• 제어로봇시스템학회논문지
• /
• 제15권2호
• /
• pp.176-183
• /
• 2009

This paper proposes command signal generating method for a wearable robot using the force as the input signal. The basic concept of this system pursues the combination of the natural and sophisticated intelligence of human with the powerful motion capability of the robot. We define a task for the command signal generation to operate with the human body simultaneously, paying attention to comfort and ease of wear. In this study, we suggest a basic exoskeleton experimental system to evaluate a HRI(Human Robot Interface), selecting interfaces of arm braces on both wrists and a weight harness on the torso to connect the robot and human. We develop the HRI to provide a command for the robot motion. It connects between the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of end-effector using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F(Extension/Flexion), the shoulder E/F and the shoulder Ab/Ad (Abduction/Adduction).

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제8권1호
• /
• pp.305-325
• /
• 2014

In cloud computing infrastructure, current virtual machine trust measurement methods have many shortcomings in dynamism, security and concurrency. In this paper, we present a new method to measure the trust of virtual machine. Firstly, we propose "behavior trace" to describe the state of virtual machine. Behavior trace is a sequence of behaviors. The measurement of behavior trace is conducted on the basis of anticipated trusted behavior, which not only ensures security of the virtual machine during runtime stage but also reduces complexity of the trust measurement. Based on the behavior trace, we present a Dynamic Tree Style Trust Measurement Model (DTSTM). In this model, the measurement of system domain and user domain is separated, which enhances the extensibility, security and concurrency of the measurement. Finally, based on System Call Interceptor (SCI) and Virtual Machine Introspection (VMI) technology, we implement a DTSTM prototype system for virtual machine trust measurement. Experimental results demonstrate that the system can effectively verify the trust of virtual machine and requires a relatively low performance overhead.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제10권10호
• /
• pp.4787-4807
• /
• 2016

Although the dense interconnection datacenter networks (DCNs) (e.g. FatTree) provide multiple paths and high bisection bandwidth for each server pair, the single-path TCP (SPT) and ECMP which are widely used currently neither achieve high bandwidth utilization nor have good load balancing. Due to only one available transmission path, SPT cannot make full use of all available bandwidth, while ECMP's random hashing results in many collisions. In this paper, we present OFPT, an OpenFlow based Parallel Transport framework, which integrates precise routing and scheduling for better load balancing and higher network throughput. By adopting OpenFlow based centralized control mechanism, OFPT computes the optimal path and bandwidth provision for each flow according to the global network view. To guarantee high throughput, OFPT dynamically schedules flows with Seamless Flow Migration Mechanism (SFMM), which can avoid packet loss in flow rerouting. Finally, we test OFPT on Mininet and implement it in a real testbed. The experimental results show that the average network throughput in OFPT is up to 97.5% of bisection bandwidth, which is higher than ECMP by 36%. Besides, OFPT decreases the average flow completion time (AFCT) and achieves better scalability.

• 한국산업융합학회 논문집
• /
• 제22권4호
• /
• pp.427-433
• /
• 2019

This paper propose a fuzzy inference model for map building and navigation for a mobile robot with an active camera, which is intelligently navigating to the goal location in unknown environments using sensor fusion, based on situational command using an active camera sensor. Active cameras provide a mobile robot with the capability to estimate and track feature images over a hallway field of view. In this paper, instead of using "physical sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data. Command fusion method is used to govern the robot navigation. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of active camera sensor for navigation experiments are fused into the identification process. Navigation performance improves on that achieved using fuzzy inference alone and shows significant advantages over command fusion techniques. Experimental evidences are provided, demonstrating that the proposed method can be reliably used over a wide range of relative positions between the active camera and the feature images.

• 한국게임학회 논문지
• /
• 제19권4호
• /
• pp.97-108
• /
• 2019

최근 입력 방식의 다양성이나 편리성 때문에 음성 게임 명령어에 대한 관심이 증가하고 있다. 음성 명령어의 인식률은 인식 엔진의 성능뿐만이 아니라, 명령어간의 거리에도 영향을 받는다. 명령어간 거리란 명령어 발음간의 음성적 차이를 말하는데, 이 거리가 클수록 인식률이 높아진다. 본 논문에서 우리는 명령별 명령어 후보들이 주어졌을 때 명령어간의 평균 거리를 최대화하는 명령어 조합을 선택하는 문제를 IP(Integer Programming)으로 모델링한다. 또한 명령어 선택 문제의 해를 구하는 SA(Simulated Annealing) 기반의 방법을 제안한다. 우리의 방법을 명령어 수, 허용되는 명령어 길이 등의 다양한 조건에 하에서 실험한 결과를 토대로 특징을 분석한다.

