• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.31-38
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• 2024

A mobile manipulator is capable of handling a wide range of workspaces by overcoming the limitations of mobility inherent in existing fixed-base manipulators. To simulate the mobile manipulator, two contact operations should be considered in the physics engines. One of these operations is the grasp stability between the gripper and the object, while the other involves the contact between the wheels of the mobile robot and the ground during driving. However, it is still difficult to choose an appropriate physics engine for simulating these contact operations of the mobile manipulator. In this paper, the performance of physics engines for simulating the mobile manipulator is evaluated. Firstly, the grasp stability of the physics engine is quantitatively evaluated based on the contact force discontinuity. Secondly, when the mobile robot is controlled by open or closed-loop control methods, differences in the path taken by the mobile robot depending on the physics engine are analyzed. To assess the performance of robot simulation, three dynamic simulators-MuJoCo, CoppeliaSim, and IsaacSim-are used along with five physics engines: MuJoCo, Newton, ODE, Bullet, and PhysX.

• Journal of Sensor Science and Technology
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• v.33 no.1
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• pp.18-23
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• 2024

Humanoid robots, designed to interact in human environments, require stable mobility to ensure safety. When a humanoid robot falls, it causes damage, breakdown, and potential harm to the robot. Therefore, fall detection is critical to preventing the robot from falling. Prevention of falling of a humanoid robot requires an operator controlling a crane. For efficient and safe walking control experiments, a system that can replace a crane operator is needed. To replace such a crane operator, it is essential to detect the falling conditions of humanoid robots. In this study, we propose falling detection methods using Convolution Neural Network (CNN) model. The image data of a humanoid robot are collected from various angles and environments. A large amount of data is collected by dividing video data into frames per second, and data augmentation techniques are used. The effectiveness of the proposed CNN model is verified by the experiments with the humanoid robot MAX-E1.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.1023-1026
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• 2005

In the ubiquitous computing environment, an intelligent vehicle is defined as a sensor node with a capability of intelligence and communication in a wire and wireless network space. To make it real, a lot of problems should be addressed in the aspect of vehicle mobility, in-vehicle communication, common service platform and the connection of heterogeneous networks to provide a driver with several intelligent information services beyond the time and space. In this paper, we present an intelligent information system for managing in-vehicle sensor network and a vehicle gateway for connecting the external networks. The in-vehicle sensor network connected with several sensor nodes is used to collect sensor data and control the vehicle based on CAN protocol. Each sensor node is equipped with a reusable modular node architecture, which contains a common CAN stack, a message manager and an event handler. The vehicle gateway makes vehicle control and diagnosis from a remote host possible by connecting the in-vehicle sensor network with an external network. Specifically, it gives an access to the external mobile communication network such as CDMA. Some experiments was made to find out how long it takes to communicate between a vehicle's intelligent information system and an external server in the various environment. The results show that the average response time amounts to 776ms at fixed place, 707ms at rural area and 910ms at urban area.

• Proceedings of the Korean Vacuum Society Conference
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• 2016.02a
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• pp.416-416
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• 2016

Organic-inorganic metal halide perovskite solar cells have received attention because it has a number of advantages with excellent light harvesting, high carrier mobility, and facile solution processability and also recorded recently power conversion efficiency (PCEs) of over 20%. The major issue on perovskite solar cells have been reached the limit of small area laboratory scale devices produced using fabrication techniques such as spin coating and physical vapor deposition which are incompatible with low-cost and large area fabrication of perovskite solar cells using printing and coating techniques. To solution these problems, we have investigated the feasibility of achieving fully printable perovskite solar cells by the blade-coating technique. The blade-coating fabrication has been widely used to fabricate organic solar cells (OSCs) and is proven to be a simple, environment-friendly, and low-cost method for the solution-processed photovoltaic. Moreover, the film morphology control in the blade-coating method is much easier than the spray coating and roll-to-roll printing; high-quality photoactive layers with controllable thickness can be performed by using a precisely polished blade with low surface roughness and coating gap control between blade and coating substrate[1]. In order to fabricate perovskite devices with good efficiency, one of the main factors in printed electronic processing is the fabrication of thin films with controlled morphology, high surface coverage and minimum pinholes for high performance, printed thin film perovskite solar cells. Charge dissociation efficiency, charge transport and diffusion length of charge species are dependent on the crystallinity of the film [2]. We fabricated the printed perovskite solar cells with large area and flexible by the bar-coating. The morphology of printed film could be closely related with the condition of the bar-coating technique such as coating speed, concentration and amount of solution, drying condition, and suitable film thickness was also studied by using the optical analysis with SEM. Electrical performance of printed devices is gives hysteresis and efficiency distribution.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1051-1061
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• 2005

