• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.692-697
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• 2011

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid mobile robot that can dock with the other robot and transforms between wheeled robot and legged robot is proposed. The hybrid mobile robot platform has docking device with a peg and a cup module. In addition, the robot is possible to walk and drive according to condition of the road. A navigation algorithm of the hybrid mobile robot is proposed to improve the mobility of robots using docking algorithm based on image processing on the broken road and uneven terrain. The proposed method recognizes road condition through PSD sensor attached in front and bottom of the robot and selects an appropriate navigation method according to terrain surface. The proposed docking and navigation methods are verified through experiments using hybrid mobile robots.

• Journal of the Korea Society for Simulation
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• v.28 no.2
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• pp.149-158
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• 2019

This paper introduces an integrated Modeling & Simulation framework for the efficient development of the rescue robot which rescues a wounded patients or soldiers and disposes a dangerous objects or explosive materials in the battlefields and disastrous environments. An integrated M&S(Modeling & Simulation) framework would have enabled us to perform the dynamic simulation program GAZEBO based Software-in-the-Loop Simulation(SILS) which is to replacing the robot platform hardware with a simulation software. An integrated M&S framework would help us to perform designing robot and performance validation of robot control results more efficiently. Furthermore, Tele-operation performance in the unstructured environments could be improved. We review a case study of applying an integrated M&S framework tool in validating performance of mobility stabilization control, one of the most important control strategy in the rescue robot.

• Journal of the Korea Convergence Society
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• v.12 no.3
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• pp.217-224
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• 2021

Based on the hyper-connectivity of the 4th Industrial Revolution, the paradigm shifts to the sharing economy. Didichuxing has already dominated the platform and is expanding its service to the TaaS 3.0 mobility industry. This paper aimed to suggest the direction of the domestic car-sharing industry and service improvement plan by analyzing Didichuxing. Korea is being cut off from the car-sharing industry, due to conflicts with existing industries and high regulations. It is necessary to balance the protection of existing industries and fostering new industries in the direction of negative regulations. In the future, it is also necessary to study how various fields of the sharing economy will convergence and develop.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.783-788
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• 2003

In this paper, we present a new approach to detect and recognize human face in the image from vision camera equipped on the mobile robot platform. Due to the mobility of camera platform, obtained facial image is small and pose-various. For this condition, new algorithm should cope with these constraints and can detect and recognize face in nearly real time. In detection step, ‘coarse to fine’ detection strategy is used. Firstly, region boundary including face is roughly located by dual ellipse templates of facial color and on this region, the locations of three main facial features- two eyes and mouth-are estimated. For this, simplified facial feature maps using characteristic chrominance are made out and candidate pixels are segmented as eye or mouth pixels group. These candidate facial features are verified whether the length and orientation of feature pairs are suitable for face geometry. In recognition step, pseudo-convex hull area of gray face image is defined which area includes feature triangle connecting two eyes and mouth. And random lattice line set are composed and laid on this convex hull area, and then 2D appearance of this area is represented. From these procedures, facial information of detected face is obtained and face DB images are similarly processed for each person class. Based on facial information of these areas, distance measure of match of lattice lines is calculated and face image is recognized using this measure as a classifier. This proposed detection and recognition algorithms overcome the constraints of previous approach [15], make real-time face detection and recognition possible, and guarantee the correct recognition irregardless of some pose variation of face. The usefulness at mobile robot application is demonstrated.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.379-385
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• 2012

This paper suggests U-healthcare system for individual health management realizing the gateway, client, and Java-based network server by using the vital signal measuring system and android-based mobile platform. This study realized the vital signal measuring system based on the technology to measure the ECG, oxygen saturation, blood pressure, and respiration, etc. And all the information of measurement was transmitted to the mobile gateway using the 3-bite transmission protocol consisting of headers and data. The data transmitted to the mobile gateway was used to examine the mobile client's personal health indexes through the network server. This paper realized and tested the android-based gateway, client, and the broadcasting network server and verified their validity with simulations and actual humans. As a result, the U-healthcare system suggested was proved to be effective in managing each individual's health from short distance and long distance. And it could examine each individual's health conditions in real-time and was found to be advantageous in that it could secure the guardian's mobility.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.49 no.3
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• pp.27-36
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• 2012

