• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권8호
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• pp.3435-3454
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• 2016

Device-to-device (D2D) communication is a potential solution to the incessant increase in data traffic on cellular networks. The greatest problem is how to control the interference between D2D users and cellular mobile users, and between D2D users themselves. This paper proposes a solution for this issue by putting the full control privilege in cellular network using the software-defined networking (SDN) concept. A software virtual switch called Open vSwitch and several components are integrated into mobile devices for data forwarding and radio resource mapping, whereas the control functions are executed in the cellular network via a SDN controller. This allows the network to assign radio resources for D2D communication directly, thus reducing interference. This solution also brings out many benefits, including resource efficiency, energy saving, topology flexibility, etc. The advantages and disadvantages of this architecture are analyzed by both a mathematical method and a simple implementation. The result shows that implementation of this solution in the next generation of cellular networks is feasible.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1048-1053
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• 2005

This paper presents design and integration of the ROBHAZ-DT3, which is a newly developed mobile robot system with chained double-track mechanisms. A passive adaptation mechanism equipped between the front and rear body enables the ROBHAZ-DT3 to have good adaptability to uneven terrains including stairs. The passive adaptation mechanism reduces energy consumption when moving on uneven terrain as well as its simplicity in design and remote control, since no actuator is necessary for adaptation. Based on this novel mobile platform, a rescue version of the ROBHAZ-DT3 with appropriate sensors and a semi-autonomous mapping and localization algorithm is developed to participate in the RoboCup2004 US-Open: Urban Search and Rescue Competition. From the various experiments in the realistic rescue arena, we can verify that the ROBHAZ-DT3 is reliable in traveling rugged terrain and the proposed mapping and localization algorithm are effective in the unstructured environment with uneven ground. The another application is an military robot for an EOD(Explosive Ordnance Disposal) and reconnaissance mission. The military version of the ROBHAZ-DT3 with a water disrupter, a thermal scope and a long distance wireless communication device is developed and sent to the area of military tactics in Iraq. Consequently, the feasibility of the military version of ROBHAZ-DT3 is verified.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권5호
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• pp.1690-1710
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• 2014

In this paper, we propose the rapid implementation of a 3-dimensional (3D) facial reconstruction from a single frontal face image and introduce a design for its application on a mobile device. The proposed system can effectively reconstruct human faces in 3D using an approach robust to lighting conditions, and a fast method based on a Canonical Correlation Analysis (CCA) algorithm to estimate the depth. The reconstruction system is built by first creating 3D facial mapping from a personal identity vector of a face image. This mapping is then applied to real-world images captured with a built-in camera on a mobile device to form the corresponding 3D depth information. Finally, the facial texture from the face image is extracted and added to the reconstruction results. Experiments with an Android phone show that the implementation of this system as an Android application performs well. The advantage of the proposed method is an easy 3D reconstruction of almost all facial images captured in the real world with a fast computation. This has been clearly demonstrated in the Android application, which requires only a short time to reconstruct the 3D depth map.

• 대한원격탐사학회지
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• 제26권5호
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• pp.593-603
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• 2010

대부분의 모바일 공간정보 획득시스템은 촬영범위가 좁고 기선 길이에 대한 제약이 따르는 프레임 카메라를 탑재하고 있다, 촬영지점을 기준으로 모든 방향으로의 영상정보 획득이 기능한 전방위 카메라 탑재를 통해 프레임 카메라의 촬영 범위 및 기선 거리에 대한 문제점을 해결할 수 있다. 광속조정법(Bundle Block Adjustment)은 다수의 중첩된 영상의 외부표정요소를 결정하는 대표적인 지오레퍼런싱(Georeferencing) 방법이다. 본 연구에서는 전방위 영상에 적합한 광속조정법의 수학적 모델을 제안하여 전방위 영상의 외부표정요소 및 지상점을 추정하고자 한다. 먼저 전방위 영상에 적합한 공선조건식을 이용해 관측방정식을 수립한다. 그리고 지상 모바일매핑시스템(GMMS, Ground Mobile Mapping System)에 탑재되어 있는 GPS/INS로부터 획득된 데이터와 정지 GPS 및 토털 스테이션(Total Station)을 통해 측정한 지상기준점을 이용한 확률제약조건 (Stochastic Constraints)식을 수립한다. 마지막으로 확률제약조건 요소 및 추정 미지수를 조합하여 다양한 종류의 수학적 모델을 수립하고 모델별로 추정된 지상점 좌표의 정확도를 검증한다. 그 결과, 지상기준점을 확률제약조건으로 사용하는 모델에 적용한 경우에 지상점이 ${\pm}5cm$ 정도로 정확하게 추정되었다. 연구의 결과를 통해 전방위 카메라 영상으로부터 대상객체의 3차원 모델 추출이 가능함을 알 수 있었다.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1102-1107
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• 2009

An ultrasonic sensor has been widely used as a range sensor for its low cost and capability of detecting some obstacles, such as glasses and black surfaces, which are not well detected by a laser scanner and an IR sensor. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to obstacle avoidance using low-cost anisotropic ultrasonic sensors with wide beam angle. In this paper, obstacles can be detected by the proposed sensor configuration which consists of one transmitter and three receivers. Because even wide obstacles are represented by a point, which corresponds to the intersection of range data from each receiver of the anisotropic sensor, a robot cannot avoid wide obstacles successfully. This paper exploits the probabilistic mapping technique to avoid collision with various types of obstacles. The experimental results show that the proposed method can robustly avoid obstacles in most indoor environments.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제4권5호
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• pp.153-160
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• 2015

