• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2019년도 춘계학술대회
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• pp.111-114
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• 2019

This paper intends to implement a software that controls TurtleBot 2 remotely. The moving of the robot TurtleBot 2 can be controlled using command control based on Windows 10 IoT core instead of the Robot Operating System (ROS). The implemented software allows the user to move remotely TurtleBot 2 in any specified direction and perform the monitoring such as reading feedback data from the robot. Through TCP/IP and serial communication technology, TurtleBot 2 can successfully receive command control and send feedback to the user. Using C# programming language, two Universal Windows Platform apps (client app and server app) have been implemented to allow communication between the user and TurtleBot 2. The result of this implementation has been verified and tested in an indoor platform.

• 한국정보통신학회논문지
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• 제21권5호
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• pp.1003-1008
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• 2017

최근 몇 년간 사물인터넷은 중요한 연구적 관심을 끌어왔다. 새로운 IoT 기술이 널리 이용되기 위해서는 정보의 신뢰성과 보호가 전적으로 요구된다. IoT 시스템은 그 특성상 직접적인 접근이 쉬우므로 이로 인한 물리적인 보안에 매우 취약하다. SoC 기술의 발달과 함께 운영체제에 대한 기술도 많이 이루어졌으며 많은 새로운 운영체제가 소개되고 있다. 본 연구에서는 ARMv7 Thumb Architecture 하드웨어 플랫폼에서 동작하는 운영체제에 대한 취약성분석 결과에 대하여 기술하였다. 최근에 소개된 "Windows 10 IoT Core" 운영체제에 대하여, 연구를 통하여 개발된 침투코드를 특정 IoT 시스템에 이식시켜 Zero-Day Attack을 구현하였다. 결과의 침투코드에 대한 바이러스 검출 여부를 "virustotal" 사이트에 의뢰하여 유효성을 입증하였다.

• International Journal of Advanced Culture Technology
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• 제7권4호
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• pp.313-320
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• 2019

Nowadays, as the availability of tiny, low-cost microcomputer increases at a high level, mobile robots are experiencing remarkable enhancements in hardware design, software performance, and connectivity advancements. In order to control Turtlebot 2, several algorithms have been developed using the Robot Operating System(ROS). However, ROS requires to be run on a high-cost computer which increases the hardware cost and the power consumption to the robot. Therefore, design an algorithm based on low-cost hardware is the most innovative way to reduce the unnecessary costs of the hardware, to increase the performance, and to decrease the power consumed by the computer on the robot. In this paper, we present a path-finding algorithm for TurtleBot 2 based on low-cost hardware. We implemented the algorithm using Raspberry pi, Windows 10 IoT core, and RPLIDAR A2. Firstly, we used Raspberry pi as the alternative to the computer employed to handle ROS and to control the robot. Raspberry pi has the advantages of reducing the hardware cost and the energy consumed by the computer on the robot. Secondly, using RPLIDAR A2 and Windows 10 IoT core which is running on Raspberry pi, we implemented the path-finding algorithm which allows TurtleBot 2 to navigate from the starting point to the destination using the map of the area. In addition, we used C# and Universal Windows Platform to implement the proposed algorithm.