• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.398-402
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• 1996

This paper addresses the design and the gait control of quadruped walking robot. First, we concern the mechanical and electronical(control system) hardware of walking robot, and the second is the results of experiments. The walking robot is the most suitable form to substitute fot human being. So walking robot is worthy of research. The quadruped walking robot and control system is the simplest type of walking robot, therefore we designed a small seale robot for realization of static gait. The robot is designed commpactly and its legs are constructed parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. The upper level controller plans the walking path and commands the low level controllers to follow the planned path. The main function of low level cotrollers is control of motors. Total number of motors is twealve and they operate four legs. And robot is ordered to walk and realize static wave gait.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.1-6
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• 1990

Neural network is a computational model of ft biological nervous system developed ID exploit its intelligence and parallelism. Applying neural networks so robots creates many advantages over conventional control methods such as learning, real-time control, and continuous performance improvement through training and adaptation. In this paper, dynamic control of a six-link robot will be presented using neural networks. The neural network model used in this paper is the backpropagation network. Simulated control of the PUMA 560 am shows that it can move a high speed as well as adapt to unforseen load changes and sensor noise. The results are compared with the conventional PD control scheme.

• International Journal of Contents
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• v.5 no.3
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• pp.57-64
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• 2009

Korea has relied on top down development method, in which companies, research and education institutions move into the industrial complexes established by the government. However, to improve local competitiveness, the paradigm is shifting from the government initiated industrial complex to the clusters based on the cooperative network of the region. Representative case is 'Samcheok-si Fire & Emergency industry cluster construction project' that begun in 2007. AHP technique analysis results on first-stage showed that priority was on policy and network elements, and the results of second-stage analysis show that priority was on Policy incentives to internationalize the cluster and strengthen link,. Cluster branding, Sharing of organizational culture to cope with changes in environment, Creation of group learning culture. The subject of this research is limited to Samcheok-si's the Fire and Emergency Industry cluster formation project. Therefore, the research area and standard should be expanded to increase generality in further researches.

• Annual Conference on Human and Language Technology
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• 2015.10a
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• pp.187-189
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• 2015

최근 한국어 문서에서 공간 정보를 자동으로 추출하는 연구가 진행됨에 따라, 이를 응용한 다양한 소프트웨어 개발이 가능해 졌다. 본 논문에서는 문서에서 추출된 공간 정보 중 공간 관계 정보를 Google Maps API를 이용하여 시각화하는 방법에 대해 설명한다. 공간 관계 정보 중, 거리, 방향 등의 정적인 정보와 이동을 나타내는 동적 관계 정보를 표현하였으며, 이런 시각화는 문서에 나타난 공간 정보를 이해하는데 큰 도움을 줄 수 있을 것으로 기대한다.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.8 no.12
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• pp.49-63
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• 1985

This paper is focused on the introduction of the types of models and explanation of the fundamental concepts and theory for development and use of the corporate planning and modeling system. Nowadays, a great deal of companies have been or experimenting with some form of a corporate planning and modeling system to support managerial and strategic decision making. From previous studies it was noted that most applications have tended to be financially based. This trend will probably continue. However, with the software and hardware currently available it is likely that companies will move more toward integrated models that link marketing, production, as will as financial areas. More emphasis will undoubtedly be placed on the use of econometric modeling, since this subelement of the overall planning and modeling process is closely tied to the market place and the economy. At any rate, wherever the development of corporate planning and modeling system is directed, clear understanding for the fundamental concepts and elements of the system is settled in advance in order to develope and use it.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.59.4-59
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• 2001

In this paper, wireless interface of the motion between human and robot is implemented. The idea is that if a human who is equiped with device including accelerometer and rate-gyro sensor move his/her arm, then the robot follows human motion. The robot is designed as wheeled type mobile robot with two link arms. The robot´s basic movements such as forward, backward, left, right movement can be controlled from foot sensor which human steps on. Arm movements can be controlled by arm motion of human motion. In order to detect human motion, sensor data analysis from gyro and accelerometer has to be done. Data from sensors are transferred through wireless communication to activate the robot.

