• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.489-497
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• 2010

This paper presents the design of hardware platform, which is a test bed for the navigation system and hovering type AUV (Autonomous Underwater Vehicle) under the OCP (Open Control Platform). The developed AUV test bed consists of two hulls, four thrusters, and the navigation system which uses a SBC2440II with IMU (Inertial Measurement Unit). And the SMC (Sliding Mode Control) is chosen for the diving and steering control of the AUV. This paper uses ACE/TAO RTEC (Real-Time Event Channel) as a middleware platform in order to control and communicate in the developed AUV test bed. In this paper, two computers are used and each of them is dedicated for the specific purpose, the first computer is used as the SMC module and the middleware platform for the ACE/TAO RTEC and the second computer is used for the sensor controller. We analyze the performance of the AUV test bed under the OCP.

• Journal of IKEEE
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• v.22 no.1
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• pp.136-142
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• 2018

Recently, as the development system has become larger, sequential simulation methods have become impossible to verify systems that take a long time or require real time results. Therefore, a study of a distributed simulation system that simulates several processes has been conducted. In order to simulate real-time systems, efficient data exchange between distributed systems is required. Data Distribution Service is a data-oriented communication middleware proposed by Object Management Group and provides efficient data exchange and various QoS. However, in a large-scale distributed simulation environment distributed over a wide area, there is a problem of Participant Discovery and QoS guarantee due to domain separation in data exchange. Therefore, in this paper, we propose a DDS/SDN architecture that can guaranteed QoS and effective Participant Discovery in an SDN-based network.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.8
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• pp.1519-1525
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• 2006

This paper proposes the U-healtcare middleware that is based on mininumCORBA. Ubiquitous healthcare system is generated by combining the technologies of computer system and medical system. This makes available that the person can receive medical treatment anywhere, anytime at on-line. The Healthcare devices are connected to network system as wire or wireless internet. So, the computer system can gather the vital information from the person at the real time and transfers the information to the server system that processes the medical information. When a medical doctor makes a diagnosis they can get more information about the patient by using the information within the server. Users would like to receive more services in the ubiquitous healthcare system than the traditional medical system. And in U-healthcare system, every healthcare devices and the users have to be connected to network system and the information from them has to be integrated. U-Home Healthcare middleware I proposed in this paper will do everything that I mentioned above.

• The KIPS Transactions:PartA
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• v.16A no.6
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• pp.481-488
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• 2009

GIS is used to isolate large power electrical equipment using SF6 gas. While GIS has simple structure, it has few break down, relatively high reliability. But it is hard to check up faults for reason of pressure. Faults of GIS should have a ripple effect on community and be hard to recovery. Consequently, GIS imports a preventive diagnostic system to find internal faults in advance. It is most important that reliability on the GIS preventive diagnostic system, because it estimates abnormality of system by analysis result of collected data. But, exist system which used central data management is low efficiency, and hard to guarantee timeliness and accuracy of data. To guarantee timeliness and accuracy, the GIS preventive diagnostic system needs accordingly to use a real-time middleware. So, in this paper, to improve reliability of the GIS preventive diagnostic system, we use a middleware based on TMO for guaranteeing timeliness of real-time distributed computing. And we propose an improved GIS preventive diagnostic system applying data acquisition, monitoring and control methods based on the TMO model. The presented system uses the Communication Control Unit(CCU) for distributed data handling which is supported by TMO. CCU can improve performance of the GIS preventive diagnostic system by guaranteeing timeliness of data handling process and increasing reliability of data through the TMO middleware. And, it has designed to take full charge of overload on a data acquisition task had been processed in an exist server. So, it could reduce overload of the server and apply distribution environment from now. Therefore, the proposed system can improve performance and reliability of the GIS preventive diagnostic system and contribute to stable operation of GIS.

• Journal of Internet of Things and Convergence
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• v.5 no.2
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• pp.73-79
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• 2019

Research is underway on services and systems that provide real-time alerts for suffocating gases and potentially explosive materials, but currently smart bend type services are lacking. This study supports real-time identification of explosion hazards due to static electricity in the workplace and immediate elimination of accident occurrence factors, real-time monitoring of worker status and workplace hazards (oxygen, hazardous chemical concentration), and immediate warning and data in case of danger. We propose a method of establishing an accident prevention system through analysis. In this way, various accidents that may occur in industrial sites are monitored using IoT-based intelligent sensor nodes, wireless network technology, data processing middleware, and integrated control system, and real-time risk information at the industrial sites is prevented and accidents are prevented. By supporting a safe working environment, the company can significantly reduce costs compared to post-procurement costs.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.3
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• pp.637-644
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• 2004