멀티코어 시스템의 효율은 스케줄러가 태스크 할당을 코어들에게 얼마나 효율적으로 분배하느냐에 달려있다. 이기종 멀티코어 플랫폼에서 애플리케이션의 실행시간은 어느 코어에서 실행되느냐에 따라 결정된다. 즉, 태스크 할당의 효율이 멀티 코어 시스템의 성능을 결정하는 중요한 요소 중의 하나이다. 본 연구에서는 프로파일링을 통하여 각 태스크의 실행시간을 분석하고 이를 이용하는 부하 균등화 기법을 제안하고 있다. 프로파일링 결과는 최상의 성능을 제공할 수 있는 태스크 할당을 예측하는 기본적인 정보를 제공한다. 이러한 정보를 이용하여 제안하는 기법을 통해 약 26%의 성능이득을 가질 수 있다.

• 한국컴퓨터정보학회논문지
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• 제17권3호
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• pp.33-40
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• 2012

최근 병원정보 시스템은 의료서비스의 질과 효율성을 제고하기 위해 스마트폰 및 태블릿 PC를 활용한 스마트 진료서비스가 대형병원을 중심으로 도입되고 있으며 개인의 진료정보를 PC, 스마트폰 등을 통해 관리하는 개인건강기록(PHR) 서비스에 대한 관심 및 기술개발이 활발히 진행 중에 있다. 이러한 차세대 병원정보 시스템을 구축하기 위해서는 상이한 병원정보 시스템 간의 데이터 연동과 다양한 사용자 기기 간의 UX 일관성이 보장되어야 한다. 따라서 본 논문에서는 이러한 멀티플랫폼 환경 하에서 의료정보를 통합하여 연동할 수 있는 게이트웨이 시스템을 설계하기 위해 개인의 진료정보 표준과 성능 향상을 위한 연구를 수행하였다. 본 연구를 통해 게이트웨이 시스템의 핵심 기능인 데이터 간의 매핑 방법에 있어서 CCR 표준을 적용하고 다중 테이블 기반 매핑 방법을 사용하여 시스템 설계를 하였다. 이에 대한 성능 평가를 위해 실험을 한 결과 응답속도가 약 20% 향상된 결과를 얻을 수 있었다.

• 한국전자파학회논문지
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• 제8권2호
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• pp.197-206
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• 1997

본 논문에서는 페이딩 채널에서 16-QAM 통신 방식의 BER을 개선하는 방법을 제안하고자 한다. 페이딩에 의한 BER 성능 열화를 극복하기위하여 대역폭 확장없이 우수한 코딩 이득을 얻을 수 있는 트렐리스 부호 변조방식을 16-QAM에 적용하였다. 또한 이동통신 환경의 주요 성능 열화 요인인 연집오류를 극복하기위해 인터리빙/디인터리빙기법을 연구되고 있는 시스템에 적용하였다. 특히, 비대칭적 신호점 분포를 적용하여 컴퓨터 시뮬레이션한 결과 $10^{-4}$ 근처에서 약 1dB의 성능 개선을 가져왔다.

• Journal of information and communication convergence engineering
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• 제3권2호
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• pp.80-83
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• 2005

At present, GML becomes the global standard for the XML encoding of geographic information and is the foundation for the Geo-Web. GML is being applied to a wide range of geographic applications including GIS and location-based services, telematics and intelligent transportation systems. In this paper, we propose the tourism information system for supporting the location based service application. We made an effort to design and implement a GIS computing environment by thin client for mobile web mapping service. We are interested in the GML applications that include traditional GIS system for navigation service and location finder for points of interest (POI) services. This paper summarizes the Tourism information system for location based service of a small area (Han-Ok Village with the Korean traditional houses in Jeonju-city), in which moving travelers can obtain proper information services at the current location associated with traditional monuments, cultural products, food, and conveniences. In the paper, we report on the design of the thin client/server system for a mobile environment. This paper is divided into three parts. First, we give a general overview of the organization of the system and of the important concerns of our design. Second we focus on our system supports for location and POI determination, and design concerns. Finally, we show the graphic user interface of PDA, the procedures involved in the service, and the executed results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1797-1801
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• 2005

SLAM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important issues in mobile robot research. Until now expensive sensors like a laser sensor have been used for the mobile robot's localization. Currently, as the RFID reader devices like antennas and RFID tags become increasingly smaller and cheaper, the proliferation of RFID technology is advancing rapidly. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used to identify the mobile robot's location on the smart floor. We discuss a number of challenges related to this approach, such as RFID tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, because the reader just can senses whether a RFID tag is in its sensing area, the localization error occurs as much as the sensing area of the RFID reader. And, until now, there is no study to estimate the pose of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. We use the Markov localization algorithm to reduce the location(X,Y) error and the Kalman Filter algorithm to estimate the pose(q) of a mobile robot. We applied these algorithms in our experiment with our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors like odometers and RFID tags for the mobile robot's localization on the smart floor.