• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.375-384
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• 2020

Today's robots consist of many hardware and software subsystems, depending on the functions needed for specific tasks. Integration of subsystems can require a great deal of effort, as both the communication method and protocol of the subsystem can vary. This paper proposes an expandable robotic system in which all subsystems are integrated under Robot Operation System (ROS) framework. To achieve this, the paper presents a software library, ROS_M, developed to implement the TCP/IP-based ROS communication protocol in different control environments such as MCU and RT kernel based embedded system. Then, all the subsystem including hardware can use ROS protocol consistently for communication, which makes adding new software or hardware subsystems to the robotic system easier. A latency measurement experiment reveals that the system built for loop control can be used in a soft real-time environment. Finally, an expandable mobile manipulator robot is introduced as an application of the proposed system. This robot consists of four subsystems that operate in different control environments.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.1
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• pp.214-221
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• 2007

This paper presents a myoelectric hand prosthesis(MHP) with two degree of freedom(2-DOF), which consists of a mechanical hand, a surface myoelectric sensor(SMES) for measuring myoelectric signal, a control system and a charging battery. The actuation for the 2-DOF hand functions such as grasping and wrist rotation was performed by two DC-motors, and controlled by myoelectric signal measured from the residual forearm muscle. The grip force of the MHP was automatically changed by a mechanical automatic speed reducer mounted on the hand. The skin interface of SMES was composed of the electrodes using the SUS440 metal in order to endure a wet condition due to the sweat. The sensor was embedded with a amplifier and a filter circuit for rejecting the offset voltage caused by power line noises. The control system was composed of the grip force sensor, the slip sensor, and the two controllers. The two controllers were made of a RISC-type microprocessor, and its software was executed on a real-time kernel. The control system used Force Sensing Resistors, FSR, as slip pick-ups at the fingertip of a thumb and the grip force information was obtained from a strain-gauge on the lever of the MHP. The experimental results were showed that the proposed control system is feasible for the MHP.

• Journal of KIISE
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• v.43 no.11
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• pp.1179-1187
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• 2016

Android- and Linux-based embedded systems require device drivers, which are structured and built in kernel functions. However, device driver software (firmware) provided by various 3rd parties is not usually checked in terms of their security requirements but is simply included in the final products, that is, Android-based smart phones. In addition, static analysis, which is generally used to detect vulnerabilities, may result in extra cost to detect critical security issues such as privilege escalation due to its large proportion of false positive results. In this paper, we propose and evaluate an effective technique to detect vulnerabilities in Android device drivers using both static and dynamic analyses.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1594-1597
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• 2005

A rapid development and a wide use of the Internet have expanded a network environment. Further, the network environment has become more complex due to a simple and convenient network connection and various services of the Internet. However, the Internet has been constantly exposed to the danger of various network attacks such as a virus, a hacking, a system intrusion, a system manager authority acquisition, an intrusion cover-up and the like. As a result, a network security technology such as a virus vaccine, a firewall, an integrated security management, an intrusion detection system, and the like are required in order to handle the security problems of Internet. Accordingly, a router, which is a key component of the Internet, controls a data packet flow in a network and determines an optimal path thereof so as to reach an appropriate destination. An error of the router or an attack against the router can damage an entire network. This paper relates to a method for RSMS (router security management system) for secure networking based on a security policy. Security router provides functions of a packet filtering, an authentication, an access control, an intrusion analysis and an audit trail in a kernel region. Security policy has the definition of security function against a network intrusion.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.7
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• pp.816-820
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• 2004

Clustering is a process of dividing similar data objects in data set into clusters and acquiring meaningful information in the data. The main issues related to clustering are the effective clustering of high dimensional data and optimization. This study proposed a method of measuring similarity based on SVM and a new method of calculating the number of clusters in an efficient way. The high dimensional data are mapped to Feature Space ones using kernel functions and then similarity between neighboring clusters is measured. As for created clusters, the desired number of clusters can be got using the value of similarity measured and the value of Δd. In order to verify the proposed methods, the author used data of six UCI Machine Learning Repositories and obtained the presented number of clusters as well as improved cohesiveness compared to the results of previous researches.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.163-165
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• 2007

