• 한국멀티미디어학회논문지
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• 제9권3호
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• pp.342-352
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• 2006

오늘날 컴퓨팅 환경은 유비쿼터스로 변화하고 있다. 유비쿼터스 컴퓨팅 환경은 사용자들이 언제 어디서나 컴퓨팅 자원에 접근할 수 있는 스마트 공간(Smart space)으로 실현될 것이다. 그러나 스마트 공간내의 자원들에게 사전에 신뢰받지 못한 상태의 사용자들이 안전하게 자원들에 접근하기 위해서는 사용자들과 자원들 사이에 안전한 신뢰 관계를 형성하기 위한 기법이 요구된다. 본 논문에서는 유비쿼터스 컴퓨팅 환경에서의 신뢰 관계 형성을 위하여 기존에 제안된 분산된 신뢰(Distributed trust) 기법의 "악의적 권한 위임"과 "위임권한 취소"에 대한 보안 문제점을 지적하고, 보안성이 개선된 새로운 참여 제어 시스템을 제안한 후 이를 구현한다.

• 말소리와 음성과학
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• 제6권2호
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• pp.21-28
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• 2014

We propose a novel scheme for digital audio authentication of given audio files which are edited by inserting small audio segments from different environmental sources. The purpose of this research is to detect inserted sections from given audio files. We expect that the proposed method will assist human investigators by notifying suspected audio section which considered to be recorded or transmitted on different environments. GMM-UBM and GSV-SVM are applied for modeling the dominant environment of a given audio file. Four kinds of likelihood ratio based scores and SVM score are used to measure the likelihood for a dominant environment model. We also use an ensemble score which is a combination of the aforementioned five kinds of scores. In the experimental results, the proposed method shows the lowest average equal error rate when we use the ensemble score. Even when dominant environments were unknown, the proposed method gives a similar accuracy.

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.427-433
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• 2019

This paper propose a fuzzy inference model for map building and navigation for a mobile robot with an active camera, which is intelligently navigating to the goal location in unknown environments using sensor fusion, based on situational command using an active camera sensor. Active cameras provide a mobile robot with the capability to estimate and track feature images over a hallway field of view. In this paper, instead of using "physical sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data. Command fusion method is used to govern the robot navigation. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of active camera sensor for navigation experiments are fused into the identification process. Navigation performance improves on that achieved using fuzzy inference alone and shows significant advantages over command fusion techniques. Experimental evidences are provided, demonstrating that the proposed method can be reliably used over a wide range of relative positions between the active camera and the feature images.

• Steel and Composite Structures
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• 제43권1호
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• pp.117-127
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• 2022

This study investigates the wave propagation in porous functionally graded (FG) sandwich plates subjected to hygrothermal environments. A new simple three-unknown first-ordershear deformation theory (FSDT) incorporating an integral term is utilized in this paper. Only three unknowns are used to formulate the governing differential equation by applying the Hamilton principle. The FG layer of the sandwich plate is modeled using the power-law function with evenly distributed porosities to represent the defects of the manufacturing process. The plate is subjected to nonlinear hygrothermal changes across the thickness. The effects of the power-law exponent, core to thickness ratios, porosity volume, and the relations between volume fraction and wave properties of porous FG plate under the hygrothermal environment are investigated. The results showed that the waves' phase velocities increase linearly with the waves number in the FGM plate. The porosity of the FG materials plate has a noticeable impact on the phase velocity when considering the high ratios of the core layer. It has a negligible effect on small core layers. Finally, it is observed that changing temperatures and moistures do not influence the relationship between the power law and the phase velocity.

• 로봇학회논문지
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• 제19권1호
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• pp.23-30
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• 2024

This paper studies a GPS error filtering method that takes into account the continuity of the ongoing path to enhance the safety of autonomous agricultural mobile robots. Real-Time Kinematic Global Positioning System (RTK-GPS) is increasingly utilized for robot position evaluation in outdoor environments due to its significantly higher reliability compared to conventional GPS systems. However, in orchard environments, the robot's current position obtained from RTK-GPS information can become unstable due to unknown disturbances like orchard canopies. This problem can potentially lead to navigation errors and path deviations during the robot's movement. These issues can be resolved by filtering out GPS information that deviates from the continuity of the waypoints traversed, based on the robot's assessment of its current path. The contributions of this paper is as follows. 1) The method based on the previous waypoints of the traveled path to determine the current position and trajectory. 2) GPS filtering method based on deviations from the determined path. 3) Finally, verification of the navigation errors between the method applying the error filter and the method not applying the error filter.

• International Journal of Contents
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• 제10권4호
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• pp.69-74
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• 2014

General location aware systems are only applied to indoor and outdoor environments using more than three transmitters to estimate a fixed object location. Those kinds of systems have environmental restrictions that require an already established infrastructure. To solve this problem, an Object Location Estimation (OLE) algorithm based on PTP (Point To Point) communication has been proposed. However, the problem with this method is that deduction of performance parameters is not enough and location estimation is very difficult because of unknown restriction conditions. From experimental tests in this research, we determined that the performance parameters for restriction conditions are a maximum transmission distance of CSS communication and an optimum moving distance interval between personal locations. In this paper, a system applied OLE algorithm based on PTP communication is implemented using a CSS (Chirp Spread Spectrum) communication module. A maximum transmission distance for CSS communication and an optimum moving distance interval between personal locations are then deducted and studied to estimate a fixed object location for generalization.

• 한국측량학회지
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• 제31권6_2호
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• pp.539-547
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• 2013

This research is suggesting the most effective positioning method for GPS based positioning when no GPS reference point is available in the neighborhood. For this purpose, we carried out positioning of the IGS realtime observatories in Australia in various conditions. According to the research, we were certainly assured the one reference point with a short baseline length is more effective for differential positioning than multiple reference points with a long baseline distance beyond 1,000km and suggested the precise point positioning based positioning method can be an excellent substitute when no reference point is available around an unknown point. The research result may be used as the basic data for accurate positioning in poor reference point environments, especially in Antarctica.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.149-152
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• 2004

Speed and torque control of PMSM(Permanent Magnet Synchronous Motor) are usually achieved by using position and speed sensors which require additional mounting space, reduce the reliability in harsh environments and increase the cost of a motor. Therefore, many studies have been performed for the elimination of speed and position sensors. In this paper, a novel speed sensorless control of a permanent magnet synchronous motor based on SVMR(Support Vector Machine Regression) is presented. The SVM regression method is an algorithm that estimates an unknown mapping between a system's input and outputs, from the available data or training data. Two well-known different voltage model is necessary to estimate the speed of a PMSM. The validity and the usefulness of proposed algorithm are thoroughly verified through numerical simulation.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.651-658
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• 2011

An efficient modified $D^*$ lite algorithm is suggested, which can perform online path planning for mobile robots in dynamic indoor environment. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on $D^*$ Lite algorithm, we improved representation of edge cost, heuristic function, and priority queue management, to build a modified $D^*$ Lite algorithm. Performance of the proposed algorithm is revealed via extensive simulation study.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2577-2580
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• 2003

In this paper we present a teleoperation system of an internet-based mobile robot based on H.263 image compression algorithm. We control remotely the networked mobile robot with vision over the internet under unknown environments in the real time. The main feature of this system is that local operators need to download and install a client program and so they can command the robot in a remote location. Image information of remote location is compressed by H.263 video codec algorithm and then transmitted to a local operator. We constructed and tested a networked autonomous mobile robot in the real field. The experimental results show the usefulness of the robot under test.