• Journal of the Korea Academia-Industrial cooperation Society
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• 제12권4호
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• pp.1786-1795
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• 2011

The trajectory control for omni-directional mobile robot is not easy. Especially, the tracking control which system uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy multi-layered algorithm. The fuzzy control method is able to solve the problems of classical adaptive controller and conventional fuzzy adaptive controllers. It explains the architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller. The basic idea of new adaptive control scheme is that an adaptive controller can be constructed with parallel combination of robust controllers. This new adaptive controller uses a fuzzy multi-layered architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. This paper proposes a design procedure which can be carried out mathematically and systematically from the model of a controlled system; related mathematical theorems and their proofs are also given. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of the Korea Institute of Information and Communication Engineering
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• 제16권3호
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• pp.605-614
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• 2012

Nowadays u-healthcare which is very sensitive to the character of user's information among other ubiquitous computing field is popular in medical field. u-healthcare deals extremely personal information including personal health/medical information so it is exposed to various weaknees and threats in the part of security and privacy. In this paper, RFID based patient's information protecting protocol that prevents to damage the information using his or her mobile unit illegally by others is proposed. The protocol separates the authority of hospital(doctor, nurse, pharmacy) to access to patient's information by level of access authority of hospital which is registered to management server and makes the hospital do the minimum task. Specially, the management server which plays the role of gateway makes access permission key periodically not to be accessed by others about unauthorized information except authorized information and improves patient's certification and management.

• Archives of design research
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• 제18권2호
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• pp.155-164
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• 2005

Home-service robots need to have sufficient spatial information about the surroundings for interacting with human intelligently and performing services efficiently. It is very important to investigate the efficient interaction style that supports map building task through human-robot collaboration. We first analyzed map building task with a cleaning robot and drew 4 design factors and tentative solutions, including map building procedure (task-preferred procedure/space- preferred procedure), LCD display installation (robot/robot+remote control), navigation method (push type/pull type), feedback modality(GUI/GUI+TTS). The design factors and tentative solutions were defined as independent variables and levels. This research investigated how those variables affect to the human task performance and behavior in map building tast. 8 kinds of experiment prototypes were built and usability test among 16 house wives was conducted for acquiring empirical data. As the experiment result, in terms of map building procedure, space-preferred procedure indicated better task performance than task-proffered procedure as we expected. For the LCD display installation factor, remote control with LCD display indicated higher task performance and subjective satisfaction. In robot navigation method, it was very difficult to find a significant difference between push type and pull type which contrary to our expectation. In fact, push type indicated higher subjective satisfaction. Also in feedback modality, we have acquired negative feedback an additional TTS operation guidance. It seems that robot's autonomy before achieving spatial information is rudiment condition which means users are just interacting with a mobile appliance. Thus they prefer remote-control-based interaction style in robot map building process as they used in traditional appliance control.

• Proceedings of the KSRS Conference
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.668-670
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• 2004

Taipei Water Management Office (TWMO) is one of the eleven district offices in Water Resource Agency. Water management is the top priority to be pursued both on daily management and long-term management at TWMO. There are five departments to perform a wide range of tasks in addition to water management. All management prescriptions are simply to provide sustainable clean water for about four millions population in Taipei. TWMO has gone through 16 years experience of development and implementation of GIS in water management. The objectives of this paper are to provide the major ingredients of successful and operational GIS for water management. The five departments at TWMO have performed tasks such as city planning, construction management, forest management, land use enforcement, soil and water conservation, water quality monitoring and protection, garbage collection, and sewage disposal management. Data base creation was one of the major jobs to be done. Update of data base has to be done on a daily basis. Computers, its peripheral, and software are essential for GIS developed at TWMO. Know-how and technical skill on computers and GIS for every technician are contributing significantly such that GIS can be implemented on most of jobs performed at TWMO. Implementations of GIS have been pursued by application modules on a task-oriented basis. Application modules are simple, easy to use, and menu driven with only Chinese. Web-based and mobile GIS are the new components that make water management at TWMO stay on the right course. To solve problems encountered in water management by GIS at TWMO can be easily and user-friendly may be the most important experience.

