• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.285-292
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• 2016

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.6
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• pp.18-26
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• 2011

Debates concerning the competitive edge of leading 3DTV technology of the shutter glasses (SG) 3D and the film-type patterned retarder (FPR) are flaring up. Although SG technology enables Full-HD 3D vision, it requires complex systems including the sync transmitter (emitter), the sync processor chip, and the LCD lens in the active shutter glasses. In addition, the transferred sync-signal is easily affected by the external noise and a 3DTV viewer may feel flicker-effect caused by cross-talk of the left and right image. The operating current of the sync processor in the 3DTV active shutter glasses is gradually increasing to compensate the sync reconstruction error. The proposed chip is a low-power hardware sync processor based discrete-event SoC(system on a chip) designed specifically for the 3DTV active shutter glasses. This processor implements the newly designed power-saving techniques targeted for low-power operation in a noisy environment between 3DTV and the active shutter glasses. This design includes a hardware pre-processor based on a universal edge tracer and provides a perfect sync reconstruction based on a floating-point timer to advance the prior commercial 3DTV shutter glasses in terms of their power consumption. These two techniques enable an accurate sync reconstruction in the slow clock frequency of the synchronization timer and reduce the power consumption to less than about a maximum of 20% compared with other major commercial processors. This article describes the system's architecture and the details of the proposed techniques, also identifying the key concepts and functions.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.3
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• pp.125-131
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• 2011

Water leak detection system is a system based on wireless sensor networks(WSNs) which detect a leak on water supply, localize the leak position and finally inform a water management center. A traditional leak detection method is to use experienced personnel who walk along a pipeline listening to the sound that is generated by the leaks and their effectiveness depend on the experience of the user. Also making more successful detection, it should be processed at middle of the night when people do not use water, as the result users have to operate the leak detection system at midnight. In this paper, we propose a new method for the water leak detection system based on the WSNs and describe it in detail. Leak detection devices which detect a leakage of water transmit and receive the result of water leak detection with each other by configuring WSNs to improve reliability of the detection result. Also, we analyzed the sound from water flowed in pipeline, proposed the pre-signal processing to separate a leakage sound from noisy sound. And lastly, It is especially important to make a time synchronization with water leak detection devices that are installed on the pipeline, we used 1PPS(1 Pulse Per Second) signal generated by GPS, therefore we could get a precise time synchronization. The proposed system set up in Namyangju and performances were evaluated.

• Journal of Music and Human Behavior
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• v.20 no.1
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• pp.75-97
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• 2023

This study aimed to investigate the effect of cognitive-motor interaction-based instrument playing on the early social skills of children with autism spectrum disorder (ASD). Nine children with ASD, averaging 5.6 years of age, participated in twelve individual sessions lasting 30 minutes each. The intervention comprised five stages: self-regulation, motivation to engage in social interaction, acceptance of a partner in co-playing activities, interpersonal coordination with a partner, and engagement in joint music playing. To evaluate changes in early social skills, joint attention and social interaction behaviors were observed, and the Social Responsiveness Scale (SRS-2) was administered pre- and post-intervention. Social synchronization was measured through a dyadic drum task, measuring synchronization accuracy, duration, and timing. Following the intervention, all nine children demonstrated increased early social behaviors, although there were no significant differences in SRS scores. Moreover, synchronized movement improved significantly in accuracy and maintained duration but not in reaction time. This study highlights the significance of recognizing the cognitive-motor interplay as crucial element in facilitating early social skills development in children with ASD.

