• 제어로봇시스템학회논문지
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• 제20권1호
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• pp.78-86
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• 2014

This paper proposes a method of tracking an object for a person-following mobile robot by combining a monocular camera and a laser scanner, where each sensor can supplement the weaknesses of the other sensor. For human-robot interaction, a mobile robot needs to maintain a distance between a moving person and itself. Maintaining distance consists of two parts: object tracking and person-following. Object tracking consists of particle filtering and online learning using shape features which are extracted from an image. A monocular camera easily fails to track a person due to a narrow field-of-view and influence of illumination changes, and has therefore been used together with a laser scanner. After constructing the geometric relation between the differently oriented sensors, the proposed method demonstrates its robustness in tracking and following a person with a success rate of 94.7% in indoor environments with varying lighting conditions and even when a moving object is located between the robot and the person.

• ETRI Journal
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• 제44권1호
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• pp.125-134
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• 2022

Visible light communication (VLC) systems incorporate ambient lighting and wireless data transmission, and the experienced channel in indoor VLC is a major topic that should be examined for reliable communication. In this study, it is realized that multiple transmitters in classical alignment are the forceful factors for channel characteristics. In the frequency band, fluctuations with sudden drops are observed, where the fluctuation shape is related to the source layout and receiver location. These varying frequency-selective channels need solutions, especially for mobile users, because sustained channel estimation and equalization are necessary as the receiver changes its location. It is proven that using light-emitting diodes (LEDs) with highly directional beams as sources or using a detector with a narrow field of view (FOV) in the receiver may help partially alleviate the problem; the frequency selectivity of the channel reduces in some regions of the room. For flat fading channel characteristics all over the room, LEDs should be aligned in hexagonal cellular structure, and detector FOV should be arranged according to the cell dimension outcomes.

• 한국정보통신학회논문지
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• 제18권10호
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• pp.2345-2350
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• 2014

본 논문에서는 포트 임피던스가 75옴인 실내 디지털 TV (DTV)용 안테나의 특성 측정 방법에 대해 소개하였다. 일반적인 RF (혹은 마이크로파) 시스템과 측정 장비의 기준 임피던스는 거의 대부분 50옴이다. 이에 비해 실내 디지털 TV용 안테나의 기준 임피던스는 75옴이므로 기준 임피던스가 50옴인 측정 장비를 이용하여 직접 특성을 측정할 수 없다. 50옴을 기준으로 하는 장비를 이용하여 75옴에 적합하도록 설계된 안테나의 특성(임피던스, 복사패턴 및 이득)에 대한 측정방법을 소개하였다.

• 한국정보통신학회논문지
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• 제19권6호
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• pp.1368-1373
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• 2015

최근 인터넷을 기반으로 사물을 연결하여 사람과 사물 간의 정보 소통을 가능하게 하는 지능형 서비스로서 사물 인터넷 서비스(IoT)에 대한 관심이 증가하고 있다. 특히 스마트 기기의 발전과 더불어 실내 위치 기반 서비스에 대한 수요는 급격히 증가하고 있다. 실내 위치 정보 측정을 위해 BLE(Bluetooth Low Energy) 기술의 iBeacon이 제공하는 RSSI 신호를 이용하여 비콘과 단말의 거리 정보를 연산하여 단말의 위치를 측위하게 된다. 그러나 RSSI 신호를 이용 한다는 점에서 신호 간섭과 날씨 등의 영향으로 인해 실내 위치 정보를 얻기가 어렵다는 문 점을 갖는다. 본 논문에서는 iBeacon의 신호 정보로 부터 신뢰성 높은 거리 정보를 얻기 위한 연산을 수행하여 신뢰할 수 있는 실내 위치 정보를 제공하는 시스템을 제안한다.

• 대한인간공학회지
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• 제34권6호
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• pp.549-561
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• 2015

Objective: The purpose of this study was to investigate the job stress factors of mobile communication network construction workers using survey based on 'Job stress factors evaluation tool for Koreans' that was developed by KOSHA in 2003. Background: Due to the rapid growth of penetration rate of smartphone, the necessity of LTE service changing from 3G network was brought up. The demand of LTE network construction in a short period of time leads to the aggravation of the job stress of mobile communication network construction workers. Method: Two hundred and fifty workers who were in the mobile communication network industry participated in this study, and among them 206 responses were analyzed for this study due to the unreliability and insincerity of responses. The eight job stress factors which are physical environment, job demand, job autonomy, relation conflict, job instability, organizational system, inadequate compensation, workplace culture were analyzed. Results: The job stress factors of mobile communication network construction workers were compared to those of other industry workers, and other work related characteristics were analyzed. The results showed that the stress level of a physical environment and job requirement were relatively higher than those of manufacturing industry workers, meaning that mobile communication network construction workers have rough working conditions and increased amount of work due to the demand of LTE network construction. The stress level of physical environment for outdoor job workers was relatively higher than that of indoor job workers. With the analytical result for level of job satisfaction, significant difference was observed (p <0.05) with every factor, and the job stress was found the highest with those not satisfied with every factor Conclusion: From the results of this study, the work loss due to the job stress could be prevented, and accurate stress factors could be removed at the workplace. Application: The results of this study may not represent the whole mobile network construction workers, the effort for job stress management is needed to improve the work efficiency and the workers' quality of life.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권4호
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• pp.298-306
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• 2013