With the increase of various user's requirements, lots of interesting applications on the Internet have been emerging recently. However, Internet has many limitations for providing upcoming new services because it was only designed to provide basic connectivity between research networks and simplified forwarding functions at the first time. Internet has many problems in the aspects of routing scalability, mobility, security and QoS, so lots of researches are being actively performed in many countries to solve these problems. In this paper, we implement RED(Random Early Detection) scheduler using NetFPGA platform and local testbed to provide active queue management. Using the implemented RED scheduler, packets are dropped according to the specified drop probability, so Global Synchronization coming from simultaneous TCP segment losses in a congestion condition can be prevented. With the comparison to the Drop-Tail scheme in the basic router, we show TCP performance can be enhanced in the congestion situation using the NetFPGA-based RED scheduler.

• Journal of Climate Change Research
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• v.4 no.4
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• pp.385-395
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• 2013

In this paper, we target to develop weather platform and services to use in smart devices which is in real-time mobility environment. The existing TPEG-based navigation service requires a dedicated terminal, DMB communication method, and service scalability, so there are limits. In this paper, we analyze, processing and storage the real-time weather information suitable for navigation on the end user's smart devices by weather information service platform has been developed that can provide a standardized. In addition, we develop weavigation services and API for the developer to develop weather services easily. And we introduce system for serving information of dangerous district forecast based on natural disaster dangerous district data.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.1
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• pp.43-55
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• 2019

Smart phone based navigation applications are very useful in everyday life. Cost-effective and user friendly navigation can be provided to the user by many applications available in market. Using the Smart phone these navigation applications provide accurate navigation for outdoor locations. But providing an accurate navigation underground space such as subway station is still a challenge. It is hence more convenient and appropriate for mobility services if the visitors could simply view the guidance of the subway station on their mobile phone, wherever and whenever it is needed. This study develops a algorithm for indoor navigation with the help of Augmented Reality(AR) and QR marker code from the entrance to the train platform for users. This indoor navigation uses AR and QR maker codes for two purposes: to provide the user link to the subway station location and to provide the current guidance details to the user. This Smart phone algorithm that uses a smart phone optical tool to decode the QR marker to determine the location information and provide guidance to the AR without indoor Maps. This algorithm also provides a module to guide mobility vulnerable to the Barrier Free route to destination.

• Journal of the Society of Disaster Information
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• v.17 no.3
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• pp.655-666
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• 2021

Purpose: This study is to develop a method for measuring dynamic speeding risks using vehicle trajectory big data and to demonstrate the feasibility of the devised speeding index. Method: The speed behaviors of vehicles were analysed in microscopic space and time using individual vehicle trajectories, and then the boundary condition of speeding (i.e., boundary speed) was determined from the standpoint of crash risk. A novel index for measuring the risk exposure of speeding was developed in microscopic space and time with the boundary speed. Result: A validation study was conducted with vehicle-GPS trajectory big data and ground-truth vehicle crash data. As a result of the analysis, it turned out that the index of speeding-risk exposure has a strong explanatory power (R²=0.7) for motorway traffic accidents. This directly indicates that speeding behaviors should be analysed at a microscopic spatiotemporal dimension. Conclusion: The spatial and temporal evolution of vehicle velocity is very variable. It is, hence, expected that the method presented in this study could be efficaciously employed to analyse the causal factors of traffic accidents and the crash risk exposure in microscopic space using mobility trajectory data.

• Journal of Information Technology Services
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• v.12 no.4
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• pp.319-335
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• 2013

Cloud computing allows users to access software or specific programs that support the cloud platform through an information communicating device that can connect to the internet anywhere or anytime. Also, the cloud architecture not only reduces the expenses of IT infrastructure construction and maintenance, but also speeds up processing and mobility, which leads to a significant ease of use. In spite of the advantages of cloud computing, previous studies have been centered on case studies of the execution, advantages, and problems of cloud computing. In contrast, empirical research on individual cloud computing up till now is very insufficient. Thus, the research aims to create a model of an individual user's perspective and verify validation. This study reveals types of influence that characteristics can have on an individual user's intention to use, by searching the characteristics that the individual user recognizes on cloud computing services. The results are as follows:first, the characteristics of cloud computing indicates a significant influence on usage intention. Second, all characteristics in cloud computing, accessibility, reliability, perceived ease of use, and fusibility, are confirmed in providing significant influences in shaping social influence forms. Third, social influence has a significant influence on usage intention.