• Proceedings of the CALSEC Conference
• /
• 2004.02a
• /
• pp.345-349
• /
• 2004

·Emerging requirements for EC environments ： -At eun-time： Dynamic process composition with various networked resources, i.e., application or participants -At build ＆ maintenance time： Agile technical enhancements. e.g., evolution in standards · Open issues of WfMS(Bussler, 1999： Sayal et al., 2002)： -Heterogeneity ＆ interoperability -Adaptability and flexibility(omitted)

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.05a
• /
• pp.238-243
• /
• 2002

This paper presents a design and a control of a biped walking AGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new RGO type with servo motors. The gait of a biped walking AGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking AGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking RGO-robot.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.13 no.2
• /
• pp.91-99
• /
• 2013

An autonomous unmanned underwater vehicle is a type of marine self-propelled robot that executes some specific mission and returns to base on completion of the task. In order to successfully execute the requested operations, the vehicle must be guided by an effective navigation algorithm that enables it to avoid obstacles and follow the best path. Architectures and principles for intelligent dynamic systems are being developed, not only in the underwater arena but also in related areas where the work does not fully justify the name. The problem of increasing the capacity of systems management is highly relevant based on the development of new methods for dynamic analysis, pattern recognition, artificial intelligence, and adaptation. Among the large variety of navigation methods that presently exist, the dynamic window approach is worth noting. It was originally presented by Fox et al. and has been implemented in indoor office robots. In this paper, the dynamic window approach is applied to the marine world by developing and extending it to manipulate vehicles in 3D marine environments. This algorithm is provided to enable efficient avoidance of obstacles and attainment of targets. Experiments conducted using the algorithm in MATLAB indicate that it is an effective obstacle avoidance approach for marine vehicles.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2676-2681
• /
• 2003

The Haptic Exploration Laboratory at The Johns Hopkins University is currently exploring many problems related to haptics (force and tactile information) in human-machine systems. We divide our work into two main areas: virtual environments and robot-assisted manipulation systems. Our interest in virtual environments focuses on reality-based modeling, in which measurements of the static and dynamic properties of actual objects are taken in order to produce realistic virtual environments. Thus, we must develop methods for acquiring data from real objects and populating pre-defined models. We also seek to create systems that can provide active manipulation assistance to the operator through haptic, visual, and audio cues. These systems may be teleoperated systems, which allow human users to operate in environments that would normally be inaccessible due to hazards, distance, or scale. Alternatively, cooperative manipulation systems allow a user and a robot to share a tool, allowing the user to guide or override the robot directly if necessary. Haptics in human-machine systems can have many applications, such as undersea and space operations, training for pilots and surgeons, and manufacturing. We focus much of our work on medical applications.

• The Journal of the Korea Contents Association
• /
• v.6 no.9
• /
• pp.28-41
• /
• 2006

Recently, Baruah et.al. proposed an optimal Pfair scheduling algorithm in the hard real-time multiprocessor environments, and several variants of it were presented. All these algorithms assume the fixed unit quantum size, and this assumption has two problems in the mode change environments. If the quantum size is too large, it results in the scheduling failure due to the decreased processor utilization. If it is too small, it increases the frequency of scheduling points, and it incurs the task switching overheads. In this paper, we propose several methods that determine the maximum quantum size dynamically such that the task set can be scheduled in the mode change environments.

• The Journal of Korea Robotics Society
• /
• v.7 no.2
• /
• pp.92-100
• /
• 2012

A map of complex environment can be generated using a robot carrying sensors. However, representation of environments directly using the integration of sensor data tells only spatial existence. In order to execute high-level applications, robots need semantic knowledge of the environments. This research investigates the design of a system for recognizing objects in 3D point clouds of urban environments. The proposed system is decomposed into five steps: sequential LIDAR scan, point classification, ground detection and elimination, segmentation, and object classification. This method could classify the various objects in urban environment, such as cars, trees, buildings, posts, etc. The simple methods minimizing time-consuming process are developed to guarantee real-time performance and to perform data classification on-the-fly as data is being acquired. To evaluate performance of the proposed methods, computation time and recognition rate are analyzed. Experimental results demonstrate that the proposed algorithm has efficiency in fast understanding the semantic knowledge of a dynamic urban environment.

