• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Journal of Intelligence and Information Systems
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• v.25 no.1
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• pp.163-177
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• 2019

As smartphones are getting widely used, human activity recognition (HAR) tasks for recognizing personal activities of smartphone users with multimodal data have been actively studied recently. The research area is expanding from the recognition of the simple body movement of an individual user to the recognition of low-level behavior and high-level behavior. However, HAR tasks for recognizing interaction behavior with other people, such as whether the user is accompanying or communicating with someone else, have gotten less attention so far. And previous research for recognizing interaction behavior has usually depended on audio, Bluetooth, and Wi-Fi sensors, which are vulnerable to privacy issues and require much time to collect enough data. Whereas physical sensors including accelerometer, magnetic field and gyroscope sensors are less vulnerable to privacy issues and can collect a large amount of data within a short time. In this paper, a method for detecting accompanying status based on deep learning model by only using multimodal physical sensor data, such as an accelerometer, magnetic field and gyroscope, was proposed. The accompanying status was defined as a redefinition of a part of the user interaction behavior, including whether the user is accompanying with an acquaintance at a close distance and the user is actively communicating with the acquaintance. A framework based on convolutional neural networks (CNN) and long short-term memory (LSTM) recurrent networks for classifying accompanying and conversation was proposed. First, a data preprocessing method which consists of time synchronization of multimodal data from different physical sensors, data normalization and sequence data generation was introduced. We applied the nearest interpolation to synchronize the time of collected data from different sensors. Normalization was performed for each x, y, z axis value of the sensor data, and the sequence data was generated according to the sliding window method. Then, the sequence data became the input for CNN, where feature maps representing local dependencies of the original sequence are extracted. The CNN consisted of 3 convolutional layers and did not have a pooling layer to maintain the temporal information of the sequence data. Next, LSTM recurrent networks received the feature maps, learned long-term dependencies from them and extracted features. The LSTM recurrent networks consisted of two layers, each with 128 cells. Finally, the extracted features were used for classification by softmax classifier. The loss function of the model was cross entropy function and the weights of the model were randomly initialized on a normal distribution with an average of 0 and a standard deviation of 0.1. The model was trained using adaptive moment estimation (ADAM) optimization algorithm and the mini batch size was set to 128. We applied dropout to input values of the LSTM recurrent networks to prevent overfitting. The initial learning rate was set to 0.001, and it decreased exponentially by 0.99 at the end of each epoch training. An Android smartphone application was developed and released to collect data. We collected smartphone data for a total of 18 subjects. Using the data, the model classified accompanying and conversation by 98.74% and 98.83% accuracy each. Both the F1 score and accuracy of the model were higher than the F1 score and accuracy of the majority vote classifier, support vector machine, and deep recurrent neural network. In the future research, we will focus on more rigorous multimodal sensor data synchronization methods that minimize the time stamp differences. In addition, we will further study transfer learning method that enables transfer of trained models tailored to the training data to the evaluation data that follows a different distribution. It is expected that a model capable of exhibiting robust recognition performance against changes in data that is not considered in the model learning stage will be obtained.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.11A
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• pp.867-875
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• 2003

Current end-to-end congestion control depends only on the information of end points (using three duplicate ACK packets) and generally responds slowly to the network congestion. This mechanism can't avoid TCP global synchronization in which TCP congestion window size is fluctuated during congestion period. Furthermore, if RTT(Round Trip Time) is increased, three duplicate ACK packets are not correct congestion signals because congestion might already disappear and the host may send more packets until it receives three duplicate ACK packets. Recently there are increasing interests in solving end-to-end congestion control using AQM(Active Queue Management) to improve the performance of TCP protocols. AQM is a variation of RED-based congestion control. In this paper, we first evaluate the effectiveness of the current AQM schemes such as RED, CHOKe, ARED, FRED and SRED, over traffic with different rates and over traffic with mixed responsive and non-responsive flows, respectively. In particular, CHOKe mechanism shows greater unfairness, especially when more unresponsive flows exist in a shared link. We then propose a new AQM scheme using CHOKe mechanism, called DQC(Double Queue CHOKe), which uses two FIFO queues before applying CHOKe mechanism to adaptive congestion control. Simulation shows that it works well in protecting congestion-sensitive flows from congestion-causing flows and exhibits better performances than other AQM schemes. Also we use partial state information, proposed in LRURED, to improve our mechanism.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.12
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• pp.1134-1149
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• 2013