Recent years have witnessed a growing interest in the fields of video surveillance and mobile object tracking. This paper proposes a mobile object tracking algorithm. First, several parameters such as object window, object area, and expansion-contraction (E-C) parameter are defined. Then, a modified E-C algorithm for multiple-object tracking is presented. The proposed algorithm tracks moving objects by expansion and contraction of the object window. In addition, it includes methods for updating the background image and avoiding occlusion of the target image. The validity of the proposed algorithm is verified experimentally. For example, the first scenario traces the path of two people walking in opposite directions in a hallway, whereas the second one is conducted to track three people in a group of four walkers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1865-1869
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• 2004

A new model for the propagation prediction for mobile communication network inside building is presented in this paper. The model is based on the determination of the dominant paths between the transmitter and the receiver. The field strength is predicted with adaptive neuro - fuzzy inference systems (ANFIS), trained with measurements. The advantage of the ANFIS with hybrid least squares and gradient descent algorithms is fast convergence compared with original neural network. The K-means algorithm for selection of training patterns is also used. Comparison of our predicted results to measurements indicate that improvements in accuracy over conventional empirical model are achieved.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1204-1208
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• 2014

As required performance of UAV (Unmanned Aerial Vehicle) becomes more complex and complicated, required positioning accuracy is becoming more and more higher. GPS is a reliable world wide positioning providing system. Therefore, UAV generally acquires position information from GPS. But when GPS is not available such as too weak signal or too less GPS satellites environments, UAV needs alternative positioning system such as network positioning system. RSSI (Received Signal Strength Indicator) based positioning, which is one method of network positioning technologies, determines its position using RSSI measurements containing distance information from AP (Access Point)s. In that method, a selected AP's configuration has strong and tight relationship with its positioning errors. In this paper, for, we additionally account AP's configuration information by adopting DOP (Dilution of Precision) into AP selection procedures and provide more accurate RSSI based positioning results.

• 한국전자통신학회논문지
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• 제6권5호
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• pp.775-781
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• 2011

실내에서 이동로봇의 절대위치 측정을 위해서 초음파를 이용하는 초음파 위치측정 시스템이 많이 연구되고 있다. 이러한 초음파 위치측정 시스템들은 초음파의 혼신을 피하기 위해 순차 발신하는 방법을 사용하고 있다. 그러나 이러한 순차 발신으로 인해 이동로봇이 이동하는 경우에는 초음파의 수신위치가 변하므로 위치측정 정도가 떨어지게 된다. 본 논문에서는 수신시점에 따른 가중치를 적용하는 새로운 위치추정 알고리즘을 제안하였다. 그리고 제안된 알고리즘을 기존의 초음파위성시스템에 적용하여 개선된 초음파위성시스템을 구축하였다. 그리고 실험을 통하여 제안된 알고리즘을 가진 개선된 초음파위성시스템의 위치측정 성능을 입증하였다.

• Journal of Communications and Networks
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• 제18권5호
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• pp.837-845
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• 2016

Providing a customer with tailored location-based services (LBSs) is a fundamental problem. For location-estimation techniques with radio-based measurements, LBS applications are widely available for mobile devices (MDs), such as smartphones, enabling users to run multi-task applications. LBS information not only enables obtaining the current location of an MD but also provides real-time push-pull communication service. For indoor environments, localization technologies based on radio frequency (RF) pattern-matching approaches are accurate and commonly used. However, to survey radio information for pattern-matching approaches, a considerable amount of time and work is spent in indoor environments. Consequently, in order to reduce the system-deployment cost and computing complexity, this article proposes an indoor positioning approach, which involves using Asus Xtion to facilitate capturing RF signals during an offline site survey. The depth information obtained using Asus Xtion is utilized to estimate the locations and predict the received signal strength (RF information) at uncertain locations. The proposed approach effectively reduces not only the time and work costs but also the computing complexity involved in determining the orientation and RF during the online positioning phase by estimating the user's location by using a smartphone. The experimental results demonstrated that more than 78% of time was saved, and the number of samples acquired using the proposed method during the offline phase was twice as much as that acquired using the conventional method. For the online phase, the location estimates have error distances of less than 2.67 m. Therefore, the proposed approach is beneficial for use in various LBS applications.