• KIPS Transactions on Software and Data Engineering
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• v.11 no.5
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• pp.221-228
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• 2022

With the application of artificial intelligence technology, robots can provide efficient services in real life. Unlike industrial manipulators that do simple repetitive work, this study presented design methods of 6 degree of freedom robot arm and intelligent object search and movement methods for use alone or in collaboration with no place restrictions in the service robot field and verified performance. Using a depth camera and deep learning in the ROS environment of the embedded board included in the robot arm, the robot arm detects objects and moves to the object area through inverse kinematics analysis. In addition, when contacting an object, it was possible to accurately hold and move the object through the analysis of the force sensor value. To verify the performance of the manufactured robot arm, experiments were conducted on accurate positioning of objects through deep learning and image processing, motor control, and object separation, and finally robot arm was tested to separate various cups commonly used in cafes to check whether they actually operate.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.7
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• pp.2257-2285
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• 2022

Cyber-physical systems (CPS) have been growing exponentially due to improved cloud-datacenter infrastructure-as-a-service (CDIaaS). Incremental expandability (scalability), Quality of Service (QoS) performance, and reliability are currently the automation focus on healthy Tier 4 CDIaaS. However, stable QoS is yet to be fully addressed in Cyber-physical data centers (CP-DCS). Also, balanced agility and flexibility for the application workloads need urgent attention. There is a need for a resilient and fault-tolerance scheme in terms of CPS routing service including Pod cluster reliability analytics that meets QoS requirements. Motivated by these concerns, our contributions are fourfold. First, a Distributed Non-Recursive Cloud Model (DNRCM) is proposed to support cyber-physical workloads for remote lab activities. Second, an efficient QoS stability model with Routh-Hurwitz criteria is established. Third, an evaluation of the CDIaaS DCN topology is validated for handling large-scale, traffic workloads. Network Function Virtualization (NFV) with Floodlight SDN controllers was adopted for the implementation of DNRCM with embedded rule-base in Open vSwitch engines. Fourth, QoS evaluation is carried out experimentally. Considering the non-recursive queuing delays with SDN isolation (logical), a lower queuing delay (19.65%) is observed. Without logical isolation, the average queuing delay is 80.34%. Without logical resource isolation, the fault tolerance yields 33.55%, while with logical isolation, it yields 66.44%. In terms of throughput, DNRCM, recursive BCube, and DCell offered 38.30%, 36.37%, and 25.53% respectively. Similarly, the DNRCM had an improved incremental scalability profile of 40.00%, while BCube and Recursive DCell had 33.33%, and 26.67% respectively. In terms of service availability, the DNRCM offered 52.10% compared with recursive BCube and DCell which yielded 34.72% and 13.18% respectively. The average delays obtained for DNRCM, recursive BCube, and DCell are 32.81%, 33.44%, and 33.75% respectively. Finally, workload utilization for DNRCM, recursive BCube, and DCell yielded 50.28%, 27.93%, and 21.79% respectively.

• KIPS Transactions on Software and Data Engineering
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• v.12 no.5
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• pp.237-242
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• 2023

Research on high-performance walking robots is being actively conducted, and quadruped walking robots are receiving a lot of attention due to their excellent mobility and adaptability on uneven terrain, but they are difficult to introduce and utilize due to high cost. In this paper, to increase utilization by applying intelligent functions to a low-cost quadruped robot, we present a method of improving uneven terrain overcoming ability by mounting IMU and reinforcement learning on embedded board and automatically detecting objects using camera and deep learning. The robot consists of the legs of a quadruped mammal, and each leg has three degrees of freedom. We train complex terrain in simulation environments with designed 3D model and apply it to real robot. Through the application of this research method, it was confirmed that there was no significant difference in walking ability between flat and non-flat terrain, and the behavior of performing person detection in real time under limited experimental conditions was confirmed.