Pub/sub system enables data users to access any necessary data without knowledge of the data producer and synchronization with the data producer. It is widely used as the middleware technology for the data-centric services. DDS (Data Distribution Service) is a standard middleware supported by the OMG (Object Management Group), one of global standardization organizations. It is considered quite useful as a standard middleware for US military services. However, it is well-known that it takes considerably long time in searching the Participants and Endpoints in the system, especially when the system is booting up. In this paper, we propose a discovery scheme to reduce the latency when the participants and Endpoints are densely distributed in a small area. We propose to modify the standard DDS discovery process in three folds. First, we integrate the Endpoint discovery process with the Participant discovery process. Second, we reduce the number of connections per participant during the discovery process by adopting the concept of successors in Distributed Hashing scheme. Third, instead of UDP, the participants are connected through TCP to exploit the reliable delivery feature of TCP. We evaluated the performance of our scheme by comparing with the standard DDS discovery process. The evaluation results show that our scheme achieves quite lower discovery latency in case that the Participants and the Endpoints are densely distributed in a local network.

• Journal of Internet Computing and Services
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• v.15 no.1
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• pp.179-191
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• 2014

In this paper, a frame transmission method to make IEEE 802.15.4 nodes run at a new channel and its characteristics are studied when they experience difficulties in transmission of frames due to WiFi traffic. The researches on evaluating the interference from WiFi traffic, searching for a new channel with little interference or not, and changing the operating channel are analyzed. In an wireless channel overlapped with IEEE 802.11 network, the transmission delay of IEEE 802.15.4 frames, the collision of frames in sending IEEE 802.15.4 frames without applying CSMA-CA algorithm, and the operation of IEEE 802.11 nodes are explained. A transmission method of frames including frame-formated code blocks in order to use the rest part of collided IEEE 802.15.4 frame is proposed. In the experiments of the proposed method, it is observed that frame-formated code blocks are synchronized and received by receivers in case of collision, and then the collided positions in IEEE 802.15.4 frame and the characteristics of frame reception rate are analyzed. The experimental results show that the performance of the proposed method is improved in comparison to an existing method when we measure the time taken to send a channel change command and get the response in order to avoid the interference from WiFi traffic.

• Journal of Broadcast Engineering
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• v.25 no.4
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• pp.497-506
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• 2020

A chameleonic surface proposed in this study was a pin-art and 3D display device for generating arbitrary shapes. A smooth and continuous surface was formed using slim telescopic actuators and high-elasticity composite material. Realistic 3D shapes were continuously generated by projecting dynamic mapping images on the surface. A slim telescopic actuator was designed to show long strokes and minimize area for staking. A 3D shape was formed by thrusting and extruding the high-elasticity material using multiple telescopic actuators. This structure was advantageous for generating arbitrary continuous surface, projecting dynamic images and lightening weight. Because of real-time synchronization, a distributed controller based on EtherCAT was applied to operate hundreds of telescopic actuators smoothly. Integrated operating software consecutively generated realistic scenes by coordinating extruded shapes and projecting 3D image from multiple projectors. An opera content was optimized for the chameleon surface and showed to an audience in an actual concert.

