• 로봇학회논문지
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• 제17권3호
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• pp.288-295
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• 2022

This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

• 한국정보전자통신기술학회논문지
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• 제7권4호
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• pp.159-167
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• 2014

Local device-to-device (D2D) communication between two smart mobile devices is becoming increasingly popular. The first key step in starting a D2D communication is to discover and identify the remote target device to establish a link. However, existing device discovery mechanisms either require users to explicitly identify the ID of the target device or rely on inaccurate beamforming technology. This paper presents two novel device identification algorithms using a variety of embedded sensors. The algorithms only require that users to point two devices towards each other. This paper describes the algorithms, analyzes their accuracy using analytical models, and verifies the results using simulations.

• 한국통신학회논문지
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• 제38A권10호
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• pp.893-897
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• 2013

최근 스마트 모바일 기기의 급증으로 데이터 트래픽이 증가하여, 이를 완화시킬 수 있는 기기간 직접통신에 관한 관심이 점점 높아지고 있다. 기존의 기기간 직접통신 기술에서의 통신 대상 기기를 인식하는 방법은 리스트형식으로 통신 가능 기기를 나열하는 방식으로, 사용자 친화적인 인터페이스를 지니고 있지 않다. 본 논문에서는 이를 해결하기 위해 위치정보에 기반하여 직접통신 대상 기기를 식별하는 알고리즘을 제안하고, 정립한 분석 모델을 통해 알고리즘의 정확도를 분석하였으며, 시뮬레이션을 통해 확인하였다. 제안하는 알고리즘은 기존보다 대상 기기선정이 간단하고 직관적인 방식으로, 좀 더 편리하고 실용적인 통신 방식을 제공하는데 기여할 수 있을 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.825-830
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• 2004

Kinematic calibration of Gough-Stewart platform using a new measurement device is presented in this paper. The device simultaneously measures components of position and orientation using commercially available gadgets. Additional kinematic parameters are defined to model the sources of inaccuracies for the proposed measurement device. Computer simulations reveal that all kinematic parameters of the Gough-Stewart platform and the additional kinematic parameters of the measurement device can be identified with the partial pose measurements of the device. Results also show that identification is robust for the initial errors and the noise in measurements. The device also facilitates the automation of easurement procedure.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.42.5-42
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• 2002

1. Introduction for whole aspects. 2. Filtering for Fault Current Waveform 3. Estimation for relay operation. 4. Wavelet transform and ANN. 5. Identification for operated protection device. 6. Conclusion. Reference.

• 전기학회논문지
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• 제65권12호
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• pp.2153-2158
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• 2016

Multimedia such as image, audio, and video is easy to create and distribute with the advance of IT. Since novice uses them for illegal purposes, multimedia forensics are required to protect contents and block illegal usage. This paper presents a multimedia forensic algorithm for video to identify the device used for acquiring unknown video files. First, the way to calculate a sensor pattern noise using Wiener filter (W-SPN) is presented, which comes from the imperfection of photon detectors against light. Then, the way to identify the device is explained after estimating W-SPNs from the reference device and the unknown video. For the experiment, 30 devices including DSLR, compact camera, smartphone, and camcorder are tested and analyzed quantitatively. Based on the results, the presented algorithm can achieve the 96.0% identification accuracy.

• 한국통신학회논문지
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• 제37권3C호
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• pp.233-240
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• 2012

일반적인 네트워크를 통한 공장 내 관리와 달리 무선 센서 네트워크를 이용한 공장 내 관리를 위해서는 장치의 발견, 확인, 검증의 과정이 자동으로 수행되어야 한다. 이에 대한 방안으로 본 논문에서는 장치 등록 서버를 제안하고 이를 이용한 관리 시스템을 설계한다. 장치의 발견단계에서는 무선 센서 망에서 사용되는 라우팅 기술의 특성을 이용하고 식별 및 검증 단계에서는 장치를 식별할 수 있는 일반적인 정보를 장치 등록 서버에 저장하여 활용한다. 제안하는 관리 시스템은 구현의 복잡성을 낮추고 여러 종류의 장치들이 분산되어 있는 공장 내에서의 장치 관리를 용이하게 해준다.

• Journal of Information Processing Systems
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• 제13권2호
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• pp.268-284
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• 2017

The dorsal hand vein biometric system developed has a main objective and specific targets; to get an electronic signature using a secure signature device. In this paper, we present our signature device with its different aims; respectively: The extraction of the dorsal veins from the images that were acquired through an infrared device. For each identification, we need the representation of the veins in the form of shape descriptors, which are invariant to translation, rotation and scaling; this extracted descriptor vector is the input of the matching step. The optimization decision system settings match the choice of threshold that allows accepting/rejecting a person, and selection of the most relevant descriptors, to minimize both FAR and FRR errors. The final decision for identification based descriptors selected by the PSO hybrid binary give a FAR =0% and FRR=0% as results.

• Journal of Information Processing Systems
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• 제14권3호
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• pp.740-750
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• 2018

There are a great number of Internet-connected devices and their information can be acquired through an Internet-wide scanning tool. By associating device information with publicly known security vulnerabilities, security experts are able to determine whether a particular device is vulnerable. Currently, the identification of the device information and its related vulnerabilities is manually carried out. It is necessary to automate the process to identify a huge number of Internet-connected devices in order to analyze more than one hundred thousand security vulnerabilities. In this paper, we propose a method of automatically generating device information in the Common Platform Enumeration (CPE) format from banner text to discover potentially weak devices having the Common Vulnerabilities Exposures (CVE) vulnerability. We demonstrated that our proposed method can distinguish as much adequate CPE information as possible in the service banner.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1615-1620
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.