This paper proposes a ubiquitous robot, Ubibot, as an integration of three forms of robots: Software robot (Sobot), Embedded robot (Embot) and Mobile robot (Mobot). A Sobot is a virtual robot, which has the ability to move to any place or connect to any device through a network in order to overcome spatial limitations. It has the capacity to interpret the context and thus interact with the user. An Embot is embedded within the environment or within physical robots. It can recognize the locations of and authenticate the user or robot, and synthesize sensing information. Also it has the ability to deliver essential information to the user or other components of Ubibot by using various types of output devices. A Mobot provides integrated mobile service. In addition, Middleware intervenes different protocols between Sobot, Embot, and Mobot in order to incorporate them reliably. The services provided by Ubibot will be seamless, calm and context-aware based on the combination of these components. This paper presents the basic concepts and structure of Ubibot. A Sobot, called Rity, is introduced in order to investigate the usability of the proposed concepts. Rity is a 3D synthetic character which exists in the virtual world, has a unique IP address and interacts with human beings through Vision Embot, Sound Embot, Position Embot and Voice Embot. Rity is capable of moving into a Mobot and controlling its mobility. In doing so, Rity can express its behavior in the virtual world, for example, wondering or moving about in the real world. The experimental results demonstrate the feasibility of implementing a Ubibot in a networked environment.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.9
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• pp.3502-3509
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• 2010

Streaming service in the wireless mobile network environment has been a very challenging issue due to the dynamic uncertain nature of the channels. Overhead such as congestion, latency, and jitter lead to the problem of performance degradation of an adaptive multi-streaming service. This paper proposes a AMSS (Adaptive Multi-level Streaming Service) mechanism to reduce the performance degradation due to overhead such as variable network bandwidth, mobility and limited resources of the wireless mobile network. The proposed AMSS optimizes streaming services by: 1) use of fuzzy similarity metric, 2) minimization of packet loss due to buffer overflow and resource waste, and 3) minimization of packet loss due to congestion and delay. The simulation result shows that the proposed method has better performance in congestion control and packet loss ratio than the other existing methods of TCP-based method, UDP-based method and VBM-based method. The proposed method showed improvement of 10% in congestion control ratio and 8% in packet loss ratio compared with VBM-based method which is one of the best method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.1
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• pp.161-169
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• 2009

Multicast-based data communication is an efficient communication scheme in wireless networks where the Media Access Control (MAC) layer is based on one-hop broadcast from one source to multiple receivers. Compared with unicast, multicast over wireless channel should handle varying channel conditions of multiple users and user mobility to achieve good quality for all users. However, IEEE 802.11 does not support reliable multicast due to its inability to exchange RTS/CTS and ACK with multiple recipients. Thus, several MAC layer protocols have been proposed to provide reliable multicast. For the reliable multicast, an additional overhead is introduced and it degrades the system performance. In this paper, we propose a cross-layer design to reduce the control overhead for reliable multicast in OFDMA systems. We present an analytical formulation of the system throughput associated with the overhead.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.9 no.6
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• pp.617-623
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• 2016