• The Journal of the Acoustical Society of Korea
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• v.21 no.8
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• pp.719-726
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• 2002

In this paper, we present a layered watermarking technique for digital audio data that is capable of detecting timing change and adapting complexity in detection. The proposed watermarking uses echo hiding as the first layer, which enables the detector to estimate linear speed change. The spread spectrum watermark is then inserted in the second layer which includes additional information like copyright data. We use two kinds of sequences in the second layer, one of which is for synchronization and the other is for data. The results of previous layer are used to make estimate of timing change in the next layer. The detector in the presented method can select detecting range form the first layer to the first layer, second pre-layer, or second main-layer due to the required system specification. Experimental results show that the proposed watermarking technique is robust to several processing attacks including timing change.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.996-1001
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• 2005

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from. Three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can get the ultrasonic signals from only one or two beacons, because of the obstacles located along the moving path. Therefore, in this paper, as one of our dedicated contribution, the position estimation scheme with less than three sensors has been developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.1
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• pp.81-86
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• 2009

Almost all network systems provide an authentication mechanism based on user ID and password. In such system, it is easy to obtain the user password using a sniffer program with illegal eavesdropping. The one-time password and challenge-response method are useful authentication schemes that protect the user passwords against eavesdropping. In client/server environments, the one-time password scheme using time is especially useful because it solves the synchronization problem. In this paper, we propose a new identification scheme One Pass Identification. The security of Password base System is based on the square root problem, and Password base System is secure against the well known attacks including pre-play attack, off-line dictionary attack and server comprise. A number of pass of Password base System is one, and Password base System processes the password and does not need the key. We think that Password base System is excellent for the consuming time to verify the prover.

• Journal of KIISE:Computer Systems and Theory
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• v.35 no.4
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• pp.150-157
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• 2008

This paper presents a design and implementation of realtime video player that operates on a tiled-display system consisting of multiple PCs to provide a very large and high resolution display. In the proposed system, the master process transmits a compressed video stream to multiple PCs using UDP multicast. All slaves(PC) receive the same video stream, decompress, clip their designated areas from the decompressed video frame, and display it to their displays while being synchronized with each other. A simple synchronization mechanism based on the H/W clock of each slave is proposed to avoid the skew between the tiles of the display, and a flow-control mechanism based on the bit-rate of the video stream and a pre-buffering scheme are proposed to prevent the jitter The proposed system is implemented with Microsoft DirectX filter technology in order to decouple the video/audio codec from the player.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.40-47
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• 2007

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the absolute location of the moving objects subjected to large errors. To implement a precise and convenient localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. Since it is not easy to install the beacons at a specific position precisely, there exists a large localization error and the installation time takes long. To overcome these problems, and provide a precise and convenient localization system, a new auto calibration algorithm is developed in this paper. Also the extended Kalman filter has been adopted for improving the localization accuracy during the mobile robot navigation. The localization accuracy improvement through the proposed auto calibration algorithm and the extended Kalman filter has been demonstrated by the real experiments.

• International Union of Geodesy and Geophysics Korean Journal of Geophysical Research
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• v.22 no.1
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• pp.1.2-5
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• 1994

Ionospheric sounding experiments have been conducted at RRL (Radio Research Laboratory), Ministry of Communications, using Digisonde 256 since its installation in 1990. Routine observations of the vertical sounding are carried out 48 times (or 39 times) a day, at every 24 hour. In addition, we also made oblique sounding experiments to obtain the real time data of Maximum Usable Frequency (MUF) and detect the anomalous HF propagation, as a part of the joint study between RRL and CRL (Communications Research Laboratory) of Japan. The two stations involved in the study were Anyang (RRL, Korea) and Kokubunji (CRL, Japan). The ionosondes used in both stations were Digisonde 256, developed by ULCAR (University of Lowell, Center for Atmospheric Research), U. S. A. , and the synchronization of time was accomplished with the help of GPS receiver. During most part of the experiments RRL transmitted non-modulated pulses, and CRL received them. The experiment was scheduled from October 25 through October 29, 1993. However, the ionosphere was not developed well enough to conduct the experiment with pre-set operation parameters. The experiment became successful (from 0500 UT to 0800 UT, October 29) only after the operation parameters had been changed, and the continuous ionograms were obtained by CRL at 0718 UT and 0733 UT in October 29, 1993. We believe this type of experiment will ensure the qualitative enhancement of solar-terrestrial physics research and a routine observation of the oblique ionospheric sounding. In this report, we present the results of the fore-mentioned oblique sounding as well as the vertical sounding results obtained by Digisonde 256 at Anyang station of RRL.