• Journal of the Korean Society for Railway
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• v.11 no.4
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• pp.364-370
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• 2008

In this paper, we proposed new sensor network architecture with autonomous robots based on beacon mode and implemented real time monitoring system in real test-bed environment. The proposed scheme offers beacon based real-time scheduling for reliable association process with parent nodes and dynamically assigns network address by using NAA (Next Address Assignment) mechanism. For the large scale multi-sensor processing, our real-time monitoring system accomplished the intelligent database processing, which can generate not only the alert messages to the civilians but also process various sensing data such as fire, air, temperature and etc. Moreover, we also developed mobile robot which can support network mobility. Though the performance evaluation by using real test-bed system, we illustrate that our proposed system demonstrates promising performance for emergence monitoring systems.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.1
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• pp.179-189
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• 2000

Recently, due to the increasing interests in deep sea development, all possible efforts to the development of underwater unmanned working vehicles such as AUV(Autonomous Underwater Vehicle) or underwater robot are exerted. This paper proposes a new efficient acoustic-based underwater image data communication system, which ensures a certain level of maximum throughput regardless of the propagation delay of ultrasonic and allowsfast data transmission through the multiple ultrasonic communication channel. Proposed system consists of an acoustic transducer which operates at 136kHz center frequency and it's 10kHz bandwidth, pre-amplifier, $\pi/4 QPSK$(Quadrature Phase Shift Keying) modulation/demodu-lation method, image compressing method using JPEG technique and modified Stop & Wait protocol. The experimental result of the system make it possible to transfer the underwater image as a high throughput at the basin test. The results of test are also verified which allows to desirable transmission performance compared with the existing developed system and the possibility to put the practical use of survey and investigation in the water.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.854-856
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• 2014

Has been released of make it possible to control the using for smart devices of a wide variety home appliances and electronics in smart appliances in accordance with the one person multi devices. In addition, is increasing rapidly for the number of the product on cleaning robot and refrigerator, air conditioning, TV, etc. these devices are using the implement up DLNA system. And at home and abroad for development and has provided with Iot and Alljoyn such systems. But currently using home appliances or electronic devices of there are a lot of the operating system non installed than the installed products. In addition, smart appliances do not use for user than buying existing electronic products a lot more. In addition, more occur for smart appliances of that do not use for the user on smart appliances rather than buying existing electronics. In this paper, Suggested and implemented for system of control such as smart devices to existed home appliance on not have an operating system, Using mobile device for want users to quantify the data to transfer from arduino board.

• Journal of Biomedical Engineering Research
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• v.28 no.4
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• pp.494-502
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• 2007

Ubiquitous location based services (u-LBS) will be interested to an important services. They can easily recognize object position at anytime, anywhere. At present, many researchers are making a study of the position recognition and tracking. This paper consists of postion recognition and user identification system. The position recognition is based on location under services (LBS) using a signal strength map, a database is previously made use of empirical measured received signal strength indicator (RSSI). The user identification system automatically controls instruments which is located in home. Moreover users are able to measures body signal freely. We implemented the multi-hop routing method using the Star-Mesh networks. Also, we use the sensor devices which are satisfied with the IEEE 802.15.4 specification. The used devices are the Nano-24 modules in Octacomm Co. Ltd. A RSSI is very important factor in position recognition analysis. It makes use of the way that decides position recognition and user identification in narrow indoor space. In experiments, we can analyze properties of the RSSI, draw the parameter about position recognition. The experimental result is that RSSI value is attenuated according to increasing distances. It also derives property of the radio frequency (RF) signal. Moreover, we express the monitoring program using the Microsoft C#. Finally, the proposed methods are expected to protect a sudden death and an accident in home.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.3
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• pp.95-103
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• 1998

This paper deals with a problem occuring in recognition of tactile images due to the effects of imposed force at a me urement moment. Tactile image of a contact surface, used for recognition of the surface type, varies depending on the forces imposed so that a false recognition may result in. This paper fuzzifies two parameters of the contour of a tactile image with the membership function formed by considering the imposed force. Two fuzzifed paramenters are fused by the average Minkowski's dist; lnce. The proposed algorithm was implemented on the multisensor system cnmposed of an optical tact le sensor and a 6 axes forceltorque sensor. By the experiments, the proposed algorithm has shown average recognition ratio greater than 869% over all imposed force ranges and object models which is about 14% enhancement comparing to the case where only the contour information is used. The pro- ~oseda lgorithm can be used for end-effectors manipulating a deformable or fragile objects or for recognition of 3D objects by implementing on multi-fingered robot hand.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.3
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• pp.375-381
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• 2005

