• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1290-1303
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• 2005

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

• Journal of the HCI Society of Korea
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• v.4 no.2
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• pp.9-16
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• 2009

3D stereo display systems gain more interests recently. Multiple-view autostereoscopic display system enables observers to watch stereo image from multiple viewpoints not wearing specific devices such as shutter glasses or HMD. Therefore, the Multiple-view autostereoscopic display is being spotlighted in the field of virtual reality, mobile, 3D TV and so on. However, one of the critical disadvantages of the system is that observer can enjoy the system only in a small designated area where the system is designed to work properly. This research provides an effective way of GPU based rendering technique to present seamless 3D stereo experiences from an arbitrary observer's view position.

• Proceedings of the Korea Information Processing Society Conference
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• 2008.11a
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• pp.1075-1078
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• 2008

모바일 웹서비스는 점차 발전하고 있지만, 아직까지 제한된 디바이스의 성능 및 기술적인 요건, 서비스 시스템 통합화의 부재등으로 통해 최적화된 서비스를 제공해 주고 있지 못하다. 따라서 이를 지원하지 위하여 구조화된 서버환경에서 사용자에게 각각의 최적화된 서비스를 제공해 주고, 사용자의 선호나 사용방식에 따라 사용자에게 맞춤형 서비스를 제공해 줄 수 있는 미들웨어 시스템을 제안한다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.3
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• pp.10-17
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• 2009

In this paper, we explained the relation between evaluating display device and emotional image quality evaluation in human perceptual view. It is also suggested two emotional image quality evaluation method of display reflecting human visual function. One is the color space of CIECAM02 and the other is capturing moving image. It is necessary to standardize the evaluation methods of image quality based on emotional evaluation.

• International Journal of Contents
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• v.1 no.2
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• pp.13-17
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• 2005

Base Station Controller which belongs to IMT-2000(International Mobile Telecommunication - 2000) network has several types of structure for efficient control protocol. This difference of structure occurs two different protocols for call handling. Recently the need of IMT-2000 is highly increasing, so it is important to analyze the performance of processors and IPC(Inter-Processor Communication) module with structure of BSC and protocol difference. This paper presents the performance comparison of different types of BSC in view of processor utilization, waiting time, queue length and QoS(Quality of Service) through the simulation model.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.253-264
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• 1999

Most autonomous mobile robots view only things in front of them, and as a result, they may collide with objects moving from the side or behind. To overcome this problem. an Active Omni-directional Range Sensor System has been built that can obtain an omni-directional range data through the use of a laser conic plane and a conic mirror. Also, mobile robot has to know its current location and heading angle by itself as accurately as possible to successfully navigate in real environments. To achieve this capability, we propose a self-localization algorithm of a mobile robot using an active omni-directional range sensor in an unknown environment. The proposed algorithm estimates the current position and head angle of a mobile robot by a registration of the range data obtained at two positions, current and previous. To show the effectiveness of the proposed algorithm, a series of simulations was conducted and the results show that the proposed algorithm is very efficient, and can be utilized for self-localization of a mobile robot in an unknown environment.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.434-443
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• 2007

Presently, the exploration of an unknown environment is an important task for thee new generation of mobile service robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems. This paper presents a technique for localization of a mobile robot using fusion data of multi-ultrasonic sensors and vision system. The mobile robot is designed for operating in a well-structured environment that can be represented by planes, edges, comers and cylinders in the view of structural features. In the case of ultrasonic sensors, these features have the range information in the form of the arc of a circle that is generally named as RCD(Region of Constant Depth). Localization is the continual provision of a knowledge of position which is deduced from it's a priori position estimation. The environment of a robot is modeled into a two dimensional grid map. we defines a vision-based environment recognition, phisically-based sonar sensor model and employs an extended Kalman filter to estimate position of the robot. The performance and simplicity of the approach is demonstrated with the results produced by sets of experiments using a mobile robot.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.6A
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• pp.832-844
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• 1999

In this paper, we analyzed mobile-IP protocol of IETF, and propose new method to improve performance in handover environments. In proposed method, cache agent manages mobility binding information for mobile host. Thus, effective support of mobility is possible. Also, when handover occurs, mobile host recognizes change of foreign agent, and transmits registration message to new foreign agent. However, during registration time, data packet loss is occurs in old foreign agent. Thus, we prevent data loss by using data packet buffering and forwarding in old foreign agent.According to simulation results for data packet transmission performance in the case of handover occurring, proposed method has better performance than previous method in the view of transmission delay and throughput. Especially, if handover occurs very often, data buffering and forwarding method in foreign agent could guarantee better performance.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.631-636
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• 2007

An efficient obstacle avoidance algorithm is proposed in this paper to avoid dynamic obstacles using a collision vector while a tele-operated mobile robot is moving. For the verification of the algorithm, an operator watches through a monitor and controls the mobile robot with a force-reflection joystick. The force-reflection joystick transmits a virtual force to the operator through the Inter-net, which is generated by an adaptive impedance algorithm. To keep the mobile robot safe from collisions in an uncertain environment, the adaptive impedance algorithm generates the virtual force which changes the command of the operator by pushing the operator's hand to a direction to avoid the obstacle. In the conventional virtual force algorithm, the avoidance of moving obstacles was not solved since the operator cannot recognize the environment realistically by the limited communication bandwidth and the narrow view-angle of the camera. To achieve the dynamic obstacle avoidance, the adaptive virtual force algorithm is proposed based on the collision vector that is a normal vector from the obstacle to the mobile robot. To verify the effectiveness of the proposed algorithm, mobile robot navigation experiments with multiple moving obstacles have been performed, and the results are demonstrated.

• Environmental Engineering Research
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• v.25 no.3
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• pp.366-373
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• 2020

The autonomous vehicles (AVs) could make a positive or negative impact on reducing mobile emissions. This study investigated the changes of mobile emissions that could be caused by large-scale adoption of AVs. The factors of road capacity increase and speed limit increase impacts were simulated using a conceptual modeling approach that combines a hypothetical speed-emission function and a traffic demand model using a virtual transportation network. The simulation results show that road capacity increase impact is significant in decreasing mobile emissions until the market share of AVs is less than 80%. If the road capacity increases by 100%, the mobile emissions will decrease by about 30%. On the other hand, driving speed limit increase impact is significant in increasing mobile emissions, and the environmentally desirable speed limit was found at around 95 km/h. If the speed limit increases to 140 km/h, the mobile emissions will increase by about 25%. This is because some vehicles begin to bypass the congested routes at high speeds as speed limit increases. Based on the simulation results, it is clear that the vehicle platooning technology implemented at reasonable speed limit is one of the AV technologies that are encouraging from the environmental point of view.