• Journal of Biomedical Engineering Research
• /
• v.29 no.1
• /
• pp.32-39
• /
• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.8
• /
• pp.181-189
• /
• 2017

This study examines whether the variables used in the Unified Theory of Acceptance and Use of Technology(performance expectancy, effort expectancy, social influence, and facilitating conditions) is applicable to continuous usage of uTradeHub at a time of expansion in the use of uTradeHub. In addition, the role of user satisfaction(mediating effect) and CEO support(interaction effect) in the relationship is identified attempting to provide basic data to help uTradeHub management strategy establishment. A total of 101 valid responses collected through questionnaires were used for empirical analysis(using SPSS 24.0), and the results are as follows. First, for the effect of the integration technology acceptance factor on user satisfaction(H1), only performance expectancy, effort expectancy, and social influence were significant, but facilitating conditions was not significant. Second, for the effect of user satisfaction on the continued use of uTradeHub(H2), there was a significant result. Third, the mediation effect on verification of user satisfaction(H3) was full where performance expectancy, effort expectancy, and social influence prompted continuous usage through user satisfaction. Fourth, for interactive effect verification of CEO support(H4), an interaction effect was shown only in the influence relationship of performance expectancy and social influence on user satisfaction.

• Journal of KIISE:Computing Practices and Letters
• /
• v.8 no.5
• /
• pp.607-617
• /
• 2002

IETF has proposed CNRP that is a protocol exchanging CNRP objects between server and client for resolving a common name to URIs of the desired Internet resouces. CNRP enables users to access various services via the integrated interface, to easily get the desired resources, and to reuse the results not as the data but as the information. Whereby these advantages, CNRP will be generally used for the integration of the various Internet services or the applications where the resolution of common name is needed. But, CNRP specification doesn't describes the practical implementation method for server and client. Though a few prototype systems are developed in some researches using CNRP, they are not enough to be generally used for the various Internet applications because they doesn't include all objects specified in CNRP specification or they construct systems with one server. So, this Paper proposes the practical implementation method for CNRP server/client through analyzing and solving the problems occurred when implementing them, and implements all objects specified in CNRP specification. This paper also verifies the feasibility of the proposed method by developing the prototype system of the company name resolution service using the CNRP server/client implemented in this study. The CNRP server/client implemented in this paper are used to develop various CNRP application systems.

• Journal of Intelligence and Information Systems
• /
• v.14 no.1
• /
• pp.47-66
• /
• 2008

This study is aimed at proposing a new type of ubiquitous decision support system (u-DSS) portal which is embedded with two important mechanisms like an intelligent ontology management module (i-OMM) and multi-agent coordination mechanism (MACM). The proposed portal provides timely decision support to the involved decision entities (represented as agents) by taking advantage of the two mechanisms embedded on the portal. The most important virtue of the proposed portal is that it can resolve two problems such as semantic discordance and data confliction which are occurring very often in an ubiquitous computing environment. Frequent requests of revising the already established decision information due to the rapid changes in decision entities' requirements require the extremely flexible and intelligent u-DSS vehicle like theproposed mechanism. In this sense, the i-OMM is designed to provide support to solving the semantic discordance in the way that the i-OMM virtually integrates ontology view (IOV) to integrate heterogeneous ontology among the agents engaged inubiquitous commerce situations. Then the i-OMM sends the IOV to the MACM to resolve the conflicts among the involved agents. The proposed u-DSS portal was applied to the u-fulfillment problem in which all the involved decisionagents need their own requirements to be satisfied seamlessly and timely. The experimental results show that the proposed u-DSS portal is very robust and promising in the field of u-DSS and context modeling.

• 한국정보통신설비학회:학술대회논문집
• /
• 2008.08a
• /
• pp.211-217
• /
• 2008

Recently, there are many efforts to support seamless mobility in 802.11 WLANs using IP Layer mobility protocols. The IP layer mobility protocols are the most efficient mechanism to guarantee the service session continuity when IP subnet is changed during handover. Even if the IP layer mobility protocols are quite efficient, the feature of the protocols that had been designed to consider only L3 layer makes it difficult to improve the performance of hand over more and more. Nowadays, to overcome this limitation of IP mobility protocols, many researchers have worked on the mobility protocols integration of different layers (e.g., L2 layer). In this paper, we propose the enhanced Proxy MIPv4 to minimize the latency of handover using MIH protocol in 802.11 WLANs. The proposed mechanism minimizes the latency of authentication by exchanging security keys between Access Routers during handover. Moreover, it also minimizes packet losses by Inter-AP Tunneling and data forwarding.

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

• Korean Journal of Soil Science and Fertilizer
• /
• v.39 no.1
• /
• pp.29-37
• /
• 2006

In remediation of the contaminated soil, it requires to select at least more than two remediation technologies depending on the fate and transport phenomena through complicated reactions in soil matrix. Therefore, methodologies related to develop the integrated remediation technology were reviewed for agricultural soils contaminated with heavy metals. Pneumatic fracturing is necessary to implement deficiency because soil washing is not effective to remove heavy metals in the subsurface soil. But it needs to evaluate the characteristics such as essential data and factors of designated technology in order to effectively apply them in the site. In the remediation site, the important soil physical and chemical factors to be considered are hydrology, porosity, soil texture and structure, types and concentrations of the contaminants, and fate and its transport properties. However, the integrated technology can be restrictive by advective flux in the area which remediation is highly effective although both soil washing and pneumatic fracturing were applied simultaneously in the site. Therefore, we need to understand flow pathways of the target contaminants in the subsurface soils, that includes kinetic desorption and flux, predictive simulation modeling, and complicated reaction in heterogenous soil.

