• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.117-124
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• 2006

In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.

• Journal of the Korea Society of Computer and Information
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• v.18 no.1
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• pp.11-19
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• 2013

For an autonomous multi-mobile robot system, path planning and collision avoidance are important functions used to perform a given task collaboratively and cooperatively. This study considers these important and challenging problems. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner selects the paths of the robots that minimize the cost function from each robot to its own target using a potential field. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. In this paper, each robot independently selects its destination and considers other robots as dynamic obstacles, and there is no need to predict the motion of obstacles. This process continues until the corresponding target of each robot is found. To test this method, an autonomous multi-mobile robot simulator (AMMRS) is developed, and both simulation-based and experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.05a
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• pp.145-148
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• 2011

As a futuristic construction model, building information model(BIM) based project management system(PMIS) and mobile PMIS have been showing visible sign. However, researches on the 3D BIM based PMIS using mobile device are hard to find, result from limitation of mobile device application(slow speed at huge BIM file, display size, and etc.) and undefined standard of business processes. Therefore, this research aims at studying feasibility of mobile BIM PMIS based on cloud computing as a business model. In case of applying mobile BIM PMIS, 3D drawings and integrated building informations are possible on mobile devices in real time. it would support increasing the productivity of project participants as designer, engineer, supervisor, and etc. Globally, BIM based PMIS and Mobile BIM system, cloud computing based mobile BIM simulator are in the concept or experimental phase, therefore it is possible to secure global leading technology of IT and construction merger in the mobile BIM.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.233-238
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• 2010

This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.37.1-37
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• 2002

Localization is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the global position of the mobile robot by using a camera set on ceiling in the corridor is proposed. This sch...

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.6C
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• pp.645-650
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• 2006

GSM(Global System for Mobile communications) provides mobile users with portability and convenience as the most popular standard for mobile phones in the world. However, GSM system has the problem that can't normally authenticate a user by the exposure of IMSI(International Mobile Subscriber Identity) of Ms(Mobile station) during the user authentication procedure. In this paper, we propose secure user authentication by preventing the exposure if IMSI via transfer the encrypted IMSI from the HLR(Home Location Register) and making the only network entities verified from the HLR use the IMSI value, as the modified mechanism based on the original user authentication protocol to solve this authentication problem. Also the proposed mechanism provides fast user authentication without changing the architecture between new VLR and old VLR in the original GSM user authentication protocol as well as user's anonymity by using a temporary ID.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.4
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• pp.281-286
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• 2010

We propose a space and time based sensor fusion method and a robust landmark detecting algorithm based on sensor fusion for mobile robot navigation. To fully utilize the information from the sensors, first, this paper proposes a new sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable an accurate measurement. Exploration of an unknown environment is an important task for the new generation of mobile robots. The mobile robots may navigate by means of a number of monitoring systems such as the sonar-sensing system or the visual-sensing system. The newly proposed, STSF (Space and Time Sensor Fusion) scheme is applied to landmark recognition for mobile robot navigation in an unstructured environment as well as structured environment, and the experimental results demonstrate the performances of the landmark recognition.

• Journal of the Korea Safety Management & Science
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• v.4 no.1
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• pp.69-80
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• 2002

최근 컴퓨터 기술의 발전과 함께 Mobile 컴퓨터 환경도 함께 급속히 발전하고 있다. 이로 인해 오프라인 컴퓨팅 및 네트워킹을 이용하던 사용자들이 Mobile 컴퓨팅 환경을 자주 이용하게 되고, Mobile 솔루션에 대한 사용자의 요구도 다양화되고 있는 추세이다. 이 중 Mobile 지도 서비스는 휴대하기 편한 Pocket PC라고도 불리는 PDA(Personal Digital Assistants)는 자신의 현재 위치를 확인할 수 있는 GPS(Global Positioning System)가 급속도로 보급됨으로써 Mobile 환경에서 가장 활용도가 높은 서비스로 부각되고 있다. 가까운 미래의 IT기술은 GPS와 PDA 등을 연계한 e포지션의 폭발적인 이용 증대와 국내 원천기술에 의한 세계적인 사업모델의 탄생이 눈앞에 현실로 다가오고 있다는 점을 감안하면, GPS를 활용한 Mobile 기술력 확보는 국가적 차원에서 대단히 중요하다는 견지를 같이하는 전문가들이 많다. 이러한 시대적 요구 환경 하에서, 본 논문에서는 JAVA VM 기반의 무선위치추적 제어미들웨어와 GIS 프로그램(Vector MAP Viewer)을 구축함으로써 APTS의 효율성에 관한 연구를 제안하고, 앞으로의 향후 개선방향을 제시하고자 한다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.198-204
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• 2007

In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.3
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• pp.258-267
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• 2013

Recently, Proxy Mobile IPv6(PMIPv6) networks have been drawing attention as the mobility management protocol that uses limited wireless resources effectively. And the multicast, which is a core technology of the Internet broadcast system such as mobile IPTV, has been widely discussed mainly based on PMIPv6 network. However, PMIPv6-based multicast cannot support the global mobility directly between different PMIPv6 domains because PMIPv6 is basically designed for local mobility in single PMIPv6 domain. Moreover, PMIPv6-based multicast causes the disconnection of services because it does not solve the packet loss problem during binding and group joining procedure. In this paper, we propose a global mobility scheme that supports the seamless multicast service in PMIPv6 networks. The proposed scheme supports the global mobility due to the addition of extra signalling messages between LMAs. Also, it achieves low latency because it performs fast binding and group joining procedure. We present the simulation results which show that the proposed scheme achieves the global mobility with low latency through the NS-2 simulation.