• Convergence Security Journal
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• v.24 no.1
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• pp.43-49
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• 2024

The convergence of education and technology has been emphasized, leading to the application of educational technology (EdTech) in the field of education. EdTech provides learner-centered, customized learning environments through various media and learning situations. In this paper, we designed hardware for EdTech-based educational tools for IoT security education in the field of cybersecurity education. The hardware is based on a dual microcontroller unit (MCU) within a single board, allowing for both attack and defense to be performed. To leverage various sensors in the Internet of Things (IoT), the hardware is modularly designed. From an educational perspective, utilizing EdTech in cybersecurity education enhances engagement by incorporating tangible physical teaching aids. The proposed research suggests that the design of IoT security education hardware can serve as a reference for simplifying the creation of a security education environment for embedded hardware, software, sensor networks, and other areas that are challenging to address in traditional education..

• KIPS Transactions on Computer and Communication Systems
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• v.3 no.10
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• pp.337-350
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• 2014

Internet-of-Things(IoT) is the computing paradigm converged with different technologies, where diverse devices are connected via the wireless network, acquire environmental information from their equipped sensors, and are actuated. IoT applications provide smart services to users by interacting with multiple devices connected to the network. IoT devices provide the simple set of the information and also offer smart services by collaborating with other devices. That is, IoT applications always interact with IoT devices which are becoming very popular at a fast pace. However, due to this fact, developing IoT application results in unconventional technical challenges which have not been observed in typical software applications. Moreover, since IoT computing has its own characteristics which are distinguished from other former paradigms such as embedded computing and mobile computing, IoT applications also reveal their own technical challenges. Therefore, we analyze technical challenges occurring in developing IoT applications and present effective solutions to overcome the challenges. To verify identified issues and presented solutions, we present the result of performing a case study of developing an IoT application. Through the case study, we verify how the unconventional technical issues are raised in a real domain and analyze effectiveness of applying the solutions to the application.

• Journal of Practical Engineering Education
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• v.14 no.1
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• pp.1-10
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• 2022

Learning C programming language in electronics education is an important basic education course for understanding computer programming and acquiring the ability to use microprocessors in embedded systems. In order to focus on understanding basic grammar and algorithms, it is a common teaching method to write programs based on C standard library functions in the console window and learn theory and practice in parallel. However, if a student wants to start a project activity or go to a deeper stage after acquiring some basic knowledge of the C language, using only the C standard library function in the console window limits what a student can express or control with the C program. For the purpose of making it easier for a student to use graphics or multimedia resources and increase educational value, this paper studies a case of applying Simple DirectMedia Layer (SDL), an open source software, into the C programming language learning process. The SDL-based programming course applied after completing the basic programming curriculum performed in the console window is introduced, and the educational value is evaluated through a survey. As a result, more than 56% of the respondents expressed positive opinions in terms of improved application ability, stimulating interest, and overall usefulness, and less than 4% of them had negative opinions.

• Journal of Intelligence and Information Systems
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• v.8 no.1
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• pp.141-157
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• 2002

extensible Markup Language (XML) is a new markup language for data exchange on the Internet. In this paper, we propose a language extensible Rule Markup Language (XRML) which is an extension of XML. The implicit rules embedded in the Web pages should be identifiable, interchangeable with structured rule format, and finally accessible by various applications. It is possible to realize by using XRML. In this light, Web based Knowledge Management Systems (KMS) can be integrated with rule-based expert systems. To meet this end, we propose the six design criteria: Expressional Completeness, Relevance Linkability, Polymorphous Consistency, Applicative Universality, Knowledge Integrability and Interoperability. Furthermore, we propose three components such as RIML (Rule Identification Markup Language), RSML (Rule Structure Markup Language) and RTML (Rule Triggering Markup Language), and the Document Type Definition DTD). We have designed the XRML version 0.5 as illustrated above, and developed its prototype named Form/XRML which is an automated form processing for disbursement of the research fund in the Korea Advanced Institute of Science and Technology (KAISI). Since XRML allows both human and software agent to use the rules, there is huge application potential. We expect that XRML can contribute to the progress of Semantic Web platforms making knowledge management and e-commerce more intelligent. Since there are many emerging research groups and vendors who investigate this issue, it will not take long to see XRML commercial products. Matured XRML applications may change the way of designing information and knowledge systems in the near future.

