• Journal of IKEEE
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• v.27 no.4
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• pp.610-616
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• 2023

In this paper, we implement an unmanned delivery robot system with Robot Operating System(ROS)-based mobile manipulator, and introduce the technologies employed for the system implementation. The robot consists of a mobile robot capable of autonomous navigation inside the building using an elevator and a Selective Compliance Assembly Robot Arm(SCARA)-Type manipulator equipped with a vacuum pump. The robot can determines the position and orientation for picking up a package through image segmentation and corner detection using the camera on the manipulator. The proposed system has a user interface implemented to check the delivery status and determine the real-time location of the robot through a web server linked to the application and ROS, and recognizes the shipment and address at the delivery station through You Only Look Once(YOLO) and Optical Character Recognition(OCR). The effectiveness of the system is validated through delivery experiments conducted within a 4-story building.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.7 no.6
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• pp.48-56
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• 2008

This study provides to car driver with car exhaust gas and sensor information which are car trouble code in engine and many sensors when the car has some problems. This is to provide car manager with many information of car sensors when we go to vehicle maintenance. For example, information of engine RPM, fuel system, intake air temperature, air flow sensors and oxygen sensors can provide to owner or garage, and also add to multimedia system for mp3 files and video files. This system consists of embedded linux system of low power while driving the car which uses OBD-II protocols and zigbee communication interface from CAN communication of car system to self-diagnosis embedded system of car. Finally, low power embedded system has a lot of application and OBD-II protocols for embedded linux system and CAN communication which get sensor informations of car control sensor system while driving the car.

• Korean Journal of Remote Sensing
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• v.27 no.1
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• pp.33-41
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• 2011

In the information communication technology, it is world-widely apparent that trend movement from internet web to smartphone app by users demand and developers environment. So it needs kinds of appropriate technological responses from geo-spatial domain regarding this trend. However, most cases in the smartphone app are the map service and location recognition service, and uses of geo-spatial contents are somewhat on the limited level or on the prototype developing stage. In this study, app for extraction of corner point features using geo-spatial imagery and their linkage to database system are developed. Corner extraction is based on Harris algorithm, and all processing modules in database server, application server, and client interface composing app are designed and implemented based on open source. Extracted corner points are applied LOD(Level of Details) process to optimize on display panel. Additional useful function is provided that geo-spatial imagery can be superimposed with the digital map in the same area. It is expected that this app can be utilized to automatic establishment of POI (Point of Interests) or point-based land change detection purposes.

• Journal of Internet Computing and Services
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• v.12 no.3
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• pp.119-129
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• 2011

Vision-based Human computer interaction is an emerging field of science and industry to provide natural way to communicate with human and computer. Especially, recent increasing demands for mobile augmented reality require the development of efficient interactive technologies between the augmented virtual object and users. This paper presents a novel approach to construct marker-less mobile augmented reality object and control the object. Replacing a traditional market, the human hand interface is used for marker-less mobile augmented reality system. In order to implement the marker-less mobile augmented system in the limited resources of mobile device compared with the desktop environments, we proposed a method to extract an optimal hand region which plays a role of the marker and augment object in a realtime fashion by using the camera attached on mobile device. The optimal hand region detection can be composed of detecting hand region with YCbCr skin color model and extracting the optimal rectangle region with Rotating Calipers Algorithm. The extracted optimal rectangle region takes a role of traditional marker. The proposed method resolved the problem of missing the track of fingertips when the hand is rotated or occluded in the hand marker system. From the experiment, we can prove that the proposed framework can effectively construct and control the augmented virtual object in the mobile environments.

• Korean Chemical Engineering Research
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• v.44 no.5
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• pp.513-519
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• 2006

We developed two kinds of the microchip for application to electrophoresis based on both glass and quartz employing the MEMS fabrications. The poly-Si layer deposited onto the bonding interface apart from channel regions can play a role as the optical slit cutting off the stray light in order to concentrate the UV ray, from which it is possible to improve the signal-to-noise (S/N) ratio of the detection on a chip. In the glass chip, the deposited poly-Si layer had an important function of the etch mask and provided the bonding surface properly enabling the anodic bonding. The glass wafer including more impurities than quartz one results in the higher surface roughness of the channel wall, which affects subsequently on the microflow behavior of the sample solutions. In order to solve this problem, we prepared here the mixed etchant consisting HF and $NH_4F$ solutions, by which the surface roughness was reduced. Both the shape and the dimension of each channel were observed, and the electroosmotic flow velocities were measured as 0.5 mm/s for quartz and 0.36 mm/s for glass channel by implementing the microchip electrophoresis. Applying the optical slit with poly-Si layer provides that the S/N ratio of the peak is increased as ca. 2 times for quartz chip and ca. 3 times for glass chip. The maximum UV absorbance is also enhanced with ca. 1.6 and 1.7 times, respectively.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.1A
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• pp.93-98
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• 2004

