• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.8 no.5
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• pp.73-80
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• 2008

The recent trend in home network system includes intelligent home environments that remote monitoring and control service is achieved without restrictions by device types, time, and place. Also the use of a vacuum robot in homes is gradually generalized on account of the convenience of the use. In this paper, we proposed and realized new home-monitoring system with the employment of an self-movement robot as one trial for realizing an intelligent home under home network environment. The proposed system can freely monitor every where in home, because the system effectively overcame the surveillance limitations of the existing monitoring system by attaching a Wireless Router and WebCam to a commercial vacuum robot. The outdoor users of this system can readily monitor any place which they want to supervise by controlling a vacuum robot with mobile telecommunication devices such as PDA. The wireless router installed with Linux operation system "OpenWrt" made it possible for the system users to transmit images and to control a vacuum robot with RS-232 communication.

• The Journal of Korean Association of Computer Education
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• v.8 no.6
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• pp.45-53
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• 2005

In this paper, we propose an improved method of differentiated curriculum in social studies class that can be immediately used in the class. There are two major reasons that differentiated curriculum has not been applied to actual educational programs. One reason is the inefficient progress of differentiated curriculum derived from students' self-study based on individual projects and teacher's excessive investment of time in the development and management of individual researches. The other attribute is the difficulty in distinguishing students' academic level due to the lake of distinct criteria, because students are classified into merely two groups, in-depth group and supplementary class. To cope with these problems, we adopted a cooperative learning to enhance the educational effect of students of the similar level. Experimental results validate that the proposed method is effective in the course of social studies.

• KDI Journal of Economic Policy
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• v.18 no.2
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• pp.63-116
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• 1996

우리나라 제조업(製造業)의 수직적(垂直的) 구조(構造)는 선진공업국에 비하여 소(小) 영세기업(零細企業)의 비중이 월등히 높은 피라미드형의 형태를 보이며 80년대말 이후 소기업군의 확대는 더욱 두드러지고 있다. 이처럼 소기업의 비중이 높아진 것은 제조업체들이 가격경쟁력(價格競爭力)을 높이기 위하여 생산비용이 높게 드는 자체생산(自體生産)을 가능한 한 줄이고 임금(賃金)이 낮은 중소기업으로 생산공정을 이양해 왔기 때문이다. 소기업 비중이 높은 분업구조는 가격경쟁력이 중시되어 생산을 분업화해야 하는 경제체제에서는 높은 효율성(效率性)을 발휘한다고 평가할 수 있다. 90년대에 이르러 중소기업이 저가(低價)의 생산요소(生産要素)를 조달받기 어려운 경제여건이 조성되면서 중소기업의 경영불안이 높아지는 등 가격경쟁력을 유지하기 위한 생산분업체제(生産分業體制)는 한계(限界)에 도달한 것으로 보인다. 따라서 대기업과 중소기업간 분업도 기술(技術) 중심의 분업관계(分業關係)로 전환되어야 할 단계에 이르렀다고 볼 수 있다. 그러나 종전과 같이 소기업(小企業)에 의존하는 분업구조(分業構造)로는 기술분업(技術分業)이 정착되기 어렵다. 왜냐하면 연구개발, 전문인력의 고용 등 기술개발과 관련된 기업활동에는 생산량에 관계없이 고정비용(固定費用)이 들어서 기술개발 비용과 위험을 분산시키려면 기업의 생산규모가 상당히 커져야 하기 때문이다. 이는 소기업 중심의 분업구조가 중견기업(中堅企業)중심의 구조로 개편(改編)되어야 함을 의미한다. 중견기업이 육성되려면 첫째, 대기업과 직거래하는 중소업체(中小業體)의 수(數)가 축소되어야 한다. 거래업체수의 과다는 기업규모를 영세하게 만드는 가장 직접적 요인이기 때문이다. 그러나 거래업체의 정리과정에서 기존업체들이 중소기업 보호여론을 등에 업고 반발할 수 있고, 대기업이 교섭력을 강화하기 위한 수단으로 악용할 수 있으므로 객관적이고 투명한 정리기준의 제시가 전제되어야 한다. 둘째, 대기업의 중소기업에 대한 대폭적 자본참여(資本參與)가 허용되어야 한다. 대기업의 자본참여는 중소기업 지배를 강화할 것으로 우려되어 현재는 극히 부분적으로 허용하고 있으나, 개방경제하에서는 대기업과 국내 중소기업간의 협력관계를 유지시키는 효과적 수단으로 작용하게 될 것이다. 셋째, 은행 등 금융자본(金融資本)의 중견기업에 대한 투자(投資) 활성화(活性化)가 필요하다. 금융자율화로 금융기관의 수익성이 강조되는 상태에서 금융자본이 거래업체의 주주(株主)로서 참여하면 경영정보를 손쉽게 파악할 수 있어 우량업체의 신속한 육성이 가능해질 수 있다.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.456-462
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• 2014

