• Journal of Ocean Engineering and Technology
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• v.30 no.3
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• pp.221-226
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• 2016

An attitude controller for a 6-DOF hovering autonomous underwater vehicle (HAUV) is implemented. We add a vertical thruster, an underwater camera, a wireless communication device, and a DVL to the HAUV that was developed a year ago. The HAUV is composed of 5 thrusters, 2 servo-motors, and 4 apparatus parts. Two rotating thrusters control the surge, heave, and roll of the vehicle. The vertical thruster controls the pitch, and two horizontal thrusters control the sway and yaw of the vehicle. The HAUV’s movement in each direction is controlled by 6 PID controllers. Each PID controller controls the propulsive force and angle of a thruster. In a horizontal and vertical movement experiment, we showed the feasibility of the proposed controller by maintaining a given depth and heading angle of the HAUV.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.5
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• pp.1173-1180
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• 2012

Based on Smart Phone, this study added and implemented the mobile App to the existing IT agriculture system, which system automatically controlled green house's growth environment. Because the mobile App characterfully possesses high portability, limited resource, mobile wireless network support, enterprise mobile computing support, etc., the hybrid-App should be inevitably adopted. The hybrid App can minimize resource consumption for performing related duties and also, in spite of the mobile device's limits, it can derive high performance, in which facts the system can ensure the service-based architecture's reliance and also, implements the highly sophisticated functionality as well. Through the proposed system, the study expects to contribute to improve quality of life as well as to increase farmer's income through IT-based agriculture system development.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.1
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• pp.64-69
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• 2008

In order that a mobile robot can perform tasks in unknown environment localization of a mobile robot is essential task. In this paper, a new localization method for a mobile robot using an active landmark is proposed, which is very simple to implement. The landmark has a LED which can be controlled by a mobile robot via wireless communication. CCD camera gets two images of the landmark, one of which is with LED off and the other is with LED on. Because the landmark can be detected by using the difference image of the two images, detection time can be minimized. By using the characteristic points of the landmark, localization can be performed simply. A series of experiments are performed to evaluate the proposed method and the experimental results show that the proposed method can be applicable to the localization of a mobile robot.

• The Journal of the Korea Contents Association
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• v.11 no.6
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• pp.42-50
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• 2011

This paper is to propose design and implementation methods of a pet dog management system that can effectively manage the pet dog in home through client such as a mobile terminal or a PC from remote location, in the absence of the owner in the house. Through this system, we can manage the dog efficiently via a series of monitoring and control functionalities of the dog such as observing of the dog's status, or feeding the dog, or taking the necessary measures on maintaining a healthy environment such as temperature/humidity sensing and turn on/off fans and lights, or sending SMS text to the owner from detection of the barking of the dog.

• Journal of electromagnetic engineering and science
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• v.15 no.3
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• pp.181-184
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• 2015

Evaluation of radiating radiofrequency fields from hand-held and body-mounted wireless communication devices to human bodies are conducted by measuring the specific absorption rate (SAR). The uncertainty of system validation and probe calibration in SAR measurement depend on the variation of RF power used for the validation and calibration. RF input power for system validation or probe calibration is controlled manually during the test process of the existing systems in the laboratories. Consequently, a long time is required to reach the stable power needed for testing that will cause less uncertainty. The standard uncertainty due to this power drift is typically 2.89%, which can be obtained by applying IEC 62209 in a normal operating condition. The principle of the Automatic Input Power Level Control System (AIPLC), which controls the equipment by a program that maintains a stable input power level, is suggested in this paper. The power drift is reduced to less than ${\pm}1.16dB$ by AIPLC, which reduces the standard uncertainty of power drift to 0.67%.

• Information and Communications Magazine
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• v.34 no.2
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• pp.12-19
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• 2017

The LED technology advancement introduce cuttingedge technology on Internet of Things (IoT) to connect the physical world to the digital realm, using digital smart lighting infrastructure called Internet of light (IoL). This paper proposes an Integrated IoT agent on networked smart LED lighting controller called IoL Filed Gateway using lighting infrastructure in which a lighting system that can connect to a network and can be monitored and controlled from a centralized system or via the cloud. The IoL Field Gateway defines new world of smart connected intelligence, lighting can become an integral and responsive part of everyday human life environments. The proposed connected lighting gateway uses the concept of multi-hop ad hoc network using visible light communication (VLC) with RF wireless technologies and Wired PLC (Power Line Communication). This connectivity and intelligence integrated into LED-based luminaires form the backbone of smart buildings and cities and make the Internet of Things (IoT) vision feasible and enables the lighting administrator can control numerous lightings easily and visitors can get visual information from the lightings with their smart devices. The proposed IoL gateway design is emulated on Arduino based HW platform with VLC, RF, and PLC connectivity and evaluated with four sensor interface.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.223-228
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• 2001

