• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.10
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• pp.931-940
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• 2017

This paper describes a predictive fault diagnosis algorithm for autonomous vehicles based on a kinematic model that uses a sliding mode observer. To ensure the safety of autonomous vehicles, reliable information about the environment and vehicle dynamic states is required. A predictive algorithm that can interactively diagnose longitudinal environment and vehicle acceleration information is proposed in this paper to evaluate the reliability of sensors. To design the diagnosis algorithm, a longitudinal kinematic model is used based on a sliding mode observer. The reliability of the fault diagnosis algorithm can be ensured because the sliding mode observer utilized can reconstruct the relative acceleration despite faulty signals in the longitudinal environment information. Actual data based performance evaluations are conducted with various fault conditions for a reasonable performance evaluation of the predictive fault diagnosis algorithm presented in this paper. The evaluation results show that the proposed diagnosis algorithm can reasonably diagnose the faults in the longitudinal environment and acceleration information for all fault conditions.

• Journal of Drive and Control
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• v.14 no.2
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• pp.16-22
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• 2017

This paper presents the algorithm of an adaptive model-free-control-based steering control for multi-axle all-terrain cranes for which the recursive least squares with forgetting are applied. To optimally control the actual system in the real world, the linear or nonlinear mathematical model of the system should be given for the determination of the optimal control inputs; however, it is difficult to derive the mathematical model due to the actual system's complexity and nonlinearity. To address this problem, the proposed adaptive model-free controller is used to control the steering angle of a multi-axle crane. The proposed model-free control algorithm uses only the input and output signals of the system to determine the optimal inputs. The recursive least-squares algorithm identifies first-order systems. The uncertainty between the identified system and the actual system was estimated based on the disturbance observer. The proposed control algorithm was used for the steering control of a multi-axle crane, where only the steering input and the desired yaw rate were employed, to track the reference path. The controller and performance evaluations were constructed and conducted in the Matlab/Simulink environment. The evaluation results show that the proposed adaptive model-free-control-based steering-control algorithm produces a sound path-tracking performance.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.4
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• pp.839-847
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• 2014

A recent major development in computer technology is the advent of the wearable computer system that is based on human-centric interface technology trends and ubiquitous computing environments. Wearable computer systems can use the wireless universal serial bus (WUSB) that refers to USB technology that is merged with WiMedia PHY/MAC technical specifications. In this paper, we focus on an integrated system of the wireless USB over the wireless body area networks (WBAN) for wireless wearable computer systems supporting U-health services. To construct the WUSB over WBAN communication systems, we propose a WBAN beaconing structure to assign WUSB communication periods. In the proposed structure, WUSB uses private periods of WBAN. In our performance evaluations, we compare theoretical results and simulation results about throughputs of WUSB under various WBAN channel occupations to evaluate the effectiveness of proposed structure in WUSB over WBAN communications.

• Journal of KIISE
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• v.45 no.1
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• pp.94-98
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• 2018

We propose Wide Inception ResNet (WIR Net) an optimized neural network architecture as a real-time semantic segmentation method for autonomous driving. The neural network architecture consists of an encoder that extracts features by applying a residual connection and inception module, and a decoder that increases the resolution by using transposed convolution and a low layer feature map. We also improved the performance by applying an ELU activation function and optimized the neural network by reducing the number of layers and increasing the number of filters. The performance evaluations used an NVIDIA Geforce GTX 1080 and TX1 boards to assess the class and category IoU for cityscapes data in the driving environment. The experimental results show that the accuracy of class IoU 53.4, category IoU 81.8 and the execution speed of $640{\times}360$, $720{\times}480$ resolution image processing 17.8fps and 13.0fps on TX1 board.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.8
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• pp.1890-1910
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• 2013

Routing overlay offers an ideal methodology to improve the end-to-end communication performance by deriving a backup path for any node pair. This paper focuses on a challenging issue of selecting a proper backup path to bypass the failures on the default path with high probability for any node pair. For existing backup path selection approaches, our trace-driven evaluation results demonstrate that the backup and default paths for any node pair overlap with high probability and hence usually fail simultaneously. Consequently, such approaches fail to derive a robust backup path that can take over in the presence of failure on the default path. In this paper, we propose a three-phase RBPS approach to identify a proper and robust backup path. It utilizes the traceroute probing approach to obtain the fine-grained topology information, and systematically employs the grid quorum system and the Bloom filter to reduce the resulting communication overhead. Two criteria, delay and fault-tolerant ability on average, of the backup path are proposed to evaluate the performance of our RBPS approach. Extensive trace-driven evaluations show that the fault-tolerant ability of the backup path can be improved by about 60%, while the delay gain ratio concentrated at 14% after replacing existing approaches with ours. Consequently, our approach can derive a more robust and available backup path for any node pair than existing approaches. This is more important than finding a backup path with the lowest delay compared to the default path for any node pair.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.12
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• pp.5375-5400
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• 2016