This paper proposed and implemented the adaptive transmission middleware for video streaming, which is able to support the adaptive transmission of video data to the fluctuating changes of network environment in the packet-based network and the properties of transmitted video data. The adaptive transmission middleware is made up SR-RTP-based transfer module and TFRC(TCP Friendly Rate Control)-based transfer-rate control module. The SR-RTP-based transfer module supports RTP-based real-time transfer of video data and packet retransmission scheme retransmitting the high-priority packets selectively in the damaged video data to reduce the error induced by the packet loss. Sharing the transmission bandwidth of network with the TCP-based data transfer, the TFRC-based transfer-rate control module controls the transfer rate of video data according to the most allowable transmission bandwidth in the network, so that the transfer rate is controlled adaptively to the fluctuating changes of transmission bandwidth. This paper, for the experiment, applied the adaptive transmission middleware to video streaming in the external Internet environment, and analyzed the effective frame transfer rate and the degree of the streaming jitter to evaluate the performance of packet-loss recovery and adaptive transfer rate control. In the external Internet environment where the packet-loss rate is high a bit, the relatively high streaming performance was showed compared with the case that didn't apply the adaptive transmission middleware.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.11a
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• pp.728-731
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• 2012

최근 분산 임베디드 시스템에서 실시간 데이터 교환에 대한 요구가 증가하면서 발간/구독(Publish/Subscribe) 기반의 데이터 중심 통신 미들웨어인 DDS(Data Distribution Service)에 대한 활용 분야가 증가하고 있다. 국방 분야의 시스템과 같은 고신뢰성을 요구하는 환경에서는 시스템 개발에 앞서, DDS 통신에 동적으로 참여하게 하는 디스커버리 과정의 안정적인 성능 검증을 요구한다. 성능 검증 및 신뢰성 있는 시스템 개발을 위해 실제 시스템과 유사한 환경에서 DDS의 디스커버리 사전시험(Prototype)을 수행하는 데, 이 때 많은 시간과 비용을 소요하게 된다. 본 논문에서는 DDS의 표준 프로토콜인 RTPS(Real-Time Publish-Subscribe)에서 필수로 요구하는 SDP(Simple Discovery Protocol)를 이용하여 디스커버리 시간을 추정할 수 있는 계산식을 제안한다. 계산식은 참여자(Participant) 수를 이용한 연결 쌍(pair)의 수식과 단말개체(Endpoints) 수를 이용한 가중치(weight) 수식을 이용하며, 실제 상용 DDS 미들웨어를 이용하여 유형별로 DDS 디스커버리 시험을 수행한 결과와 비교하여 계산식을 실제로 사용할 수 있음을 보인다.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.115-121
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• 2022

This paper proposes a distributed model predictive formation control algorithm for a group of unmanned ground vehicles (UGVs) with guaranteeing collision avoidance between UGVs. Generally, the model predictive control based formation control has a disadvantage in that it takes a long time to compute control inputs when considering collision avoidance between UGVs. In this paper, in order to overcome this problem, the formation control algorithm is implemented in a distributed manner so that it could be individually controlled. Also, a collision-avoidance method considering real-time is proposed. The proposed formation control algorithm is implemented based on robot operating system (ROS), open source-based middleware. Through the various simulation tests, it is confirmed that the formation control of five UGVs is successfully performed while avoiding collisions between UGVs.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.7-15
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• 2010

Recently, there are many home network applications using the convergence between mobile platforms and home network system. As smart phones which are called small PC in the hand becoming popular, the development of home network application beyond the one of cellular phones is required. Android mobile platform of Google includes OS, middleware and primary applications. Also, in addition to smart phones, it can be mounted on various devices such as set-top box and household appliances. In this paper, home network services on smart phones of Android platform are designed and implemented. The services provide real-time monitoring information (temperature, humidity, real-time video) of rooms and appliance control in a house.

• Journal of IKEEE
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• v.17 no.3
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• pp.301-308
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• 2013

In this paper, we propose the hybrid lighting control system on multiple sensor. The proposed hybrid lighting control system was designed for management and control of street lightings by configured as the data display part of integration-interworking part, the data conversion-processing part of integrated management part, and the communication part of gateway system. The data are implemented to designing the DB to enable to storage in real-time by enable to monitoring by wireless remote control and schedule set. As a result of the efficiency verification of the proposed hybrid lighting control system, the hybrid lighting control system be to the real-time monitoring and remote lighting control was possible, because to peristalsis with smart devices and portable PC etc., and it could be obtained the effect of energy and electricity, communication cost reduction.