• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.9
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• pp.2191-2204
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• 1993

A sensor system has been developed to measure the posture(position and orientation) of mobile robots working in industrial environments. The proposed sensor system consists of a CCD camera, retro-reflective landmarks, a strobe unit and an image processing board. The proposed hardware system can be built in economic price compared to commercial vision systems. The system has the capability of measuring the posture of mobile robots within 60 msec when a 386 personal computer is used as the host computer. The experimental results demonstrated a remarkable performance of the proposed sensor system in the posture measurement of mobile robots - the average error in position is less than 3 mm and the average error in orientation is less than 1.5.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.12
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• pp.577-582
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• 2002

The objective of this paper is to produce a weighted graph map for path-planning of an autonomous mobile robot(AMR) based on the measurements from a single ultrasonic sensor, which are acquired when the autonomous mobile robot explores unknown indoor circumstance. The AMR navigates in th unknown space by following the wall and gathers the range data using the ultrasonic sensor, from which the occupancy grid map is constructed by associating the range data with occupancy certainties. Then, the occupancy grid map is converted to a weighted graph map suing morphological image processing and thinning algorithms. the path- planning for autonomous navigation of a mobile robot can be carried out based on the occupancy grid map. These procedures are implemented and tested using an AMR, and primary results are presented in this paper.

• Transactions of Materials Processing
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• v.20 no.1
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• pp.54-59
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• 2011

Optical properties in injection molded plastic lenses for mobile phone camera have been simulated using commercial program, 3D TIMON. Four plastic lenses are being used in mobile phone camera. The quality of photographs taken by mobile phone camera is strongly depends upon optical characteristics of lenses. The variety of optical properties has been investigated according to the injection conditions through the computer simulation. Consequently optimal injection conditions for four lenses have been determined and simulation results of birefringence have been compared with experiments.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.8
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• pp.1577-1585
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• 2011

This paper proposes a posture stabilization control algorithm for a wheeled mobile robot using hybrid visual servo control method with a position based and an image based visual servoing (PBVS and IBVS). To overcome chattering phenomena which were shown in the previous researches using a simple switching function based on a threshold, the proposed hybrid visual servo control law introduces the fusion function based on a blending function. Then, the chattering problem and rapid motion of the mobile robot can be eliminated. Also, we consider the nonlinearity of the wheeled mobile robot unlike the previous visual servo control laws using linear control methods to improve the performances of the visual servo control law. The proposed posture stabilization control law using hybrid visual servoing is verified by a theoretical analysis and simulation and experimental results.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.10
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• pp.1738-1745
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• 2016

In this paper, we present localization and autonomous navigation method using GPU(Graphics Processing Unit)-based SIFT(Scale-Invariant Feature Transform) algorithm and virtual force method for mobile robots. To do this, at first, we propose the localization method to recognize the landmark using the GPU-based SIFT algorithm and to update the position using extended Kalman filter. And then, we propose the A-star algorithm for path planning and the virtual force method for autonomous navigation of the mobile robot. Finally, we demonstrate the effectiveness and applicability of the proposed method through some experiments using the mobile robot with OPRoS(Open Platform for Robotic Services).

• The Transactions of the Korea Information Processing Society
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• v.6 no.11S
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• pp.3356-3366
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• 1999

Electric commerce system based on distributed mobile on object such as mobile agents need both precise identification and secure authentication scheme on remotemobile entities. In this paper, existing discrete logarithm based Schnorr like entity authentication schemes are improved by the analysis of performance and security on the bi-directional interactive proofs. And ElGamal like schemes are also proposed. Then, there are enhanced with oblivious transfer based mono-directional authentication schemes based on trusted third party for applying to the mobile agent based computing systems. Therefore, proposed schemes provide compatible performance and safety on mobile entity authentication process.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.11
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• pp.5673-5691
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• 2019

Information centric mobile network can significantly improve the data retrieving efficiency by caching contents at mobile edge. However, the cache pollution attack can affect the data obtaining process severely by requiring unpopular contents deliberately. To tackle the problem, we design an algorithm of mitigating cache pollution attacks in information centric mobile network. Particularly, the content popularity distribution statistic is proposed to detect abnormal behavior. Then a probabilistic caching strategy based on abnormal behavior is applied to dynamically maintain the steady-state distribution for content visiting probability and achieve the purpose of defense. The experimental results show that the proposed scheme can achieve higher request hit ratio and smaller latency for false locality content pollution attack than the CacheShield approach and the baseline approach where no mitigation approach is applied.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.4
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• pp.403-413
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• 1990

A collision free trajectory control for multiple mobile robots in obstacle-resident workspace is proposed. The proposed method is based on the concept of neural optimization network which has been applied to such problems which are too complex to be handled by traditional analytical methods, and gives good adaptibility for unpredictable environment. In this paper, the positions of the mobile robot are taken as the variables of the neural circuit and the differential equations are derived based on the performance index which is the weighted summation of the functions of the distances between the goal and current position of each robot, between each pair of robots and between the goal and current position of each robot, between each pair of robots and between obstacles and robots. Also is studied the problem of local minimum and of detour in large radius around obstacles, which is caused by inertia of mobile robots. To show the validity of the proposed method an example is illustrated by computer simulation, in which 6 mobile robots with mass and friction traverse in a workspace with 6 obstacles.

• Transactions of Materials Processing
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• v.15 no.1 s.82
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• pp.76-81
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• 2006

In this study, warpage characteristics of mobile phone cover through injection molding process were investigated using design of experiments in injection molding process. Warpage in plastic injection molding has a significant effect on quality of product. Effects of injection time, packing pressure, packing time, mold temperature and melt temperature on the warpage of mobile phone cover were considered by numerical analysis and experiment with Taguchi method. The degree of warpage for the injection molded part was measured by using three dimensional coordinate measurement machine. It was shown that temperature control factor has more significant effect on the warpage of mobile phone cover than pressure control factor.

• Journal of Digital Contents Society
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• v.9 no.4
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• pp.533-541
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• 2008

In distributed mobile systems, the congestion control and disconnection problems are current major issues. This paper proposes a grouping-based fuzzy reference streaming method to improve the performance of systems supporting distributed mobile transactions. The proposed method resolves transaction requests issued by mobile clients using the GS interface. In the paper disconnection problems are resolved efficiently using transaction read and update for improved streaming service. Experimental results show that the proposed method outperforms the other existing methods significantly.