• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.19 no.3
• /
• pp.741-746
• /
• 2015

Recently, as mobile operating system market and wireless communication technology have been rapidly developed, many devices such as smart phones, air conditioners, smart TVs, cleaning robot, and cameras become available with android operating system. Accordingly, collecting variety of information through many everyday use devices with network connections is now enabled. However, in the current market, most devices are controlled individually developed applications, and there is growing need to develop a master application that can control multiple devices. In this paper, we propose and implement a system that can control multiple android-based devices on a Wired/Wireless router(AP) registered through web server. we expect such an effort can attribute to future IoT researches.

• Journal of Positioning, Navigation, and Timing
• /
• v.6 no.4
• /
• pp.167-179
• /
• 2017

In this paper, a simplified Cubature Kalman Filter (SCKF) is proposed to reduce the computation load of CKF, which is then used as a filter for transfer alignment of shipboard INS. CKF is an approximate Bayesian filter that can be applied to non-linear systems. When an initial estimation error is large, convergence characteristic of the CKF is more stable than that of the Extended Kalman Filter (EKF), and the reliability of the filter operation is more ensured than that of the Unscented Kalman Filter (UKF). However, when a system degree is large, the computation amount of CKF is also increased significantly, becoming a burden on real-time implementation in embedded systems. A simplified CKF is proposed to address this problem. This filter is applied to shipboard inertial navigation system (INS) transfer alignment. In the filter design for transfer alignment, measurement type and measurement update rate should be determined first, and if an application target is a ship, lever-arm problem, flexure of the hull, and asynchronous time problem between Master Inertial Navigation System (MINS) and Slave Inertial Navigation System (SINS) should be taken into consideration. In this paper, a transfer alignment filter based on SCKF is designed by considering these problems, and its performance is validated based on simulations.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.12
• /
• pp.1585-1591
• /
• 2011

In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger. The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-coupling mechanism. In addition, the transmission ratio of the finger module is maintained at 1:1.4:1 over the entire movement range, and hence, the module can perform both extension and flexion. In addition, to enable adduction/abduction motion of the human hand, a unique MCP joint is designed by using two universal joints. To validate the feasibility of the data glove, master-slave control experiments based on force-position control between the data glove and the robot hand are conducted.