• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.705-709
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• 2016

Micro-electro-mechanical systems (MEMS) gyroscopes are widely used in various robot applications. However, these conventional gyroscopes need to vibrate the proof mass using a built-in actuator at a fixed resonance frequency to sense the Coriolis force. When a robot is not moving, the meaningless vibration of the gyroscope wastes power. In addition, this continuous vibration makes the sensor vulnerable to external sound waves with a frequency close to the proof-mass resonance frequency. In this paper, a feasibility study of a new type of gyroscope inspired by insect halteres is presented. In dipterous insects, halteres are a biological gyroscope that measures the Coriolis force. Wing muscles and halteres are mechanically linked, and the halteres oscillate simultaneously with wing beats. The vibrating haltere experiences the Coriolis force if the insect is going through a rotational motion. Inspired by this haltere structure, a gyroscope using a thin mast integrated with a robot actuation mechanism is proposed. The mast vibrates only when the robot is moving without requiring a separate actuator. The Coriolis force of the mast can be measured with an accelerometer installed at the tip of the mast. However, the signal from the accelerometer has multiple frequency components and also can be highly corrupted with noise, such that raw data are not meaningful. This paper also presents a suitable signal processing technique using the amplitude modulation method. The feasibility of the proposed haltere-inspired gyroscope is also experimentally evaluated.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.4
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• pp.68-74
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• 2017

This paper presents a joint demosaicking and arbitrary-ratio down sampling algorithm for color filter array (CFA) images. Color demosaiking is a necessary part of image signal processing pipeline for many types of digital image recording system using single sensor. Also, such as smart phone, obtained high resolution image from image sensor has to be down-sampled to be displayed on the screen. The conventional solution is "Demosaicking first and down sampling later". However, this scheme requires a significant amount of memory and computational cost. Also, artifacts can be introduced or details get damaged during demosaicking and down sampling process. In this paper, we propose a method in which demosaicking and down sampling are working simultaneously. We use inverse mapping of Bayer CFA and then joint demosaicking and down sampling with arbitrary-ratio scheme based on signal decomposition of high and low frequency component in input data. Experimental results show that our proposed algorithm has better image quality performance and much less computational cost than those of conventional solution.

• KIPS Transactions on Computer and Communication Systems
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• v.5 no.10
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• pp.311-318
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• 2016

IoT(Internet of Things areas) rich information based on the user easy access to service creation must be one of the power system of specificity due following: The IoT spread obstacle to the act be, and 'Smart Grid information of this is not easy under power plants approach the Directive on the protection measures, particularly when stringent security policies IoT technologies applied to Advanced Metering Infrastructure sector has been desired. This is a situation that occurs is limited to the application and use of IoT technologies in the power system. Power Information Network is whilst closed network operating is has a smart grid infrastructure, smart grid in an open two-way communication for review and although information security vulnerabilities increased risk of accidents increases as according to comprehensive security policies and technologies are required and can. In this paper, the IoT platform architecture design of information systems as part of the power of research and development IoT-based energy information platform aims. And to establish a standard framework for a connection to one 'Sensor-Gateway-Network-platform sensors Service' to provide power based on the IoT services and solutions. Framework is divided into "sensor-gateway" platform to link information modeling and gateways that can accommodate the interlocking standards and handling protocols variety of sensors Based on this real-time data collection, analysis and delivery platform that performs the role of the relevant and to secure technology.

• KIISE Transactions on Computing Practices
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• v.23 no.9
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• pp.517-534
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• 2017

This paper proposes an Internet of Things (IoT) middleware called Middleware for Cooperative Interaction of Things (MinT). MinT supports a fully distributed IoT environment in which IoT devices directly connect to peripheral devices, easily constructing a local or global network and sharing their data in an energy efficient manner. MinT provides a sensor abstract layer, a system layer and an interaction layer. These layers enable integrated sensing device operations, efficient resource management, and interconnection between peripheral IoT devices. In addition, MinT provides a high-level API, allowing easy development of IoT devices by developers. We aim to enhance the energy efficiency and performance of IoT devices through the performance improvements offered by MinT resource management and request processing. The experimental results show that the average request rate increased by 25% compared to existing middlewares, average response times decreased by 90% when resource management was used, and power consumption decreased by up to 68%. Finally, the proposed platform can reduce the latency and power consumption of IoT devices.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.329-331
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• 2018

In this paper, we propose a monitoring system that starts with the supply of raw materials for threading, is processed into a lathe machine, and checks for defects of the product are automatically performed by the robot with Smart Factory technology through assembly and disassembly. Completion check according to the production instruction quantity and production instruction is made by checking the production status according to whether or not the raw material is worn by the displacement sensor, and checking the pitch and the contour of the processed female and male to determine OK and NG. The robotic system acts as a relay for loading and unloading of raw materials, pallet transfer, and overall process, and it acts as an intermediary for organically driving. The location information of the threaded products is collected by using the non-contact wireless tag and the energy saving system Production efficiency and utilization rate were checked. The environmental sensor collects the air-conditioning environment data (temperature, humidity), measures the temperature and humidity accurately, and checks the quality of product processing. It monitors and monitors the driving hazard level environment (overheating, humidity) of the product. Controls for CNC and robot module PLC as a heterogeneous system.