• 한국군사과학기술학회지
• /
• 제27권2호
• /
• pp.213-221
• /
• 2024

Aircraft's operational effectiveness is reduced due to threats from enemy anti-aircraft weapons, which is a weak point. In particular, guided missiles, which pose a threat to aircraft, are rapidly developing due to technological advancements in seekers, and are classified as one of the important technologies in weapon systems. Missile approach warning equipment installed to ensure aircraft survivability detects guided missiles and provides relevant information to respond. Tests were conducted domestically to verify the detection level of missile approach warning equipment, and test results were presented under various test conditions.

• Asian Pacific Journal of Cancer Prevention
• /
• 제13권9호
• /
• pp.4777-4781
• /
• 2012

Objective: To investigate the relationship between the efficacy and safety of different doses of thalidomide (Thal) plus dexamethasone (Dex) as the initial therapy in elderly patients with newly diagnosed multiple myeloma (MM). Methods: Clinical data of 28 elderly patients with newly diagnosed MM who underwent the TD regimen as the initial therapy were analyzed retrospectively. The patients were divided into two groups according to the maximal sustained dose of Thal: lower dose (group A) and higher dose (group B). The overall response rate (ORR), progression free survival (PFS), overall survival (OS), and adverse events (AES) were compared between the two groups. Results: A total of 28 patients were followed up with a median of 18 months. The ORR was 60.1%. The median response time and PFS were 2.0 and 17.0 months, respectively. The mean sustained dose of Thal in group B was significantly higher than group A (292.9 mg v 180.4 mg, P=0.01). There was no significantly difference in ORR (57.1% v 64.3%, P=1.00) and PFS (9.63months v 17.66 months, P=0.73) between groups A and B. During the follow up, only five patients died (<40%) and, therefore, median OS values were not available. It is estimated, however, that the mean survival time in the two groups was 35.6 and 33.4 months (P>0.05), respectively. All of the patients tolerated the treatment well. The incidence of AES in patients with a grading above 3 in group B was significantly higher than in group A (P=0.033). Conclusions: The TD regimen results in a high response rate and manageable AES as the initial therapy in elderly patients with MM. TD should be considered as the front line regimen for the treatment of elderly patients with MM in areas with financial constraints. The clinical response can be achieved at a low dose Thal with minimal toxicity.

• 한국정보과학회:학술대회논문집
• /
• 한국정보과학회 1998년도 가을 학술발표논문집 Vol.25 No.2 (3)
• /
• pp.662-664
• /
• 1998

본 논문에서는 다목적 실용위성인 아리랑위성(KOMPSAT-I)에서 지상과의통신을 위해 사용하는 CCSDS(Consultative Committee for Space Data Systems)표준 Command/Telemetry(CMD/TLM)시스템과 KOMPSAT-I의 목적에 맞게 이를 적용한 CMD/TLM 시스템을 소개한다. 현재 한국항공우주 연구소는 Observer 회원 자격으로 CCSDS 에 가입되어 있으며 국내 위성 개발에서 CMD/TLM 시스템에 CCSDS프로토콜을 사용한 것은 처음이다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.32.3-32
• /
• 2001

This paper proposes a layered protocol to interpret voice commands of the user´s own language to a machine, to control it in real time. The layers consist of speech signal capturing layer, lexical analysis layer, interpretation layer and finally activation layer, where each layer tries to mimic the human counterparts in command following. The contents of a continuous voice command are captured by using Hidden Markov Model based speech recognizer. Then the concepts of Artificial Neural Network are devised to classify the contents of the recognized voice command ...

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.906-911
• /
• 1992

We deals with stationary layout control system of AGV. It is a intelligent contorl system to be wholly charged control PC a layout information and guided command and to be controlled a vehicle driving, steening, safety of natural functions of AGV. Fieldbus concentrator of stationary layout control system serves control command from control PC and status information of AGV. Telegram software monitors transmitted command and status information through IR (Infrared) modem. Epecially it is possible to easily network to use not an exclusive controller of AGV but