• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.11
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• pp.1676-1686
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• 2021

In this paper, we propose a general cross-chain solution based on the idea of modularity, abstraction, and layering, which decoupling the cross-chain function from the consensus algorithm and specific application logic, and utilize a Merkle proof to ensure the validity and legality of cross-chain operations. Since the underlying implementations of homogeneous and heterogeneous blockchains are different, we treat them separately. For homogeneous blockchains, we suggest a TCP-like cross-chain transport protocol (CCTP). While for heterogeneous blockchains, we present a method to construct the relay chain to realize the cross-chain function. The proposed scheme can enable the correct, effective, reliable, orderly, and timely transmission of cross-chain data. However, the essential difference between the operations within a single blockchain and the interoperability between different blockchains is that the trust domain is different. Cross-chain interoperation itself breaks the completeness of the blockchain, therefore, some efficiency and safety must sacrifice to trade-off.

• Journal of the Korean Society of Propulsion Engineers
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• v.19 no.2
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• pp.17-28
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• 2015

In this paper, it is accomplished to design a control method for such an actuation system of simplified ON/OFF mechanism with actuation command limit. First of all, based on experimental data, the modeling works for nonlinear/linear actuation dynamics are performed, which are govern by PWM command as a control input. Using the linearized model, a classical PI control method is designed to satisfy the aimed control performance requirements, and a control algorithm is proposed to realize the required control performance in the effective control region through resolving the issue for the PWM command limit which reduces the control performance. Finally, through control simulations, the design method is verified and the corresponding control performance improvement is evaluated.

• Journal of Korea Multimedia Society
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• v.15 no.9
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• pp.1112-1125
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• 2012

To realize LBS (Location Based Service), typically GPS is mostly used. However, this system can be only used in out-sides. Furthermore, the use of the GPS in sensor networks is not efficient due to the low power consumption. Hence, we propose methods for the location positioning which is runnable at indoor in this paper. The proposed methods elaborate the location positioning system via applying K-NN(K-Nearest Neighbour) Algorithm with its intermediate values based on IEEE 802.15.4 technology; which is mostly used for the sensor networks. Logically the accuracy of the location positioning is proportional to the number of sampling sensor nodes' RSS according to the K-NN. By the way, numerous sampling uses a lot of sensor networks' resources. In order to reduce the number of samplings, we, instead, attempt to use the intermediate values of K-NN's signal boundaries, so that our proposed methods are able to positioning almost two times as accurate as the general ways of K-NN's result.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.2
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• pp.245-254
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• 2022

In this paper, a design optimization method for anti-jamming GPS antenna is presented. For this purpose, jamming performance analysis criteria and methods are presented. And based on the proposed analysis method, the antenna design elements that can realize the best performance were optimized. The anti-jamming GPS antenna for applying the presented method has a structure in which 7 radiating elements are arranged. Here, six radiating elements were circular arranged, and one element was arranged in the center of the circular arrangement. The optimized antenna design parameter(radius of the circular array) is 0.48 λ. As a result of the simulation, it was confirmed that when the steering angle(theta, phi) of the main lobe was (0°, 0°), the pattern null steering range(based on theta) was 57° to 90°.

• The Journal of the Korea Contents Association
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• v.11 no.6
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• pp.98-105
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• 2011

Recent advances in computer technologies support real-time image processing and special effects on personal computers. This paper presents and analyzes a real-time interactive video system. The motivation of this work is to realize an artistic concept that aims at transforming the timeline visual variations in a video of sea water waves into sound in order to provide an audience with an experience of overlapping themselves onto the nature. In practice, the video of sea water waves taken on a beach is processed using an optical flow algorithm in order to extract the information of visual variations between the video frames. This is then masked by the silhouette of an audience and the result is projected on a gallery space. The intensity information is extracted from the resulting video and translated into piano sounds accordingly. This work generates an interactive space realizing the intended concept.

• The Journal of the Acoustical Society of Korea
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• v.16 no.6
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• pp.76-84
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• 1997

Loose parts monitoring system(LPMS), which is used to detect metallic loose parts in the nuclear power plant, plays an important role in safe and reliable operation of the plant. To prevent from the damage due to the loose parts, most domestic nuclear power plants are using, or planning to use LPMS. However, these LPMS's, which are all invented from overseas and thereby depend on the oversea technologies, are very expensive, and are known to be inefficient to diagnose loose parts due to the lack of fundamental know-how of LPMS. Therefore, the main purpose of this paper is to propose and to realize a new loose parts localization algorithm which is simple and efficient enough even for the inexperienced operators to diagnose loose parts accurately and promptly. Considering practical nuclear power plant circumstances, some simulations for estimating the loose parts location have been done. The results show that the proposed method, called a modified circle intersection method, performs high resolved loose parts localization with 3.4% of error.

• Journal of the Korea Computer Industry Society
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• v.2 no.6
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• pp.837-844
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• 2001

XML has already been settled down as a standard for the exchange of commercial data on the web. Though most institutions have a wish to use XML document as an EDI form for all sorts of document exchange, it is unfortune that previous commercial data is still saved in the relational form of data base. Therefore, it is necessary that data saved in the relational form of data base be transformed into XML document form for the better use of document exchange. In order to transform relational form of data base to XML, one solution is to publish XML document by way of mapping each field of the relational form of data base table onto XML. However, in the case of building one XML document out of more i~km two data base tables, a join should be performed since a mere mapping associated with DTD tan not solve the problem. In this paper, we build the view for the XML in which alignments generated from the join are presented. and then through this view the contents with the relational form of data base should be transformed into XML. Briefly speaking, This paper aims to propose algorithm concerned with this transformation and to realize it.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.475-478
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• 2014

This paper proposed the position tracking and recognition method of workers and cars in construction field. The reason why the position of workers and cars has to be tracked is to prevent the safety accident, emergency rescue, and theft of building materials by unauthorized people and car, etc. To realize the tracking, it needs to adopt the Information Telecommunication technology to the construction field as an integrated support system. In this paper, we proposed the continuous positioning tracking algorithm for workers and moving cars using the selected wireless communication network. And we proposed the virtual gateway method to detect the entrance status of moving workers and cars. All of these proposed methods are evaluated in real construction field using the prototype of support system made by ourselves.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.433-438
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• 2012

With technologies available now, there are only a few virtual objects that augmented reality content can create. So, wider application of it is limited. If people want to realize any augmented reality content, out of a vast amount of materials available as well as virtual objects, the number of virtual objects that markers can render should be made to go up along with the content. In a precedent study, IR LEDs markers render marker information following On-Off signals. The number of LEDs should be raised to render as much information as possible, subsequently leading to the problem of oversized markers. This problem can be solved by generating data signals through the blinking of LEDs. This research puts forward OOK Code algorithm that represents the mode of data transmission using the light of LEDs. The amount of information that can be rendered by a marker increases and the size of the marker gets smaller, which is a merit, when it receives data signals from light.