• ETRI Journal
• /
• v.25 no.5
• /
• pp.356-368
• /
• 2003

This paper analyzes the characteristics of packet losses in mobile computing environments based on the Gilbert model and then describes a mechanism that can recover the lost audio packets using redundant data. Using information periodically reported by a receiver, the sender dynamically adjusts the amount and offset values of redundant data with the constraint of minimizing the bandwidth consumption of wireless links. Since mobile computing environments can be often characterized by frequent and consecutive packet losses, loss recovery mechanism need to deal efficiently with both random and consecutive packet losses. To achieve this, the suggested mechanism uses relatively large, discontinuous exponential offset values. That gives the same effect as using both the sequential and interleaving redundant information. To verify the effectiveness of the mechanism, we extended and implemented RTP/RTCP and applications. The experimental results show that our mechanism, with an exponential offset, achieves a remarkably low complete packet loss rate and adapts dynamically to the fluctuation of the packet loss pattern in mobile computing environments.

• Corrosion Science and Technology
• /
• v.7 no.3
• /
• pp.145-151
• /
• 2008

Material degradation such as high temperature oxidation of metallic material is a severe problem in energy generation systems or manufacturing industries. The metallic materials are oxidized to form oxide films in high temperature environments. The oxide films act as diffusion barriers of oxygen and metal ions and thereafter decrease oxidation rates of metals. The metal oxidation is, however, accelerated by mechanical fracture and spalling of the oxide films caused by thermal stresses by repetition of temperature change, vibration and by the impact of solid particles. It is therefore very important to investigate mechanical properties and adhesion of oxide films in high temperature environments, as well as the properties in a room temperature environment. The oxidation tests were conducted for Ni and Ni-Co alloy under high temperature corrosive environments. The hardness distributions against the indentation depth from the top surface were examined at room temperature. Dynamic indentation tests were performed on Ni oxide films formed on Ni surfaces at room and high temperature to observe fractures or cracks generated around impact craters. As a result, it was found that the mechanical property as hardness of the oxide films were different between Ni and Ni-Co alloy, and between room and high temperatures, and that the adhesion of Ni oxide films was relatively stronger than that of Co oxide films.

• The KIPS Transactions:PartA
• /
• v.16A no.4
• /
• pp.263-272
• /
• 2009

For implementing the ubiquitous computing environments with smart home infrastructures, various research on the home network have been performed by several research institutes and companies. Due to the various home network middleware that are developed recently, the standardization of the home network middleware is being delayed and it calls for the middleware bridge which solves the interoperability problem among the heterogeneous middlewares. Now the research on the scheme for interoperability and the development of the various bridges are in progress, such as one-to-one bridge supporting interoperability between two middlewares and one-to-many bridge supporting interoperability among the multi-middlewares. However, existing systems and schemes does not consider the dynamic extensibility and performance that is particularly needed in the smart home environments. The middleware bridge should provide bridge extensibility with zero-configuration for non-expert users. It should also provide the load balancing scheme for efficient and proper traffic distribution. In this paper, we propose a Multi-Middleware Bridge(MMB) for dynamic extensibility and load balancing in home network environments. MMB provides bridge scalability and load balancing through the distributed system structure. We also verify the features such as interoperability, bridge extensibility, and the performance of the load balancing algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.24 no.10B
• /
• pp.1912-1920
• /
• 1999

In this paper, we propose a layered video coding scheme which can generate multi-layered bitstream for heterogeneous environments. A new motion prediction structure with temporal hierarchy of frames is developed to afford temporal resolution scalability and the wavelet decomposition is adopted to offer spatial acalability. The proposed scheme can have a higher compression ratio than replenishment schemes by using motion estimation and compensation which can further reduce the temporal redundancy, and it effectively works with dynamic adaption or errors using dispersive intra-subband update (DISU). Moreover, data rate scalability can be attained by employing embeded zerotree wavelet (EZW) technique which can produce embeded bitstream. Therefore, the proposed scheme is expected to be effectively used in heterogeneous environments such as the Internet, ATM, and mobile networks where interoperability are required.