• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.233-236
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• 2008

Recently, the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with autonomous travelling function to cope with unexpected terrains and obstacles. This means that unmanned robots should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents an algorithm for extracting terrain information from elevation maps as an early step of traversability analysis. Slope and roughness information are extracted from a world terrain map based on least squares method and fractal theory, respectively. The effectiveness of the proposed algorithm is verified on both fractal and real terrain maps.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.4
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• pp.326-333
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• 2001

This paper focuses on a method to connect mobile devices such as mobile robot. Automated Guided Vehicle (AGV) and Unmanned Container Transporter(UCT) to a fieldbus. In this paper, the IEEE 802.11 wireless LAN is used to extend a Profibus network for the mobile devices. In order to integrate these two networks, a gateway is developed using two threads and an internal buffer. Furthermore, a polling algorithm is applied at the gateway in order to satisfy real-time requirements on data communication, Finally, the performance measures such as data latency and throughput are experimentally evaluated on a wirelessly-extended Profibus network. The results shows the feasibility of the wireless extension of Profilbus for various mobile device.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.10
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• pp.1783-1798
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• 2011

Recently, a cryptographic construct, called fuzzy vault, has been proposed for crypto-biometric systems, and some implementations for fingerprint have been reported to protect the stored fingerprint template by hiding the fingerprint features. In this paper, we implement the fuzzy fingerprint vault, combining fingerprint verification and fuzzy vault scheme to protect fingerprint templates. To implement the fuzzy fingerprint vault as a complete system, we have to consider several practical issues such as automatic fingerprint alignment, verification accuracy, execution time, error correcting code, etc. In addition, to protect the fuzzy fingerprint vault from the correlation attack, we propose an approach to insert chaffs in a structured way such that distinguishing the fingerprint minutiae and the chaff points obtained from two applications is computationally hard. Based on the experimental results, we confirm that the proposed approach provides higher security than inserting chaffs randomly without a significant degradation of the verification accuracy, and our implementation can be used for real applications.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.3
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• pp.207-214
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• 2011

Ship design requirements described in the building specification should be reflected in the design process. This paper identifies the configuration of requirements mentioned in the building specification using Ontology Representation Language (OWL). Ontology-based semantic search system specifies the requirement items. Through this extraction, building specifications mentioned for each entry are configured to the tree. Tracking requirements for ship design and a set of procedures to instruct is also used for the V model of systems engineering. The semantic search engine of robot agent and ontology can search the requirements specification document and extract the design information. Thereafter, design requirements for the tracking model that proposes the relationship between the associated BOM(bill of material) and product structure.

• Journal of Information Management
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• v.31 no.4
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• pp.71-87
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• 2000

Recently, researches of mobile agent systems have done actively to enhance usability of heterogenenous environment linked via network and to solve problems of existing distributed-object computing. Though these research and development many studies have done to be applicated to many areas that are existing distributed systems as well as E-commerce, network maintenance, and information retrieval etc. This paper reviews some related issues to agent studies, comprehensive studies to enhance telecommunication functionality among agents, and future and application fields of agent.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.615-618
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• 2016

This paper proposes a method to estimate vertical interaction force to the end of the surgical instrument by measuring reaction force at the part supporting the trocar. Relation between the force to the trocar and the interaction force is derived using the beam theory. The vertical interaction force is modeled as a function of the reaction force to the trocar and the distance between the drape plate and the trocar. Experimental results show that error is induced by the asymmetric shape of the trocar tip because contact position between the instrument and the trocar tip is changed depending on the direction of the interaction force. The theoretical relation, therefore, is compensated and reduced. Average $L_2$ relative error of the estimated force in the x-direction and the y-direction is 5.81 % and 5.99 %, respectively.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.498-504
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• 2005

A fuzzy logic for collision avoidance of underwater robots is proposed in this paper. The VFF(Virtual Force Field) method, which is widely used in the field of mobile robots, is modified for application to the autonomous navigation of underwater robots. This Modified Virtual Force Field(MVFF) method using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robots. The obstacle avoidance algorithm has the ability to handle multiple static obstacles. Results of simulation show that the proposed method can be efficiently applied to obstacle avoidance of the underwater robots.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.952-956
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• 2007

In industrial site, as the technology of FA developes, many robots can take the place of human labor. Generally, robots require high precision reducers which have cycloid or involute tooth profile. These reducers provide high reduction ratios with low backlash and high accuracy but need a high stiffness of tooth. In this study, to improve the high precision, the cycloid reducers which have straight line teeth profile are used. Also the FEM analysis, which consist of straight line teeth profile, was performed to simulate the stress of teeth profile.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.2
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• pp.212-215
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• 2008

In this paper, we develop the optimal path planning algorithm using the improved Dijkstra algorithm and the particle swarm optimization. To get the optimal path, at first we construct the MAKLINK on the world environment and then make a graph associated with the MAKLINK. The MAKLINK is a set of edges which consist of the convex set. Some of the edges come from the edges of the obstacles. From the graph, we obtain the Dijkstra path between the starting point and the destination point. From the optimal path, we search the improved Dijkstra path using the graph. Finally, applying the particle swarm optimization to the improved Dijkstra path, we obtain the optimal path for the mobile robot. It turns out that the proposed method has better performance than the result in [1] through the experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.