• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.288-295
• /
• 2022

This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.7 no.4
• /
• pp.159-167
• /
• 2014

Local device-to-device (D2D) communication between two smart mobile devices is becoming increasingly popular. The first key step in starting a D2D communication is to discover and identify the remote target device to establish a link. However, existing device discovery mechanisms either require users to explicitly identify the ID of the target device or rely on inaccurate beamforming technology. This paper presents two novel device identification algorithms using a variety of embedded sensors. The algorithms only require that users to point two devices towards each other. This paper describes the algorithms, analyzes their accuracy using analytical models, and verifies the results using simulations.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.38A no.10
• /
• pp.893-897
• /
• 2013

Recently the interest on device-to-device (D2D) communication has been increased due to the growing popularization of smart phones and tablet PCs. However, existing device identification mechanisms of D2D communication provide a text-based long list of possible devices, which leads the users to avoid to use D2D techniques. In this paper, we propose a location-based device identification technique for D2D communication. This paper describes the algorithm, analyzes its accuracy using analytical models, and verifies the results using computer simulations. The proposed algorithm is more user-friendly and intuitive way than existing D2D techniques.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.825-830
• /
• 2004

Kinematic calibration of Gough-Stewart platform using a new measurement device is presented in this paper. The device simultaneously measures components of position and orientation using commercially available gadgets. Additional kinematic parameters are defined to model the sources of inaccuracies for the proposed measurement device. Computer simulations reveal that all kinematic parameters of the Gough-Stewart platform and the additional kinematic parameters of the measurement device can be identified with the partial pose measurements of the device. Results also show that identification is robust for the initial errors and the noise in measurements. The device also facilitates the automation of easurement procedure.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.42.5-42
• /
• 2002

1. Introduction for whole aspects. 2. Filtering for Fault Current Waveform 3. Estimation for relay operation. 4. Wavelet transform and ANN. 5. Identification for operated protection device. 6. Conclusion. Reference.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.65 no.12
• /
• pp.2153-2158
• /
• 2016

Multimedia such as image, audio, and video is easy to create and distribute with the advance of IT. Since novice uses them for illegal purposes, multimedia forensics are required to protect contents and block illegal usage. This paper presents a multimedia forensic algorithm for video to identify the device used for acquiring unknown video files. First, the way to calculate a sensor pattern noise using Wiener filter (W-SPN) is presented, which comes from the imperfection of photon detectors against light. Then, the way to identify the device is explained after estimating W-SPNs from the reference device and the unknown video. For the experiment, 30 devices including DSLR, compact camera, smartphone, and camcorder are tested and analyzed quantitatively. Based on the results, the presented algorithm can achieve the 96.0% identification accuracy.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.37 no.3C
• /
• pp.233-240
• /
• 2012

Unlike traditional factory environment, in an industrial factory network applied wireless sensor network technologies, all procedures of discovery, identification and verification of devices should be performed in an automatic fashion. To address these challenges, we design a management system using the device registry server that we propose in this paper. In the phase of device discovery, the proposed system utilizes properties of routing protocol running in factories. Also, in the phase of identification and verification, the system uses unique and general information of a device stored within the device registration server. Such a way allows management system to reduce implementation complexity and to easily manage devices in a factory applied with a wireless network consisting of heterogeneous devices.

• Journal of Information Processing Systems
• /
• v.13 no.2
• /
• pp.268-284
• /
• 2017

The dorsal hand vein biometric system developed has a main objective and specific targets; to get an electronic signature using a secure signature device. In this paper, we present our signature device with its different aims; respectively: The extraction of the dorsal veins from the images that were acquired through an infrared device. For each identification, we need the representation of the veins in the form of shape descriptors, which are invariant to translation, rotation and scaling; this extracted descriptor vector is the input of the matching step. The optimization decision system settings match the choice of threshold that allows accepting/rejecting a person, and selection of the most relevant descriptors, to minimize both FAR and FRR errors. The final decision for identification based descriptors selected by the PSO hybrid binary give a FAR =0% and FRR=0% as results.

• Journal of Information Processing Systems
• /
• v.14 no.3
• /
• pp.740-750
• /
• 2018

There are a great number of Internet-connected devices and their information can be acquired through an Internet-wide scanning tool. By associating device information with publicly known security vulnerabilities, security experts are able to determine whether a particular device is vulnerable. Currently, the identification of the device information and its related vulnerabilities is manually carried out. It is necessary to automate the process to identify a huge number of Internet-connected devices in order to analyze more than one hundred thousand security vulnerabilities. In this paper, we propose a method of automatically generating device information in the Common Platform Enumeration (CPE) format from banner text to discover potentially weak devices having the Common Vulnerabilities Exposures (CVE) vulnerability. We demonstrated that our proposed method can distinguish as much adequate CPE information as possible in the service banner.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1615-1620
• /
• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.