• Korean Journal of Remote Sensing
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• v.30 no.1
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• pp.149-160
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• 2014

Recently studies on application development and utilization using sensors and devices embedded in smartphones have flourished at home and abroad. This study aimed to analyze the accuracy of the images of smartphone to determine three-dimension position of close objects prior to the development of photogrammetric system applying smartphone and evaluate the feasibility to use. First of all, camera calibration was conducted on autofocus and infinite focus. Regarding camera calibration distortion model with balance system and unbalance system was used for the decision of lens distortion coefficient, the results of calibration on 16 types of projects showed that all cases were in RMS error by less than 1 mm from bundle adjustment. Also in terms of autofocus and infinite focus on S and S2 model, the pattern of distorted curve was almost the same, so it could be judged that change in distortion pattern according to focus mode is very little. The result comparison according to autofocus and infinite focus and the result comparison according to a software used for multi-image processing showed that all cases were in standard deviation less than ${\pm}3$ mm. It is judged that there is little result difference between focus mode and determination of three-dimension position by distortion model. Lastly the checkpoint performance by total station was fixed as most probable value and the checkpoint performance determined by each project was fixed as observed value to calculate statistics on residual of individual methods. The result showed that all projects had relatively large errors in the direction of Y, the direction of object distance compared to the direction of X and Z. Like above, in terms of accuracy for determination of three-dimension position for a close object, the feasibility to use smartphone camera would be enough.

• The KIPS Transactions:PartA
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• v.16A no.3
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• pp.159-168
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• 2009

In this paper, we present an efficient way of implementing OpenGL ES 1.1 standard for the environments with hardware-supported OpenGL API, such as desktop PCs. Although OpenGL ES was started from the existing OpenGL features, it becomes a new three-dimensional graphics library customized for embedded systems through introducing fixed-point arithmetic operations, buffer management with fixed-point data type supports, completely new texture mapping functionalities and others. Currently, it is the official three dimensional graphics library for Google Android, Apple iPhone, PlayStation3, etc. In this paper, we achieved improvements on the arithmetic operations for the fixed-point number representation, which is the most characteristic data type for OpenGL ES. For the conversion of fixed-point data types to the floating-point number representations for the underlying OpenGL, we show the way of efficient conversion processes even with satisfying OpenGL ES standard requirements. We also introduced a simple memory management scheme to mange the converted data for the buffer containing fixed-point numbers. In the case of texture processing, the requirements in both standards are quite different and thus we used completely new software-implementations. Our final implementation result of OpenGL ES library provides all of over than 200 functions in OpenGL ES 1.1 standard and completely passed its conformance test, to show its compliance with the standard. From the efficiency viewpoint, we measured its execution times for several OpenGL ES-specific application programs and achieved at most 33.147 times improvements, to become the fastest one among the OpenGL ES implementations in the same category.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.3
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• pp.50-61
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• 2011

The Infrared touch method is generally used for a mid and large-size touch screen. But this method has several problems, such as difficulty with installation of a touch-object recognition device, limited application and coordinate error in multi-point touch system. Since we can take advantages of both color and local information when we use general cameras for a touch screen, a touch screen using general camera is more efficient than infrared one. It also has an advantage of easy installation of a touch-object device. However, it did not much appeal in a market because of several problems, such as color sensitivity, illumination and reflected light. In this paper, we study a method for a touch screen using a general camera and image processing method to recognize touch objects and coordinate calculation method to single and multi-point touch screen. It has the same recognition performance as an infrared touch screen for single-point method. And it does not have ghost point problem by using distance information of touch object and camera in multi-point touch system. But recognition performances of multi-point touch screen are less than single-point. If we improve execution time, this method can replace an infrared method for a single point touch screen, according to result of experience.