로 증가하고 있으며 급속한 성장을 거듭하는 추세는 2012년 이후에도 지속될 전망이다. 특히, 최근에는 적은 대수의 카메라로 보다 넓은 지역을 관찰하고 특정 부분을 확대 관찰할 수 있는 PTZ 카메라의 활용이 증가하고 있다. PTZ 카메라는 카메라에 구동 장치를 추가하여 좌우(Pan), 상하(Tilt)로 카메라의 시점을 이동시킬 수 있으며 특정 부분을 확대하여 관찰할 수 있는 줌(Zoom) 기능을 가진 카메라를 말한다. 이와 같은 장점으로 지능형 PTZ 카메라는 점차 대중화 되고 있다. 하지만, 현재 시중에 판매되는 많은 종류의 PTZ 카메라를 이용한 영상보안 감시는 실제로 사용자들이 동작하고 사용하는데 있어서 많은 문제점을 가지고 있다. 이에 본 논문에서는 카메라 별로 제공하는 상이하고 왜곡된 좌표 값에서 새롭게 가공한 직관적 절대좌표 값을 추출하여 정확한 목표지점으로의 위치이동과 간편한 카메라 조작을 위한 시스템을 설계하였다.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.6_2
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• pp.1003-1008
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• 2022

This paper proposes a method related to fault tolerance operation and characteristic analysis of asymmetric 6-phase permanent magnet synchronous motor. In general, motor drive systems with multi-phase structures can be continuously operated despite a reduction of power and speed by using a phase changeover or control techniques according to the failures. As a result, it is widely used in industrial fields such as aviation and defense, which require high efficiency and high reliability. In this paper, the second order ripple of the electrical fundamental freuqnecy occurs in the dq-axis currents of the synchronous coordinate system through mathematical analysis according to the switch open of the dual 3-phase inverter. Therefore, the fault tolerant operation method is presented by applying the fault detection method with a constant cycle for continuous operations. The effectiveness of the proposed fault tolerance operation method is verified through the several experiments.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.37-47
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• 2023

This paper introduced how to construct Denavit-Hartenberg (DH) parameters from the Unified Robot Description Format (URDF). URDF is convenient for describing a robot even though the robot is very complex. On the other hand, DH convention is not an easy notation for many novices who want to describe a robot. Therefore, most vendors provide URDF and users prefer to use URDF to describe a robot. However, some controllers or algorithms are based on DH parameters to perform kinematics, dynamics, control, etc. To connect URDF and DH parameters, we present a three-step approach to construct DH parameters from URDF. The first step is to define the joint axis for constructing DH parameters. The second step is constructing DH parameters to define joint character. The final step is constructing DH parameters to define the coordinate frame of the child link. This approach is based on intuitive vector calculation and guarantees the uniqueness of DH parameters. To verify our approach, we applied our approach to a simple one-link robot, a manipulator with 6 DOF, and a quadruped robot with 3 DOF per leg. We verified that our approach worked well based on forward kinematic results.

• Journal of KIISE:Computing Practices and Letters
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• v.9 no.6
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• pp.623-634
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• 2003

In this paper, we propose a collaborative multimedia authoring system. Our authoring system represents a multimedia presentation in a 3D coordinate system. One axis represents the traditional timeline information (T-zone), and the other two axes represent spatial coordinates (XY-zone). Our system represents a visual media objects as a 3D parallelepipeds and audio media objects as cylinders. This interface allows for simultaneous authoring and manipulation of both the temporal and the spatial aspects of a presentation. Using our system, users can design multimedia presentations collaboratively in the unified spatio-temporal space while freely traversing the spatial domain and the temporal domain without changing the context of authoring. In addition, we suggest an efficient mechanism of concurrency control for shared objects generated by our collaborative writing system. The mechanism is mainly based on the user awareness, the multiple versions, and the access permission of shared objects. Our concurrency control mechanism is designed to keep data consistency by minimizing the collision due to the delay or the failure of network communication and to allow maximum responsiveness for users using optimistic concurrency control. Also, the mechanism maximize the responsiveness by refining the locking granularity and applying different concurrency control mechanisms to each.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.14 no.4
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• pp.127-132
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• 2014

In this paper, we propose a digital signage method that can control the contents of the screen and download the desired files to individual smart terminal with no touch of digital signage screen by using Kinect. The main features and contributions of the proposed method are as follows. First, can solve the problems such as the risk of bacterial infection, not cleanliness on the screen as well as maximize advertising effectiveness. Second, can support bi-directional communications with computer while we touch only wanted advertisements. The performance evaluation shows the effectiveness of the proposed method. Especially, we can see that the proposed system operates through the recognition of user's actions when the cursor is within the scope of a certain coordinate and the file transfer time to download information is different depending on the PC performance and the version of personal smart device.

• Journal of the Society of Naval Architects of Korea
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• v.37 no.2
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• pp.70-76
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• 2000

A numerical study on the viscous flow around a 2-dimensional circulation control foil is carried out for application on the field of naval architecture and ocean engineering. The governing equations are the RANS and the continuity equations. The equations are discretized by finite difference method and MAC method and the pressure poisson equation is calculate by a SOR method and an O-type non-staggered boundary fitted coordinate system which is overlapped near the slot is used to improve the numerical accuracy. Turbulence is approximated by a modified Baldwin-Lomax turbulence model. In the present paper, the Coanda effect on a 2-dimensional foil of a 20% thickness ellipse with modified rounded trailing edge has been numerically studied. The change in drag and lift of the foil with various jet momentums are calculated and compared to the experimental results to show good agreements.

• Journal of Broadcast Engineering
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• v.18 no.3
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• pp.380-392
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• 2013

A method to classify a golf swing motion into 7 sections using a Kinect sensor and a fuzzy system is proposed. The inputs to the fuzzy logic are the positions of golf club and its head, which are extracted from the information of golfer's joint position and color information obtained by a Kinect sensor. The proposed method consists of three modules: one for extracting the joint's information, another for detecting and tracking of a golf club, and the other for classifying golf swing motions. The first module extracts the hand's position among the joint information provided by a Kinect sensor. The second module detects the golf club as well as its head with the Hough line transform based on the hand's coordinate. Using a fuzzy logic as a classification engine reduces recognition errors and, consequently, improves the performance of robust classification. From the experiments of real-time video clips, the proposed method shows the reliability of classification by 85.2%.