Usually genetic algorithms are used to design optimal system. However the performance of the algorithm is determined by the fitness function and the system environment. It is expected that a co-evolutionary algorithm, two populations are constantly interact and co-evolve, is one of the solution to overcome these problems. In this paper we propose three types of co-evolutionary algorithm to solve GA-Hard problem. The first model is a competitive co-evolutionary algorithm that solution and environment are competitively co-evolve. This model can prevent the solution from falling in local optima because the environment are also evolve according to the evolution of the solution. The second algorithm is schema co-evolutionary algorithm that has host population and parasite (schema) population. Schema population supply good schema to host population in this algorithm. The third is game model-based co-evolutionary algorithm that two populations are co-evolve through game. Each algorithm is applied to visual servoing, robot navigation, and multi-objective optimization problem to verify the effectiveness of the proposed algorithms.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.9
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• pp.4130-4135
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• 2013

This paper is a special-purpose machine studies for processing various patterns on the surface of the stone. We have developed a special-purpose machine that can be applied in various patterns upon the surface treatment of the stone with the water jet. The special-purpose machine is Configured of Transfer mechanism, motion controller, multi-nozzle mechanism, ultra high pressure water control system and S/W. We conducted a performance evaluation experiments of the pattern. We have developed a special-purpose machine with a precision of machining error ${\pm}0.5mm$ and pattern processing of various types.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.25 no.4
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• pp.287-292
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• 2012

In this study, Multi-Channel Magnetic Flux Leakage(MFL) sensor - based inspection system was applied to monitor the condition of cables. This inspection system measures magnetic flux to detect the local faults(LF) of steel cable. To verify the feasibility of the proposed damage detection technique, an 8-channel MFL sensor head prototype was designed and fabricated. A steel cable bunch specimen with several types of damage was fabricated and scanned by the MFL sensor head to measure the magnetic flux density of the specimen. To interpret the condition of the steel cable, magnetic flux signals were used to determine the locations of the flaws and the level of damage. Measured signals from the damaged specimen were compared with thresholds set for objective decision making. In addition, the magnetic flux density values measured from every channel were summed to focus on the detection of axial location. And, sum of flux density were displayed with threshold. Finally, the results were compared with information on actual inflicted damages to confirm the accuracy and effectiveness of the proposed cable monitoring method.

• Journal of KIISE
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• v.43 no.12
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• pp.1365-1375
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• 2016

One of the most important capabilities for autonomous service robots working in living environments is to recognize and understand the correct context in dynamically changing environment. To generate high-level context knowledge for decision-making from multiple sensory data streams, many technical problems such as multi-modal sensory data fusion, uncertainty handling, symbolic knowledge grounding, time dependency, dynamics, and time-constrained spatio-temporal reasoning should be solved. Considering these problems, this paper proposes an effective dynamic context management and spatio-temporal reasoning method for intelligent service robots. In order to guarantee efficient context management and reasoning, our algorithm was designed to generate low-level context knowledge reactively for every input sensory or perception data, while postponing high-level context knowledge generation until it was demanded by the decision-making module. When high-level context knowledge is demanded, it is derived through backward spatio-temporal reasoning. In experiments with Turtlebot using Kinect visual sensor, the dynamic context management and spatio-temporal reasoning system based on the proposed method showed high performance.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.4
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• pp.355-362
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• 2009

Sound source localization method based on the time delay of arrival(TDOA) is applied to many research fields such as a robot auditory system, teleconferencing and so on. When multi-microphones are utilized to localize the source in 3 dimensional space, the conventional localization methods based on TDOA decide the actual source position using the TDOAs from all microphone arrays and the detection measure, which represents the errors between the actual source position and the estimated ones. Performance of these methods usually depends on the number of microphones because it determines the resolution of an estimated position. In this paper, we proposed the localization method using spatially mapped GCC functions. The proposed method does not use just TDOA for localization such as previous ones but it uses spatially mapped GCC functions which is the cross correlation function mapped by an appropriate mapping function over the spatial coordinate. A number of the spatially mapped GCC functions are summed to a single function over the global coordinate and then the actual source position is determined based on the summed GCC function. Performance of the proposed method for the noise effect and estimation resolution is verified with the real environmental experiment. The mean value of estimation error of the proposed method is much smaller than the one based on the conventional ones and the percentage of correct estimation is improved by 30% when the error bound is ${\pm}20^{\circ}$.