• Journal of Communications and Networks
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• v.7 no.3
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• pp.325-336
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• 2005

Mobile ad hoc networks (MANET) are composed of moving wireless hosts which, within range of each other, form wireless networks. For communication to occur between hosts that are not within each other's range, routes involving intermediate nodes must be established; however, since the hosts may be in motion, a host that was part of a route may move away from its upstream and downstream partners, thus breaking the route. In this paper, we propose anticipated route maintenance (ARM) protocol with two extensions to route discovery based routing scheme: Extend the route when nodes on a link move apart from each other and they have common neighbor that can be 'inserted' in the path, and shrink route when a node discovers that one of its neighbor which is not the next hop is also on the same route several hops later on. By utilizing only local geographic information (now a part of some route finding algorithms), a host can anticipate its neighbor's departure and, if other hosts are available, choose a host to bridge the gap, keeping the path connected. We present a distributed algorithm that anticipates route failure and performs preventative route maintenance using location information to increase a route lifespan. The benefits are that this reduces the need to find new routes (which is very expensive) and prevents interruptions in service. As the density of nodes increases, the chance to successfully utilize our route maintenance approach increases, and so does the savings. We have compared the performance of two protocols, pure dynamic source routing (DSR) protocol and DSR with ARM. The simulation results show how ARM improves the functionality of DSR by preventing the links in the route from breaking. Packets delivery ratio could be increased using ARM and achieved approximately $\100%$ improvement. The simulations clarify also how ARM shows a noticeable improvement in dropped packets and links stability over DSR, even though there is more traffic and channel overhead in ARM.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.7
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• pp.2205-2212
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• 1996

In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.

• Journal of Information Processing Systems
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• v.7 no.2
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• pp.241-260
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• 2011

In earlier days, most of the data carried on communication networks was textual data requiring limited bandwidth. With the rise of multimedia and network technologies, the bandwidth requirements of data have increased considerably. If a network link at any time is not able to meet the minimum bandwidth requirement of data, data transmission at that path becomes difficult, which leads to network congestion. This causes delay in data transmission and might also lead to packet drops in the network. The retransmission of these lost packets would aggravate the situation and jam the network. In this paper, we aim at providing a solution to the problem of network congestion in mobile ad hoc networks [1, 2] by designing a protocol that performs routing intelligently and minimizes the delay in data transmission. Our Objective is to move the traffic away from the shortest path obtained by a suitable shortest path calculation algorithm to a less congested path so as to minimize the number of packet drops during data transmission and to avoid unnecessary delay. For this we have proposed a protocol named as Congestion Aware Selection Of Path With Efficient Routing (CASPER). Here, a router runs the shortest path algorithm after pruning those links that violate a given set of constraints. The proposed protocol has been compared with two link state protocols namely, OSPF [3, 4] and OLSR [5, 6, 7, 8].The results achieved show that our protocol performs better in terms of network throughput and transmission delay in case of bulky data transmission.

• International journal of advanced smart convergence
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• v.6 no.1
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• pp.82-88
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• 2017

Emergency lights and exit signs are an indispensable part of safety precautions for effective evacuation in case of emergency in public buildings. These emergency sign indicates safe escape routes and emergency doors, using an internationally recognizable sign. However visibility of those signs drops drastically in case of emergency situations like fire smoke, etc. and loss of visibility causes serious problems for safety evacuation. This paper propose a novel emergency light and exit sign built-in with Bluetooth Low Energy (BLE) Beacon to assist the emergency self-guiding evacuation using devices for crisis and emergency management to avoid panic condition inside the buildings. In this approach, the emergency light and exit sign with the BLE beacons deployed in the indoor environments and the smart devices detect their indoor positions, direction to move, and next exit sign position from beacon messages and interact with map server in the Internet / Intranet over the available LTE and/or Wi-Fi network connectivity. The map server generate an optimal emergency exit path according to the nearest emergency exit based on a novel graph generation method for less route computation for each smart device. All emergency exit path data interfaces among three system components, the emergency exit signs, map server, and smart devices, have been defined for modular implementation of our emergency evacuation system. The proposed exit sign experimental system has been deployed and evaluated in real-time building environment thoroughly and gives a good evidence that the modular design of the proposed exit sign system and a novel approach to compute emergency exit path route based on the BLE beacon message, map server, and smart devices is competitive and viable.