We have been developed an intelligent mobile robot with an artificial olfactory function to recognize odours and to track odour source location. This mobile robot also has ben installed an engine for speech recognition and synthesis and is controlled by wireless communication. An artificial olfactory system based on array of 7 gas sensors has been installed in the mobile robot for odour recognition, and 11 gas sensors also are located in the obttom of robot to track odour sources. 3 optical sensors are also in cluded in the intelligent mobile robot, which is driven by 2 D. C. motors, for clash avoidance in a way of direction toward an odour source. Throughout the experimental trails, it is confirmed that the intelligent mobile robot is capable of not only the odour recognition using artificial neural network algorithm, but also the tracking odour source using the step-by-step approach method. The preliminary results are promising that intelligent mobile robot, which has been developed, is applicable to service robot system for environmental monitoring, localization of odour source, odour tracking of hazardous areas etc.

• ETRI Journal
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• v.29 no.4
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• pp.421-429
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• 2007

This paper presents a direct-conversion CMOS transceiver for fully digital DS-UWB systems. The transceiver includes all of the radio building blocks, such as a T/R switch, a low noise amplifier, an I/Q demodulator, a low pass filter, a variable gain amplifier as a receiver, the same receiver blocks as a transmitter including a phase-locked loop (PLL), and a voltage controlled oscillator (VCO). A single-ended-to-differential converter is implemented in the down-conversion mixer and a differential-to-single-ended converter is implemented in the driver amplifier stage. The chip is fabricated on a 9.0 $mm^2$ die using standard 0.18 ${\mu}m$ CMOS technology and a 64-pin MicroLead Frame package. Experimental results show the total current consumption is 143 mA including the PLL and VCO. The chip has a 3.5 dB receiver gain flatness at the 660 MHz bandwidth. These results indicate that the architecture and circuits are adaptable to the implementation of a wideband, low-power, and high-speed wireless personal area network.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.121-127
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• 2007

Frequent occurrences of a fire cause tremendous loss of human lives and their property. Recently, in order to cope with such catastrophic accidents, researches on fire-fighting robots are carried out in developed countries. Under the dangerous situations, it is sometimes impossible for fire-fighting men to access the firing place because of explosive materials, smoke, high temperature and so on. In such an environment, fire-fighting robots can be useful to extinguish the fire. It is usually very dangerous place where fire-fighting robots operate. Hence, these robots should be controlled by remote users who are for away from the firing place exploiting remote communication systems. This paper considers the communication systems between fire-fighting robots and remote users. The communication systems consist of two parts; digital packet communication systems and analog image communication systems. Digital packet communication systems transfer data packets in order to control fire-fighting robots and to check the state of the fire-fighting robots. Remote users watch the video around the fire-fighting robots by exploiting the analog image communication systems. In the future, the more prosperous the commercial communication network systems will be, the more evolved the communication systems for fire-fighting robots are.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.883-895
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• 2007

In this work, we present the development of a patrol robot which is intended to navigate outdoor rough terrain. Proposed mechanism consists of six legs for overcoming an obstacle, and six wheels for traveling. Also, in order to absorb vibration in rough terrain effectively, the slide-spring system and tubed type tire are adopted to each leg and each wheel. The control system of robot consists of several imbedded boards for management of lots of diverse devices such as sensors designed for rough terrain, motor controllers, camera, micro controller and so on. And the base system of the robot is designed to operate in real time and to surveille in the vicinity of the robot, and the robot system is controlled by wireless LAN connected to GUI-based remote control system, while CAN communication connects the control board and the device controllers for sensors and motor controllers. For operating this robot system efficiently, we propose the control algorithms for autonomous navigation using GPS, stabilization maintenance by posture control, obstacle-avoidance by impedance control, and obstacle-overcoming with interference-avoidance between wheels. The performance of the robot and the proposed algorithms are tested and proved by a set of experiments in outdoor rough terrain.