• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.140-146
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• 2013

In this paper, we describe a vision sensor-based driving algorithm for indoor automatic guided vehicles (AGVs) that facilitates a path tracking task using two mono cameras for navigation. One camera is mounted on vehicle to observe the environment and to detect markers in front of the vehicle. The other camera is attached so the view is perpendicular to the floor, which compensates for the distance between the wheels and markers. The angle and distance from the center of the two wheels to the center of marker are also obtained using these two cameras. We propose five movement patterns for AGVs to guarantee smooth performance during path tracking: starting, moving straight, pre-turning, left/right turning, and stopping. This driving algorithm based on two vision sensors gives greater flexibility to AGVs, including easy layout change, autonomy, and even economy. The algorithm was validated in an experiment using a two-wheeled mobile robot.

• Journal of Broadcast Engineering
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• v.21 no.1
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• pp.60-65
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• 2016

This paper introduces the non-local means (NLM) algorithm for image denoising, and also introduces an improved algorithm which is based on the principal component analysis (PCA). To do the PCA, a covariance matrix of a given image should be evaluated first. If we let the size of neighborhood patches of the NLM S × S², and let the number of pixels Q, a matrix multiplication of the size S² × Q is required to compute a covariance matrix. According to the characteristic of images, such computation is inefficient. Therefore, this paper proposes an efficient method to compute the covariance matrix by sampling the pixels. After sampling, the covariance matrix can be computed with matrices of the size S² × floor (Width/l) × (Height/l).

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.12 no.7
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• pp.1115-1121
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• 2001

In this paper, we analyzed the performance of GFSK system that presence fading effect in indoor radio communication environments and impulsive electromagnetic noise from electronic equipments then we applied the Truncated Type- II Hybrid ARQ scheme to make satisfied in data transmission service. As a result, the system was influenced by fading and impulsive electromagnetic noise. Especially, the system was much degraded by high occurrence frequency and amplitude of impulsive electromagnetic noise than fading which has direct frequency. By adopting the Truncated Type-II hybrid ARQ technique we can also obtained the performance improvement in the low signal power(20 dB) arid over 24 dB in strong impulsive electromagnetic noise environment which is occurred error floor and terribly influenced by the system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.7
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• pp.1638-1656
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• 2013

The demand for multimedia streaming services is increasing rapidly. To meet this demand, there has been much research and many practical developments for providing multimedia services. A push-to-talk (PTT) service is one of the multimedia streaming services that have been deployed not only over IP multimedia subsystem (IMS) but also in peer-to-peer (P2P) overlay networks. The benefit of PTT has been demonstrated in the literature. However, the need for using PTT service in communication can be arbitrary among users, regardless what kind of PTT services they use. This demand does not support current PTT systems, so an expansion of PTT services still be limited. Moreover, the combination of PTT services in IMS and P2P networks will help operators to provide more scalable PTT services. Therefore, in this paper, we proposed a model to support PTT service interworking between IMS and P2P overlay networks. We also introduced our system design and some interworking service scenarios. We confirmed our architecture through implementation and testing.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.3
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• pp.216-223
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• 2016

This paper proposes a new controller design method for a fork-type lifter (FTL) of a transportation mobile robot. The transportation robot needs to pick up a package from a stack on a storage shelf and move on by a planned path in a logistics center environment. The position of the storage shelf is recognized by reading a QR code on the floor, and using this position, the robot can move to reach the storage shelf and pick up the package. PID controllers and an adaptive controller are designed to control the velocity of two wheels and the position of the FTL. An adaptive controller for the lifter is designed to elevate up and down on a slideway to the correct height position of the package on the stack of the storage shelf. The simulation results show that the PID controllers can respond smoothly to the desired angular velocity and the adaptive controller can adapt quickly and correctly to the desired height.