• Korean Journal of Remote Sensing
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• v.34 no.6_1
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• pp.941-951
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• 2018

Utilization and demand of UAV (unmanned aerial vehicle) for the generation of 3D city model are increasing. In this study, we performed an experiment to adjustment position/orientation of UAV with incomplete attitude information and to extract point cloud data. In order to correct the attitude of the UAV, the rotation angle was calculated by using the continuous position information of UAV movements. Based on this, the corrected position/orientation information was obtained by applying IBA (Incremental Bundle Adjustment) based on photogrammetry. Each pair was transformed into an epipolar image, and the MDR (Multi-Dimensional Relaxation) technique was applied to obtain high precision DSM. Each extracted pair is aggregated and output in the form of a single point cloud or DSM. Using the DJI inspire1 and Phantom4 images, we can confirm that the point cloud can be extracted which expresses the railing of the building clearly. In the future, research will be conducted on improving the matching performance and establishing sensor models of oblique images. After that, we will continue the image processing technology for the generation of the 3D city model through the study of the extraction of 3D cloud It should be developed.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.3
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• pp.77-85
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• 2024

In this dissertation, a we designed and implemented a patrol robot that integrates a thermal imaging camera, speed dome camera, PTZ camera, radar, lidar sensor, and smartphone. This robot has the ability to monitor and respond efficiently even in complex environments, and is especially designed to demonstrate high performance even at night or in low visibility conditions. An orbital movement system was selected for the robot's mobility, and a smartphone-based control system was developed for real-time data processing and decision-making. The combination of various sensors allows the robot to comprehensively perceive the environment and quickly detect hazards. Thermal imaging cameras are used for night surveillance, speed domes and PTZ cameras are used for wide-area monitoring, and radar and LIDAR are used for obstacle detection and avoidance. The smartphone-based control system provides a user-friendly interface. The proposed robot system can be used in various fields such as security, surveillance, and disaster response. Future research should include improving the robot's autonomous patrol algorithm, developing a multi-robot collaboration system, and long-term testing in a real environment. This study is expected to contribute to the development of the field of intelligent surveillance robots.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.7
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• pp.1208-1213
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• 2006

A micro embedded did the task to be simply the sequent at the past. The necessity of an embedded operating system did not exist in the reason. We satisfy the complication of the system and operating system have been desired for the officer of the process. The necessity of the process of real-time processing increased also with fast response time to users, The porting follows and have been composed of an real-time embedded operating system. We can control the control unit with the sensor to be established in the building, An embedded web sever to use the resource of the at least is appering a networking facility of interaction. In this paper, The web sever to be implemented in a purity software. We draw data for the thing to implement overall demo to the remote through Internet and We put the point even though we organized the frame to control this. we have successfully ported linux on an embedded system, which is based on intel StrongARM SA-1110 processor, then written several network modules of ethernet-based network device.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.9
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• pp.403-408
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• 2015

Kinect sensors have the ability to recognize the behavior and voice of the user. Due to its low-cost and high accessibility, Kinect sensors have been used in various fields, including healthcare, education and so on. In this paper, we propose to use Kinect in piano education. Specifically, the proposed method first recognizes the coordinate values of user's posture, compares them with coordinate values of teacher's posture and provide real-time feedbacks to the user. This enables user to keep the correct posture even when he is learning piano without a teacher. However, since the piano education is a long process, it is difficult to achieve the correct posture as a teacher immediately. Thus, we propose a user-oriented method to measure the error tolerance rate. The proposed method is the first feedback based piano education system that uses Kinect sensors.

• Journal of the Korea Convergence Society
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• v.7 no.4
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• pp.45-50
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• 2016

This paper describes the development of smart sticks as walking assistance for elderly people that incorporate motion sensing, hear-beat sensing, data processing, and communication functions. Our sticks communicate with users' smart phones and upon a detection of falling-off, an alarm is generated and propagated to multiple guardians registered in advance. In addition, the sticks provide smart healthcare functionalities for elderly people thus suggest an health platform that is empowered by various health-related informations. The heartbeat sensors and motion sensors mounted on the sticks enable various additional functions. Our smart sticks are designed to function as stable walking assistance as well as to support elderly people by providing useful services in the convergence with information technologies.