Recently, the security requirements of the embedded system which were not considered when the embedded system is independently deployed are being increased because the embedded system is connected to an internet. The connection to the internet of embedded system is the meaning that it is exposed to the various kinds of external attack and can be a victim to these attacks in anytime. Particularly, it is trend that the user-related information is stored into the personal terminals and/or electrical appliances such as PDA, home gateway for home network, settop boxes and so on. So it is needed the security mechanism which protects the user information from the malicious accesses. Accordingly, the coverage of the system security is being expanded from the general server to the embedded system. And it is not enough that the embedded system supports only its inherent functions and it becomes the essential element to provide the security function to the embedded system. This paper applies the RBAC(role-based access control) function to the embedded linux OS and tries to strengthen the security of the embedded linux OS. RBAC is implemented as a loadable kernel module with LSM(Linux Security Module) security framework for user's flexibility.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.219-222
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• 2007

The paper deals with the rigorous analysis of three layered media structures. The dyadic Green's function for three layer medium is derived. The Green's functions belonging to the kernel of the integral equation are expressed as Sommerfeld integrals, in which surface wave effects are automatically included. We propose this integral representation as the most appropriate in the spatial domain analysis of slive structure. Also, we used extraction method for the convergence of this integral function. Finally, some numerical results are presented. These computed value show good agreement with proposed this method.

• Communications for Statistical Applications and Methods
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• v.18 no.2
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• pp.245-255
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• 2011

There are two nonparametric methods that use empirical distribution functions and probability density estimators for the test of the distribution change of data. In this paper we investigate the two methods precisely and summarize the results of previous research. We assume several probability models to make a simulation study of the change point analysis and to examine the finite sample behavior of the two methods. Empirical powers are compared to verify which is better for each model.

• Journal of Computational Design and Engineering
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• v.3 no.2
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• pp.91-101
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• 2016

The automated part quality inspection poses many challenges to the engineers, especially when the part features to be inspected become complicated. A large quantity of part inspection at a faster rate should be relied upon computerized, automated inspection methods, which requires advanced quality control approaches. In this context, this work uses innovative methods in remote part tracking and quality control with the aid of the modern equipment and application of support vector machine (SVM) learning approach to predict the outcome of the quality control process. The classifier equations are built on the data obtained from the experiments and analyzed with different kernel functions. From the analysis, detailed outcome is presented for six different cases. The results indicate the robustness of support vector classification for the experimental data with two output classes.

• The Bulletin of The Korean Astronomical Society
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• v.38 no.1
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• pp.61.1-61.1
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• 2013

In this study we apply Support Vector Machine (SVM) to the prediction of geo-effective halo coronal mass ejections (CMEs). The SVM, which is one of machine learning algorithms, is used for the purpose of classification and regression analysis. We use halo and partial halo CMEs from January 1996 to April 2010 in the SOHO/LASCO CME Catalog for training and prediction. And we also use their associated X-ray flare classes to identify front-side halo CMEs (stronger than B1 class), and the Dst index to determine geo-effective halo CMEs (stronger than -50 nT). The combinations of the speed and the angular width of CMEs, and their associated X-ray classes are used for input features of the SVM. We make an attempt to find the best model by using cross-validation which is processed by changing kernel functions of the SVM and their parameters. As a result we obtain statistical parameters for the best model by using the speed of CME and its associated X-ray flare class as input features of the SVM: Accuracy=0.66, PODy=0.76, PODn=0.49, FAR=0.72, Bias=1.06, CSI=0.59, TSS=0.25. The performance of the statistical parameters by applying the SVM is much better than those from the simple classifications based on constant classifiers.