• Journal of the Korea Furniture Society
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• v.22 no.1
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• pp.72-81
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• 2011

These days, beds have been developed not as furniture to sleep in but Healthcare Furniture. The function of heating, non-electronic-waves and far-infrared rays have been added. Also, eco-friendly materials such as stone, mud, rubber and wood are combined to them together with the radiation-heating method using heat conduction through electronic coil and hot water circulation. Modern people suffer from stress and fatigue. The hot issue is "health." Focused on the health, the development of design for beds considering the influence electronic waves, anions, deep sleep and the density of toxic materials have on human bodies has become urgent. In this study, the trend, specification and efficiency of the functional health-related electronic coil technology are analyzed. Through the analysis, the environmental standards are set. According to them, technology, eco-friendly materials and additional functions for the development of the design are considered. Also, the government is promoting the IEC international standardization for the Korean traditional floor heating style beds. In preparation for that, we adopted new HPT method technology. It enables non-electronic-waves, low electricity and stable temperature maintenance control for the warm top and the cool bottom. Also, the head boards and the frames of the beds can be separated. Through this separation, the beds can be easily moved or installed. Eco-friendly materials such as Hinoki cypress wood and red clay and the existing tables function are combined to the head boards so they can be used as drawers and display shelves. If they are used as separate items, they can be used as covers. This is how we suggest the design for the heating beds.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.6
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• pp.536-541
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• 2015

In this paper, we propose a the image-based automatic flight control system for the mini drone. Automatic flight system with a camera on the ceiling and markers on the floor and landing position is designed in an indoor environment. Images from the ceiling camera is used not only to recognize the makers and landing position but also to track the drone motion. PC sever identifies the location of the drone and sends control commands to the mini drone. Flight controller of the mini drone is designed using state-machine algorithm, PID control and way-point position control method. From the, The proposed automatic flight control system is verified through the experiments of the mini drone. We see that known makers in environment are recognized and the drone can follows the trajectories with the specific ㄱ, ㄷ and ㅁ shapes. Also, experimental results show that the drone can approach and correctly land on the target positions which are set at different height.

• Journal of Sensor Science and Technology
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• v.20 no.3
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• pp.178-186
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• 2011

Line tracking is a well defined method of mobile robot navigation. It is simple in concept, technically easy to implement, and already employed in many industrial sites. Among several different line tracking methods, magnetic sensing is widely used in practice. In comparison, vision-based tracking is less popular due mainly to its sensitivity to surrounding conditions such as brightness and floor characteristics although vision is the most powerful robotic sensing capability. In this paper, a vision-based robust path line detection technique is proposed for the navigation of a mobile robot assuming uncontrollable surrounding conditions. The technique proposed has four processing steps; color space transformation, pixel-level line sensing, block-level line sensing, and robot navigation control. This technique effectively uses hue and saturation color values in the line sensing so to be insensitive to the brightness variation. Line finding in block-level makes not only the technique immune from the error of line pixel detection but also the robot control easy. The proposed technique was tested with a real mobile robot and proved its effectiveness.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.6
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• pp.1287-1292
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• 2012

In this paper, a dual polarization patch antenna operates at the wide bandwidth of 1.525GHz~1.665GHz was designed and fabricated. To obtain the wide bandwidth and high gain, increased height of air floor from GND was applied, and to get wide band axial ratio and high gain, parasitic patch was applied. The simulation and measurement showed good agreements, the VSWR was less than 1.9 at the frequency bandwidth, the return loss was less than -10dB, and the LHCP(Left Hand Circular Polarization) and RHCP(Right Hand Circular Polarization) isolation was less than -13dB at the frequency bandwidth.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.16 no.4
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• pp.351-357
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• 2003

An easy learning elevator originated is opened to compare the existed teaming equipment, and it had a high studied efficiency that the sequence control circuit can open and close with the wire. The structure of equipment to be controlled from the first floor to the fifth floors is demostrated by the constructive apparatus with the lamps to express the function of the open-close of the door according to the cage moving with a mechanical actuation of the forward reverse breaker and the motor of load, and the mechanical actuation of hand-operation control components of push-button S/W and L/S and relay etc. These components let connect each other in order to control of the elevator function with the auto program and the designed sequence control circuit. Consequently the cage could go and come till 1∼5 steps with an auto program of the elevator and the sequence control circuit. The sequence control circuit is controlled by the step of forward and reverse to follow as that the sensor function of L/S1 ∼ L/S5 let posit with the control switchs of S/W1 ∼ S/W5 of PLC testing panel and switchs of S/W1 ∼ S/W5 installed on the transparent acryl plate of the frame. In here, improved apparatus is the hand-auto operation combined learning equipment to study the principle and technique of the originate sequence control circuit and the auto program of PLC.