• Journal of KIISE:Computing Practices and Letters
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• v.6 no.2
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• pp.120-134
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• 2000

In this paper we present a Distributed Object oriented Virtual computing Environment, called DOVE which consists of autonomous distributed objects interacting with one another via method invocations based on a distributed object model. DOVE appears to a user logically as a single virtual computer for a set of heterogeneous hosts connected by a network as if objects in remote site reside in one virtual computer. By supporting efficient parallelism, heterogeneity, group communication, single global name service and fault-tolerance, it provides a transparent and easy-to-use programming environment for parallel applications. Efficient parallelism is supported by diverse remote method invocation, multiple method invocation for object group, multi-threaded architecture and synchronization schemes. Heterogeneity is achieved by automatic data arshalling and unmarshalling, and an easy-to-use and transparent programming environment is provided by stub and skeleton objects generated by DOVE IDL compiler, object life control and naming service of object manager. Autonomy of distributed objects, multi-layered architecture and decentralized approaches in hierarchical naming service and object management make DOVE more extensible and scalable. Also,fault tolerance is provided by fault detection in object using a timeout mechanism, and fault notification using asynchronous exception handling methods

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.10B
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• pp.1150-1158
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• 2011

More than 100 Mbps rate is needed in the UBcN for a subscriber to receive broadband traffics with multi-channel like UDTV or 3DTV. Although the optical fiber is recently deployed for the FTTH, the UTP is the most widely used medium and will be used in UBcN age. Network providers may consider the 1000BASE-T or the vectorized VDSL if they adopts the UTP in the place where does not have optical fibers. But UTP should be expanded because 1000BASE-T and vectorized UTP needs 4 and 3 pairs cable, respectively while residential region has not exceeding 2 pair UTP cable. To solve the problem, we propose a 500BASE-T technology using 2 pairs UTP in this paper. The technology introduces a rate adaptation sublayer and a SERDES sublayer above and under the PCS, respectively. The rate adaptation sublayer is compatible for the GMII. Also, if we modify the SERDES sublayer, the technology can easily obtain 250BASE-T with 2 pairs UTP. We implement such functions with FPGA and analog board and verify the function of rate adaptation and symbol vector synchronization, and effective transmission rate by experiments. In particular, we show that link efficiency is increased by enable control in the rate adaptation sublayer.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.5C
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• pp.527-539
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• 2009

In this paper, we propose an asynchonous ICI (Inter-Cell Interference) mitigation techniques for 3GPP LTE MIMO-OFDMA down-link receiver. An increasing in symbol timing misalignments may occur relative to sychronous network as the result of BS (Base Station) timing differences. Such symbol synchronization errors that exceed the guard interval or the cyclic prefix duration may result in MAI (Multiple Access Interference) for other carriers. In particular, at the cell boundary, this MAI becomes a critical factor, leading to degraded channel throughput and severe asynchronous ICI. Hence, many researchers have investigated the interference mitigation method in the presence of asynchronous ICI and it appears that the knowledge of the SCM (Spatial Covariance Matrix) of the asynchronous ICI plus background noise is an important issue. Generally, it is assumed that the SCM estimated by using training symbols. However, it is difficult to measure the interference statistics for a long time and training symbol is also not appropriate for MIMO-OFDMA system such as LTE. Therefore, a noise reduction method is required to improve the estimation accuracy. Although the conventional time-domain low-pass type weighting method can be effective for noise reduction, it causes significant estimation error due to the spectral leakage in practical OFDM system. Therefore, we propose a time-domain sinc type weighing method which can not only reduce the noise effectively minimizing estimation error caused by the spectral leakage but also implement frequency-domain moving average filter easily. By using computer simulation, we show that the proposed method can provide up to 3dB SIR gain compared with the conventional method.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.4
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• pp.633-642
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• 2021

Growing demand for electricity, when combined with the need to limit carbon emissions, drives a huge increase in renewable energy industry. In the electric power system, electricity supply always needs to be balanced with electricity demand and network losses to maintain safe, dependable, and stable system operation. There are three broad challenges when it comes to a power system with a high penetration of renewable energy: transient stability, small signal stability, and frequency stability. Transient stability analyze the system response to disturbances such as the loss of generation, line-switching operations, faults, and sudden load changes in the first several seconds following the disturbance. Small signal stability refers to the system's ability to maintain synchronization between generators and steady voltages when it is subjected to small perturbations such as incremental changes in system load. Frequency stability refers to the ability of a power system to maintain steady frequency following a severe system upset resulting in significant imbalance between generation and load. In this paper, we discusses these stability using system simulation by renewable energy deployment plan, and also analyses the influence of the renewable energy sources to the grid stability.