• Korean journal of food and cookery science
• /
• v.22 no.5 s.95
• /
• pp.666-680
• /
• 2006

To obtain basic data for the utilization of saltwort (Salicornia herbacea L.) as a functional ingredient in steamed foam cake, the optimum component ratios for major raw ingredients (saltwort, salt, and wheat flour) as independent variables that affect the product quality were scientifically determined using RSM (response surface methodology) technique. A three-factor and five-level rotational central composite design was used for treatment arrangement. The complete design consisted of 16 experimental points. The three independent variables selected for the RSM experiment were amounts of saltwort (X$_1$, 5${\sim}$25 g), salt (X$_2$, 0${\sim}$10 g), and wheat flour (X$_3$, 470${\sim}$530 g). The optimum responses in specific gravity of the batter and volume, color, texture, and sensory evaluation result of the cake were obtained. The specific gravity and viscosity of the batter at p<0.01 was verified from the regression curve. The characteristic of the batter was influenced by all independent variables, but was extremely dependent on the amount of saltwort ordinary points of the surface responses from the batter formed the minimum points for specific gravities of the batter while viscosities of the batter appeared with the saddle points. Analysis of the response indicated that the amount of saltwort was the most influential factor over the physical properties of the cake, among the dependent variables. Ordinary points of the surface responses from the cake formed the maximum points for loaf volume, hardness gumminess, and chewiness, while Hunter colorimetric parameters appeared with the saddle points. The result indicated that level of the saltwort deviating more or less from the optimal amount decreased the volume and increased the specific gravity with less tender product. Ordinary points of the surface responses of the sensory evaluation scores from the cake formed the maximum points for appearance, flavor, softness, and overall acceptability, while color values appeared with the saddle points. The result also indicated that the level of the saltwort deviating more or less from the optimal amount reduced the preference for the product. Integration of the optimum responses common to all dependent variables that overlapped all the contour maps finally indicated that the combination of 8.3${\sim}$13.8 g saltwort, 2.5${\sim}$6.6 g salt, and 486.5${\sim}$511.5 g wheat flour under the selected preparation recipe optimized the physical and sensory properties in the teamed foam cakes. Practical preparation of the product with median amounts of the ingredients, i.e., 11.0 g saltwort, 4.6 g salt, and 499.0 g wheat flour resulted in similar qualities to the predicted responses. In conclusion, these study results indicated that preparation of steamed foam cake with added saltwort ingredient could potentially produce a more nutritious product with less salt. Further research is required to acquire the optimum levels for sub-ingredients to improve the product quality.

• KIPS Transactions on Software and Data Engineering
• /
• v.6 no.10
• /
• pp.473-478
• /
• 2017

Drones require altitude holding in order to achieve flight objectives. The altitude holding of the drone is to repeat the operation of raising or lowering the drone according to the altitude information being measured in real-time. When the drones are maintained altitude, the drone's altitude will continue to change due to external factors such as imbalance in thrust due to difference in motor speed or wind. Therefore, in order to maintain the altitude of drone, we have to exactly measure the continuously changing altitude of the drone. Generally, the acceleration sensor is used for measuring the height of the drones. In this method, there is a problem that the measured value due to the integration error accumulates, and the drone's vibration is recognized by the altitude change. To solve the difficulty of the altitude measurement, commercial drones and existing studies are used for altitude measurement together with acceleration sensors by adding other sensors. However, most of the additional sensors have a limitation on the measurement distance and when the sensors are used together, the calculation processing of the sensor values increases and the altitude measurement speed is delayed. Therefore, it is necessary to accurately measure the altitude of the drone without considering additional sensors or devices. In this paper, we propose a measurement algorithm that improves general altitude measurement method using acceleration sensor and show that accuracy of altitude holding and altitude measurement is improved as a result of applying this algorithm.

• The KIPS Transactions:PartC
• /
• v.17C no.2
• /
• pp.197-204
• /
• 2010

An effective integration of web-based learning environment and mobile device technology is considered as a new challenge to the developers. The screen size, however, of the mobile device is too small, and its performance is too inferior. Due to the foregoing limit of mobile technology, displaying bulk data on the mobile screen, such as a cyber lecture accompanied with real-time image transmission on the web, raises a lot of problems. Users have difficulty in recognizing learning contents exactly by means of a mobile device, and continuous transmission of video stream with bulky information to the mobile device arouses a lot of load for the mobile system. Thus, an application which is developed to be applied in PC is improper to be used for the mobile device as it is, a player which is fitting for the mobile device should be developed. Accordingly, this paper suggests mobile presentation using transcoding techniques of the field concerned. To display continuous video frames of learning image, such as a cyber lecture or remote lecture, by means of a mobile device, the performance difference between high-resolution digital image and mobile device should be surmounted. As the transcoding techniques to settle the performance difference causes damage of image quality, high-quality image may be guaranteed by application of trial and error between transcoding and selected learning resources.