In this paper, we present a deployable bio-inspired robot called the Pillbot-light, which utilizes a safe autonomous navigation system. The Pillbot-light is mounted the station robot, and can be operated in a disaster relief operation or military operation. However, the Pilbot-light has a challenge to navigate autonomously because the Pilbot-light cannot be equipped with various sensors. As a result, we propose a new robot system for autonomous navigation that the station robot controls Pillbot-light equipped with vision camera and CPU of high performance. This system detects obstacles based on the edge extraction using vision camera. Also, it cannot only achieve path planning using the hazard cost function, but also localization using the Particle Filter. And this system is verified by simulation and experiment.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.2
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• pp.313-320
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• 2018

The importance of sensors on a self-driving vehicle has rising since it act as eyes for the vehicle. Lidar sensors based on laser technology tend to yield better image quality with more laser channels, thus, it has higher detection accuracy for obstacles, pedistrians, terrain, and other vechicles. However, incorporating more laser channels results higher unit price more than ten times, and this is a major drawback for using high channel lidar sensors on a vehicle for actual consumer market. To come up with this drawback, we propose a method of integrating multiple low channel, low cost lidar sensors acting as one high channel sensor. The result uses four 16 channels lidar sensors with small form factor acting as one bulky 64 channels sensor, which in turn, improves vehicles cosmetic aspects and helps widespread of using the lidar technology for the market.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.6
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• pp.567-572
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• 2019

In this paper, we propose an algorithm to perform convolution, pooling, and ReLU operations in CNN using binary image and binary kernel. It decomposes 256 gray-scale images into 8 bit planes and uses a binary kernel consisting of -1 and 1. The convolution operation of binary image and binary kernel is performed by addition and subtraction. Logically, it is a binary operation algorithm using the XNOR and comparator. ReLU and pooling operations are performed by using XNOR and OR logic operations, respectively. Through the experiments to verify the usefulness of the proposed algorithm, We confirm that the CNN operation can be performed by converting it to binary logic operation. It is an algorithm that can implement deep running even in a system with weak computing power. It can be applied to a variety of embedded systems such as smart phones, intelligent CCTV, IoT system, and autonomous car.

• Journal of Korean Library and Information Science Society
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• v.46 no.2
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• pp.29-48
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• 2015

The aim of this study is to analyze the functional ego state of public librarians who should take a role of an information intermediary for children and young adults through the ego-gram which is suggested in transactional analysis theory and review their limit and feasibility as instructors. As a result of analysis, the whole ego state type of public librarians is founded to be N-type(Nightingale type) like NP-AC-A-CP-FC. The characteristics of this type can be interpreted as 'to show the tendency of self-denial in spite of their dedication.' So, the public librarians have to do their best to develop A(Adult), CP(Critical Parent) and FC(Free Child) ego state to take the requirements and behaviors of children and young adults in nurturing attitudes and enhance their autonomy and creativity through active mutual interaction. Improving A and FC is also very helpful to decrease their stress and raise their job satisfaction.

• Journal of Advanced Navigation Technology
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• v.21 no.5
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• pp.443-449
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• 2017

Swarm of low-cost UAVs for search mission has benefit in the sense of rapid search compared to use of single high-end UAV. As the number of UAVs forming swarm increases, not only the time for the mission planning increases, but also the system to operate UAVs has excessive burden. This paper addresses a decentralized area search algorithm adequate for multiple UAVs which takes advantages of flexibility, robustness, and simplicity. To down the cost, it is assumed that each UAV has limited ability: close-communication, basic calculation, and limited memory. In close-communication, heath conditions and search information are shared. And collision avoidance and consensus of next search direction are then done. To increase weight on un-searched area and to provide overlapped search, the score function is introduced. Performance and operational characteristics of the proposed search algorithm and mission planning logic are verified via numerical simulations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.4
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• pp.781-788
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• 2013

In this paper, we introduce a quadruped robot-based alarm system for monitoring the emergency situation due to falling in the elderly. Quadruped robot includes the FPGA Board(Field Programmable Gate Array) applying a red-color tracking algorithm. To detect a falling of the elderly, a sensor node is worn on chest and accelerations and angular velocities measured by the sensor node are transferred to quadruped robot, and then the emergency signal is transmitted to manager if a fall is detected. Manager controls the robot and then he judges the situation by monitoring the real-time images transmitted from the robot. If emergency situation is decided by the manager, he calls 119. When the fall detection system using only sensor nodes is used, sensitivity of 100% and specificity of 98.98% were measured. Using the combination of the fall detection system and portable camera (robot), the emergency situation was detected to 100 %.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.12
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• pp.1950-1958
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• 2016

Today, technique for precisely positioning vehicles is very important in C-ITS(Cooperative Intelligent Transport System), Self-Driving Car and other information technology relating to transportation. Though the most popular technology for vehicle positioning is the GPS, its accuracy is not reliable because of large delay caused by multipath effect, which is very bad for realtime traffic application. Therefore, in this paper, we proposed the Vision-Based High Accuracy Vehicle Positioning Technology. At the first step of proposed algorithm, the ROI is set up for road area and the vehicles detection. Then, center and four corners points of found vehicles on the road are determined. Lastly, these points are converted into aerial view map using homography matrix. By analyzing performance of algorithm, we find out that this technique has high accuracy with average error of result is less than about 20cm and the maximum value is not exceed 44.72cm. In addition, it is confirmed that the process of this algorithm is fast enough for real-time positioning at the $22-25_{FPS}$.