• Journal of Broadcast Engineering
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• 제26권2호
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• pp.125-131
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• 2021

In recent years, Convolutional Neural Networks (CNNs) have achieved outstanding performance in the fields of computer vision such as image classification, object detection, visual quality enhancement, etc. However, as huge amount of computation and memory are required in CNN models, there is a limitation in the application of CNN to low-power environments such as mobile or IoT devices. Therefore, the need for neural network compression to reduce the model size while keeping the task performance as much as possible has been emerging. In this paper, we propose a method to compress CNN models by combining matrix decomposition methods of LR (Low-Rank) approximation and CP (Canonical Polyadic) decomposition. Unlike conventional methods that apply one matrix decomposition method to CNN models, we selectively apply two decomposition methods depending on the layer types of CNN to enhance the compression performance. To evaluate the performance of the proposed method, we use the models for image classification such as VGG-16, RestNet50 and MobileNetV2 models. The experimental results show that the proposed method gives improved classification performance at the same range of 1.5 to 12.1 times compression ratio than the existing method that applies only the LR approximation.

• 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.

• Journal of Information Processing Systems
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• 제17권5호
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• pp.1020-1033
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• 2021

Nowadays, online or mobile social network services (SNS) are very popular and widely spread in our society and daily lives to instantly share, disseminate, and search information. In particular, SNS such as YouTube, Flickr, Facebook, and Amazon allow users to upload billions of images or videos and also provide a number of multimedia information to users. Information retrieval in multimedia-rich SNS is very useful but challenging task. Content-based media retrieval (CBMR) is the process of obtaining the relevant image or video objects for a given query from a collection of information sources. However, CBMR suffers from the dimensionality curse due to inherent high dimensionality features of media data. This paper investigates the effectiveness of the kernel trick in CBMR, specifically, the kernel principal component analysis (KPCA) for dimensionality reduction. KPCA is a nonlinear extension of linear principal component analysis (LPCA) to discovering nonlinear embeddings using the kernel trick. The fundamental idea of KPCA is mapping the input data into a highdimensional feature space through a nonlinear kernel function and then computing the principal components on that mapped space. This paper investigates the potential of KPCA in CBMR for feature extraction or dimensionality reduction. Using the Gaussian kernel in our experiments, we compute the principal components of an image dataset in the transformed space and then we use them as new feature dimensions for the image dataset. Moreover, KPCA can be applied to other many domains including CBMR, where LPCA has been used to extract features and where the nonlinear extension would be effective. Our results from extensive experiments demonstrate that the potential of KPCA is very encouraging compared with LPCA in CBMR.

• Journal of the Institute of Electronics Engineers of Korea SC
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• 제43권3호
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• pp.8-15
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• 2006

Obstacle detection is an important task for many mobile robot applications. The methods using stereo vision and optical flow are computationally expensive. Therefore, this paper presents a vision-based obstacle detection method using only two view images. The method uses a single passive camera and odometry, performs in real-time. The proposed method is an obstacle detection method using 3D reconstruction from taro views. Processing begins with feature extraction for each input image using Dr. Lowe's SIFT(Scale Invariant Feature Transform) and establish the correspondence of features across input images. Using extrinsic camera rotation and translation matrix which is provided by odometry, we could calculate the 3D position of these corresponding points by triangulation. The results of triangulation are partial 3D reconstruction for obstacles. The proposed method has been tested successfully on an indoor mobile robot and is able to detect obstacles at 75msec.

• Journal of Practical Engineering Education
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• 제7권1호
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• pp.25-30
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• 2015

Virtual reality is a combination of various studies, such as programming, simulation, and computer graphics. This type of new cultural paradigm requires novel concept of contents development and information exchange. This research uses 3D virtual reality technology in new equipment called I-Bench Mobile which let user to interact with the equipment for completing furniture disposition task. The simulation is manufactured in 3D with application of physics, and the ultimate goal of it is to increase customers' satisfaction by allowing them to enjoy snap shot function for arranging furniture at exact desired place. This research requires not only coding techniques but also educating process in both engineering and art, such as computer science, media art design, and visual communication; therefore, the development of software by facilitating Virtual/Augmented Reality technology in this research is a good example of fusion IT technique education.

• Journal of the Korea Computer Industry Society
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• 제3권2호
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• pp.209-216
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• 2002

World Wide Web has potential possibility of infrastructure for parallel computing environment connecting massive computing resources, not just platform to provide and share information via browser. The approach of Web-based parallel computing has many advantages of the ease of accessibility, scalability, cost-effectiveness, and utilization of existing networks. Applet has the possibility of decomposing the independent/parallel task, moving over network, and executing in computers connected in Web, but it lacks in the flexibility due to strict security semantic model. Therefore, in this paper, Web-based parallel computing environment using mobile agent, Aglet (Agile applet) was designed and possible implementation technologies and architecture were analyzed. And simple simulation and analysis was done compared with applet-based approach.