• International Journal of Fuzzy Logic and Intelligent Systems
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• 제10권4호
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• pp.281-286
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• 2010

We propose a space and time based sensor fusion method and a robust landmark detecting algorithm based on sensor fusion for mobile robot navigation. To fully utilize the information from the sensors, first, this paper proposes a new sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable an accurate measurement. Exploration of an unknown environment is an important task for the new generation of mobile robots. The mobile robots may navigate by means of a number of monitoring systems such as the sonar-sensing system or the visual-sensing system. The newly proposed, STSF (Space and Time Sensor Fusion) scheme is applied to landmark recognition for mobile robot navigation in an unstructured environment as well as structured environment, and the experimental results demonstrate the performances of the landmark recognition.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2017년도 춘계학술발표대회
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• pp.54-57
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• 2017

돈사 감시 응용은 내재된 데이터 병렬성을 활용하고 성능가속기를 사용하여 병렬처리가 가능하다. 본 논문에서는 multicore-CPU와 manycore-GPU로 구성된 이기종 컴퓨팅 환경에서 돈사 감시 응용 수행 시 태스크 분배 방법을 제안한다. 즉, 각 태스크별로 OpenCL로 작성된 병렬 프로그램을 deviceCPU와 deviceGPU 각각에서 수행시켜 측정된 수행시간을 기준으로 가장 적합한 처리기를 결정한다. 제안 방법은 간단하지만 매우 효과적이고, CPU와 GPU로 구성된 이기종 컴퓨팅 플랫폼에서 다른 응용을 병렬화하는데에도 적용될 수 있다. 실험 결과, 상이한 이기종 컴퓨팅 플랫폼에서 최적의 태스크 분배로 수행 한 경우가 전체 태스크들을 deviceGPU에서 수행한 방법에 비교하여 각각 2배, 11배 성능 개선이 되었음을 확인하였다.

• Journal of Construction Engineering and Project Management
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• 제1권2호
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• pp.1-10
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• 2011

Bridges are critical and valuable components in any road and rail transportation network. Therefore bridge remediation has always been a top priority for asset managers and engineers, but identifying the nature of true defect deterioration and associated remediation treatments remains a complex task. Nowadays Decision Support Systems (DSS) are widely used to assist decision makers across an extensive spectrum of unstructured decision environments. The main objective of this research is to develop a requirements-driven methodology for bridge monitoring and maintenance which has the ability to assess the bridge condition and find the best remediation treatments using Simple Multi Attribute Rating Technique (SMART); with the aim of maintaining a bridge within acceptable limits of safety, serviceability and sustainability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.25.6-25
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• 2001

A new monitoring system is proposed to give direct visual information of the remote site when working with a tele-operation system. In order to have a similar behavior of a human when he is inspecting an object, multiple cameras that have different view point are attached around the robot hand and are switched on and elf according to the operator´s motion such as joystick manipulation or operator´s head movement. The performance of the system is estimated by performing comparison experiments among single camera (SC) vision system, head mount display (HMD)system and proposed multiple camera (MC) vision system by applying a task to several examines. The reality, depth feeling and controllability are estimated for the examines ...

• ETRI Journal
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• 제39권2호
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• pp.202-212
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• 2017

With the advent of the Internet-of-Things paradigm, the amount of data production has grown exponentially and the user demand for responsive consumption of data has increased significantly. Herein, we present DART, a fast and lightweight stream processing framework for the IoT environment. Because the DART framework targets a geospatially distributed environment of heterogeneous devices, the framework provides (1) an end-user tool for device registration and application authoring, (2) automatic worker node monitoring and task allocations, and (3) runtime management of user applications with fault tolerance. To maximize performance, the DART framework adopts an actor model in which applications are segmented into microtasks and assigned to an actor following a single responsibility. To prove the feasibility of the proposed framework, we implemented the DART system. We also conducted experiments to show that the system can significantly reduce computing burdens and alleviate network load by utilizing the idle resources of intermediate edge devices.

• 한국전자거래학회:학술대회논문집
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• 한국전자거래학회 2005년도 e-Biz World Conference 2005
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• pp.62-67
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• 2005

In traditional approach, enterprise-wide consistent security policy enforcement for applications is very difficult task. Therefore, industry is now moving towards new unified enterprise application security concept that consist of centralized authentication and authorization mechanism. The eXtensible Access Control Markup Language (XACML); an XML-based standard defined by OASIS, is most suitable choice which can support centralized, role based, context aware access control mechanism. It is designed to provide universal standard for writing authorization policies and access control request/response language for managing access to the resources. This paper includes a brief overview on XACML and discusses its benefits, limitations and a data flow process. We propose a new generic access control architecture that supports enterprise wide centralized application level access control mechanism using XACML. The other benefits which can be achieved through this architecture are, reduce adnministration cost and complexity, support of heterogeneous computing platforms, centralized monitoring system, automatic fail over, scalability and availability, open standard based solution and secure communication.

• 한국산업융합학회 논문집
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• 제18권3호
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• pp.173-180
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• 2015

In this paper, we propose a new precise control technology of robotic gripper for assembling and handling of part. When a robot manipulator interacts mechanically with its environment to perform tasks such as assembly or edge-finishing, the end-effector is thereby constrained by the environment. Therefore grasping force control is very important, since it increases safety due to monitoring of contact force. A comparison of various force control architecture is reported. Different force control methods can often be configured to achieve similar results for a given task, and the choice of control algorithm depends strongly on the application or on the characteristics of a particular robot. In the research, the adjustable gripping force can be controlled and improved the accuracy using the artificial intelligence techniques.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.193-196
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• 2002

In this paper, we presents the remote inspection activity with a mobile robot at the calandria face areas of the PHWR (pressurized heavy water reactor) nuclear power plants during full power plant operation.. The tele-operated mobile robot has been developed for this task. A 4 wheeled mechanism with the dual reconfigurable crawler arm has been adopted for the ease access to the high radiation area of calandria face. A specially designed extendable long reach mast attached on the mobile platform and the thermal image monitoring system enable human eyes to look into the calandria face. Application of robot will keep human workers from high radiation exposure and enhance the reliability of nuclear power plants.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.39-41
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• 2002

Management of internal Internet servers is increasingly becoming an important task. According to meet this requirement, they use service log analysis tools and network monitoring tools. But these are not enough to produce advanced management information considering contents of Internet services. Therefor we propose a system and let it detect Internet server systems existing in internal network and individuate those systems with providing profile. Internet server profile includes system's basic information, network traffic information, and Internet service usage information.

• 말소리와 음성과학
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• 제4권2호
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• pp.3-20
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• 2012

The purpose of this study was to investigate whether a segmentation unit for a Korean noun is a 'syllable' and whether the process of segmenting spoken words occurs at the lexical level. A syllable monitoring task was administered which required participants to detect an auditorily presented target from visually presented words. In Experiment 1, syllable neighborhood density of high frequency words which can be segmented into both CV-CVC and CVC-VC were controlled. The syllable effect and the neighborhood density effect were significant, and the syllable effect emerged differently depending on the syllable neighborhood density. Similar results were obtained in Experiment 2 where low frequency words were used. The significance of word frequency effect on syllable effect was also examined. The results of Experiments 1 and 2 indicated that the segmentation unit for a Korean noun is indeed a 'syllable', and this process can occur at the lexical level.