Serial ATA interface Is inexpensive comparatively and performance is superior. So it is suitable technology in demand that now require data transmission and throughput of high speed. This paper describes a design and implementation of Serial ATA Link layer about error detection and 8b/10b encoder/decoder for DC balance in frequency 150MHz. The 8b/10b Encoder is partitioned into a 5b/6b plus a 3b/4b coder. The logical model of the block is described by using Verilog HDL at register transistor level and the verified HDL is synthesized using standard cell libraries. And it is fabricated with $0.35{\mu}m$ Standard CMOS Cell library and the chip size is about $1500{\mu}m\;*\;1500{\mu}m$. The function of this chip has been verified and tested using testboard with FPGA equipment and IDEC ATS2 test equipment. It is used to frequency of 100MHz in verification processes and supply voltage 3.3V. The result of testing is well on the system clock 100MHz. The designed and verified each blocks may be used IP in the field of high speed serial data communication.

• Composites Research
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• v.24 no.1
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• pp.24-30
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• 2011

Low-velocity impact can cause various damages which are mostly hidden inside the laminates or occur in the opposite side. Thus, these damages cannot be easily detected by visual inspection or conventional NDT systems. And if they occurred between the scheduled NDT periods, the possibilities of extensive damages or structural failure can be higher. Due to these reasons, the built-in NDT systems such as real-time impact monitoring system are required in the near future. In this paper, we studied the impact monitoring system consist of impact location detection and damage assessment techniques for composite flat and stiffened panel. In order to acquire the impact-induced acoustic signals, four multiplexed FBG sensors and high-speed FBG interrogator were used. And for development of the impact and damage occurrence detections, the neural networks and wavelet transforms were adopted. Finally, these algorithms were embodied using MATLAB and LabVIEW software for the user-friendly interface.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.11 no.4
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• pp.452-459
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• 2018

Conventional fire fighting robots are controlled by a remote control to monitor the fire scene or to suppress the fire. However, this method has a problem that it takes a long time to prepare robot and input it to fire place in the golden time after the fire, so that it can not sufficiently serve as a fire fighting robot. Using the autonomous driving fire monitoring robot, when a fire signal is generated, in conjunction with a fire receiver a moving robot takes a video of the fire scene and delivers the image to the fire department, so that the fire fighter can decide if it is real fire or not. Thereby it is possible to prevent a sudden spread of an accident by providing a quick judgment opportunity and at the same time suppressing the fire early. In this paper, we propose an architecture of the autonomous mobile fire monitoring robot and the communication protocol required for the robot to work with the fire receiver. A communication protocol is designed to control multiple fire monitoring robots in real time, and a communication with a fire receiver is designed as a hierarchical network to serve as an interface of an Ethernet network using wireless Wi-Fi. The fire monitoring robot and the wireless communication of the fire receiving period are implemented and the effectiveness of the operation is confirmed through the field test.

• Journal of Sensor Science and Technology
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• v.9 no.6
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• pp.430-439
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• 2000

$In_2O_3$-based thin film sensor with 500-600 nm thick was fabricated for the detection of CO gas by rf magnetron sputtering. In order to improve both sensitivity to CO gas and selectivity to hydrogen gas containing -CH, ultra-thin transition metal Co catalyst was sputtered over $In_2O_3$ thin film and annealed at $500^{\circ}C$. Sensitivity to CO was maximum at the thickness of Co 2.1 nm and $300^{\circ}C$, and that to $C_3H_8$ was at the thickness of Co 1.4 nm and $350-400^{\circ}C$. From the x-ray photoelectron spectroscopy (XPS) result, ultra-thin Co was existed into CoO covered with $Co_2O_3$ on $In_2O_3$ particles, and thus p-n junction of $In_2O_3(n-type)$-CoO(p-type) was thought to be formed. In this p-n junction type sensors, sensing mechanism with reducing gases can be explained by the variation of depletion layer thickness formed in the interface.

• Journal of KIISE:Computing Practices and Letters
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• v.10 no.2
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• pp.146-155
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• 2004

Currently most of commercial operating systems contain a high-level audit feature to increase their own security level. Linux does not fall behind the other commercial operating systems in performance and stability, but Linux does not have a good audit feature. Linux is required to support a higher security feature than C2 level of the TCSEC in order to be used as a server operating system, which requires the kernel-level audit feature that provides the system call auditing feature and audit event. In this paper, we present LxBSM, which is a kernel module to provide the kernel-level audit features. The audit record format of LxBSM is compatible with that of Sunshield BSM. The LxBSM is implemented as a loadable kernel module, so it has the enhanced usability. It provides the rich audit records including the user-level audit events such as login/logout. It supports both the pipe and file interface for increasing the connectivity between LxBSM and intrusion detection systems (IDS). The performance of LxBSM is compared and evaluated with that of Linux kernel without the audit features. The response time was increased when the system calls were called to create the audit data, such as fork, execve, open, and close. However any other performance degradation was not observed.