Recently, IoT technology has been applied to the control of appliances in the home, and information about temperature, humidity, etc. is collected and the application of the system to control the indoor environment automatically is increasing. Currently, the network configuration of IoT devices is mainly used to connect IoT devices to the Internet through wireless gateways. Since such a method is dependent on a gateway, there are limitations in providing various services. Therefore, this paper proposes an independent method of gateway by using IoT network without using gateway by applying long distance wireless communication technology. IoT devices using the proposed long distance wireless internet technology can connect to a remote server and provide mobility that can not be supported by existing methods, thereby providing more various services. The performance evaluation of the proposed network configuration method is compared with the delay time and the amount of data generated in the existing network method constituted by the gateway and the proposed network configuration method respectively. Experimental results show that the proposed method decreases the delay time and the amount of data generated by the gateway.

• Journal of Microbiology and Biotechnology
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• v.15 no.4
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• pp.749-755
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• 2005

The ccpA gene encoding catabolite control protein A (CcpA) of Leuconostoc mesenteroides SYl, a strain isolated from kimchi, was cloned, sequenced, analyzed for transcript, and overexpressed in Escherichia coli. The ccpA ORF (open reading frame) is 1,011 bp in size, which can encode a protein of 336 amino acid residues with a molecular mass of 36,739 Da. The transcription start site was mapped at a position 49 nucleotides upstream of the start codon, and promoter sequences were also identified. The putative cre site overlapped with the -35 promoter sequence. The deduced amino acid sequence of the CcpA contained the helix-turn-helix motif found in many DNA-binding regulatory proteins. CcpA from 1. mesenteroides SY1 had $54.6\%$ identity with CcpA from Lactobacillus casei. The Northern blot experiment showed that ccpA was transcribed as a single 1.1 kb transcript, and transcription was repressed when grown on media containing glucose. CcpA was overproduced in E. coli BL21(DE3) cells using the pET expression vector, and purified to an apparent homogeneity. Gel Mobility Shift Assay with purified CcpA and a DNA fragment containing the ere sequence of the $\alpha$-galactosidase gene (aga) from L. mesenteroides SY1 revealed that CcpA bound specifically to the cre site of aga.

• Journal of Microbiology and Biotechnology
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• v.17 no.1
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• pp.81-88
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• 2007

The sprC gene encodes Streptomyces griseus protease C (SGPC), a bacterial chymotrypsin-like serine protease. Because the published data on sprC was not complete, we cloned and analyzed a new DNA fragment spanning downstream to upstream of the sprC gene from S. griseus IFO13350. The cloned 2.3-kb DNA fragment was placed on a high-copy number plasmid and introduced into Streptomyces lividans TK24. Chymotrypsin activity of the transformant was 8.5 times higher than that of the control after 3 days of cultivation and stably maintained until 9 days of cultivation, which dearly indicated that the cloned 2.3-kb fragment contained the entire sprC gene with its own promoter. When the same construct was introduced in the S. griseus IFO13350 (wild strain) and its two mutant strains in the A-factor regulatory cascade, ${\Delta}adpA$ and HO1, the chymotrypsin activity increased fivefold only in the ${\Delta}adpA$ strain. Transcriptional analysis based on RT-PCR revealed that the sprC gene is normally transcribed in both strains; however, earlier transcription was observed in the wild strain compared with the ${\Delta}adpA$ strain. A gel mobility shift assay showed that the AdpA protein did not bind to the promoter region of sprC. All these data clearly indicate that the expression of sprC is not dependent on the AdpA protein, but is distinctly regulated from other chymotrypsin genes composing an AdpA regulon. Earlier morphological differentiation was observed in S. lividans TK24, and S. griseus IFO13350 and HO1, transformed with the expression vector. The transformant of S. griseus ${\Delta}adpA$ formed markedly larger colonies. Antisense repression of sprC resulted in severe decrease of chymotrypsin activity, down to one-third of the control, and delayed morphological differentiation. All these data suggest that SGPC is related to normal morphogenesis in S. griseus.