IOMMU is a hardware unit that is indispensable for DMA. Besides address translation and remapping, it also provides I/O virtual address space isolation among devices and memory access control on DMA transactions. However, currently commodity virtualization platforms lack of IOMMU virtualization, so that the virtual machines are vulnerable to DMA security threats. Previous works focus only on DMA security problem of directly assigned devices. Moreover, these solutions either introduce significant overhead or require modifications on the guest OS to optimize performance, and none can achieve high I/O efficiency and good compatibility with the guest OS simultaneously, which are both necessary for production environments. However, for simulated virtual devices the DMA security problem also exists, and previous works cannot solve this problem. The reason behind that is IOMMU circuits on the host do not work for this kind of devices as DMA operations of which are simulated by memory copy of CPU. Motivated by the above observations, we propose an IOMMU para-virtualization solution called PVIOMMU, which provides general functionalities especially DMA security guarantees for both directly assigned devices and simulated devices. The prototype of PVIOMMU is implemented in Qemu/KVM based on the virtio framework and can be dynamically loaded into guest kernel as a module, As a result, modifying and rebuilding guest kernel are not required. In addition, the device model of Qemu is revised to implement DMA access control by separating the device simulator from the address space of the guest virtual machine. Experimental evaluations on three kinds of network devices including Intel I210 (1Gbps), simulated E1000 (1Gbps) and IB ConnectX-3 (40Gbps) show that, PVIOMMU introduces little overhead on DMA transactions, and in general the network I/O performance is close to that in the native KVM implementation without IOMMU virtualization.

• Journal of the Korea Institute of Building Construction
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• v.13 no.2
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• pp.131-138
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• 2013

This study was carried out to investigate the possibility of using basalt powder sludge instead of sand in a normal cement dry mortar as a way to recycle basalt powder sludge, which is a waste product from the manufacturing a process of basalt in Jeju. Basic performance evaluations of the dry mortar material included a compressive strength test, a flexural strength test, and SEM to observe the micro structure. The compressive and flexural strengths were increased to a replacement ratio of 21% of basalt powder sludge, whereby a strength enhancement of about 40% greater than that of normal dry mortar was shown. However, the creation of hydration products affected the replacement ratio of the basalt powder sludge. The possibility of using basalt powder sludge waste was identified in this study, and results showed that the basalt powder sludge waste could be used as a material for a secondary product of concrete.

• Journal of the Korea Society of Computer and Information
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• v.13 no.4
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• pp.213-220
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• 2008

The purpose of this paper is to improve efficiency in the construction and operation of a total management system for the national technical qualification through the design and development of a real-time data sharing system which is connected with the management system of external consignment. The current a total management system for the national technical qualification precesses the work depend on information and results which pass over by external IT company. But this method of processing has some unstable elements with regards to information reprocessing, functional supplement, system stability, etc. The proposed system's technological concepts have been tested through a basic simulation pilot program. The pilot program will be expanded to include the local Chamber of Commerce and Industry because the stability of the system was proved through its application to the real-time national technical qualification examination of KCCI(Korea Chamber of Commerce and Industry). The real-time data sharing system has shown great efficiency in terms of system management, and has solved problems of developmental period for information reprocessing and functional supplement. The real-time data sharing system has been given good evaluations with regard to the convenience of their use and the management system for operators and supervisors.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.463-474
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• 2004

Game theory is a method of mathematical analysis developed to study the decision making process. In 1928, Von Neumann mathematically proved that every two-person, zero-sum game with many pure finite strategies for each player is deterministic. In the early 50's, Nash presented another concept as the basis for a generalization of Von Neumann's theorem. Another central achievement of game theory is the introduction of evolutionary game theory, by which agents can play optimal strategies in the absence of rationality. Through the process of Darwinian selection, a population of agents can evolve to an Evolutionary Stable Strategy (ESS) as introduced by Maynard Smith in 1982. Keeping pace with these game theoretical studies, the first computer simulation of coevolution was tried out by Hillis. Moreover, Kauffman proposed the NK model to analyze coevolutionary dynamics between different species. He showed how coevolutionary phenomenon reaches static states and that these states are either Nash equilibrium or ESS in game theory. Since studies concerning coevolutionary phenomenon were initiated, there have been numerous other researchers who have developed coevolutionary algorithms. In this paper we propose a new coevolutionary algorithm named Game theory based Coevolutionary Algorithm (GCEA) and we confirm that this algorithm can be a solution of evolutionary problems by searching the ESS. To evaluate this newly designed approach, we solve several test Multiobjective Optimization Problems (MOPs). From the results of these evaluations, we confirm that evolutionary game can be embodied by the coevolutionary algorithm and analyze the optimization performance of our algorithm by comparing the performance of our algorithm with that of other evolutionary optimization algorithms.

• Journal of the Korean Recycled Construction Resources Institute
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• v.3 no.1
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• pp.54-64
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• 2007

This study is a fundamental research in order to establish the design code of recycled aggregate concrete structure. The structural properties of recycled aggregate concrete such as flexure, shear, fatigue, compression, and bond development are experimentally investigated and confirmed. In this study, laboratory-scale reinforced concrete beam, column, and pull-out test specimens using recycled coarse aggregate are manufactured. Then, the structural performances of recycled aggregate concrete according to replacement ratios of recycled coarse aggregate are evaluated. Also, finite element analysis using commercial code DIANA is carried out to predict the test results and the analysis results are compared with test results in this study. Structural test results showed that the structural performances of recycled aggregate concrete specimens with 60% replacement ratio are reduced by approximately 15-20%. These results indicated that the replacement ratio of recycled coarse aggregate within 30% is a suitable to use for structural members. The results of finite element analysis showed that the specimens with 30% replacement ratio possessed similar or more excellent structural performance than normal concrete specimens. However, recycled aggregate concrete with 60% replacement ratio of recycled coarse aggregate must be carefully considered for structural applications due to significant decrease of the failure loads.