• 인터넷정보학회논문지
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• 제20권1호
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• pp.17-24
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• 2019

2016년 세계경제포럼(WEF)에서 4차산업혁명이 소개된 이래 사물인터넷, 인공지능, 빅데이터, 5G, 클라우드 컴퓨팅, 3D/4D 프린팅, 로보틱스, 나노기술, 바이오 공학 등 다양한 분야에서 이런 기술을 활용한 제품과 비즈니스가 빠르게 확대되어 왔다. 사물인터넷 중에서는 웨어러블 디바이스가 최종고객을 대상으로 활용되는 선도적 적용분야로 인식되고 있다. 본 연구의주요 목적은 활동량 측정기에 대해서 고객의 욕구를 파악하고, 이를 마케팅 믹스와 연계시킨 제1차 연구에 기반하여 제2차 연구를 수행하고 이 결과를 제1차 연구결과와 비교하는 종단연구이다. 더불어서 미래 활동령 측정기 개발을 위한 잠재욕구를 파악하는 것이다. 이를 위해서 2018년 5월 대학생들을 대상으로 서베이가 수행되었으며 이용특성에 관한 주요변수에 대해서 ANOVA 등 실증연구가 이루어졌다. 또한 제1차 연구와는 달리 잠재욕구에 대한 분석결과를 단어구름기법을 사용하여 시각화하였다. 제품 가격 유통 촉진 등의 마케팅 믹스에 기반을 둔 종단연구결과에 따르면 현재 활동량 측정기는 도입기에서 성장기로 이전하고 있으며, 마케팅 믹스 각각에 대한 변화를 발견할 수 있었다. 연구결과는 학계뿐 아니라 사물인터넷 기반의 디바이스를 개발하려는 개발자에게 고객의 욕구에 기반 개발과 관련하여 시사점을 제공한다.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제11권1호
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• pp.36-49
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• 2005

최근에 시멘틱 웹에 대한 관심과 기대가 증가함에 따라 시멘틱 웹 기반의 웹서비스인 시멘틱 웹서비스에 대한 연구가 활발히 진행되고 있다. 기존의 웹서비스는 XML 기반의 웹서비스 기술 언어인 WSDL을 사용하지만 시멘틱 웹서비스에서는 DAML-S와 같은 온톨로지 언어기반의 웹서비스 기술 언어를 사용한다. 시멘틱 웹서비스에 대한 연구는 웹서비스 검색, 웹서비스 구동, 웹서비스 구성, 웹서비스 실행 모니터링 등의 관점에서 수행되고 있다 특히, 시멘틱 웹서비스 검색은 시멘틱 웹서비스의 궁극적인 목적을 달성하기 위한 가장 기반이 되는 분야로 기존의 정보 검색과는 다른 특징들을 가지고 있다. 즉, 시멘틱 웹 기술 언어에 적합한 저장 시스템과 검색 방법이 요구된다. 이에 부합하여 관련된 시스템이 많이 개발되고 있으나 지능로봇 응용과 같은 제한된 메모리 공간 및 디스크 공간을 가지는 임베디드 환경에서 기존의 시스템을 적용하기에는 부적합하다. 이와 관련하여, 이 논문에서는 임베디드 시스템 환경에서 시멘틱 웹서비스 검색에 이용될 수 있도록 하기 위해서 DAML-S 서비스 지원을 위한 효율적인 DAML+OIL 문서 관리 시스템을 개발하였다. 또한, 우리는 이 논문에서 소개한 시스템의 특성을 다른 시스템과 비교하여 기술한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1435-1439
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• 2004

Most recently, CP(Cellular Phone) has been one of the most important technologies in the IT(Information Tech-nology) field, and it is situated in a position of great importance industrially and economically. To produce the best CP in the world, a new technological concept and its advanced implementation technique is required, due to the extreme level of competition in the world market. The RT(Robot Technology) has been developed as the next generation of a future technology. Current robots require advanced technology, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition etc. unlike the industrial robots of the past. Therefore, this paper explains conceptual research for development of the RCP(Robotic Cellular Phone), a new technological concept, in which a synergy effect is generated by the merging of IT & RT. RCP infra consists of $RCP^{Mobility}$ $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP mobility system is focused in this paper. $RCP^{Mobility}$ is to apply a mobility technology, which is popular robot technology, to CP and combine human-friendly motion and navigation function to CP. It develops a new technological application system of auto-charging and real-world entertainment function etc. This technology can make a CP companion pet robot. It is an automation of human-friendly motions such as opening and closing of CPs, rotation of antenna, manipulation and wheel-walking. It's target is the implementation of wheel and manipulator functions that can give service to humans with human-friendly motion. So, this paper presents the definition, the basic theory and experiment results of the RCP mobility system. We confirm a good performance of the RCP mobility system through the experiment results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권2호
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• pp.542-558
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• 2023

A digital focus index (DFI) is a value used to determine image focus in scientific apparatus and smart devices. Automatic focus (AF) is an iterative and time-consuming procedure; however, its processing time can be reduced using a general processing unit (GPU) and a multi-core processor (MCP). In this study, parallel architectures of a minimax search algorithm (MSA) are applied to two DFIs: range algorithm (RA) and image contrast (CT). The DFIs are based on a histogram; however, the parallel computation of the histogram is conventionally inefficient because of the bank conflict in shared memory. The parallel architectures of RA and CT are constructed using parallel reduction for MSA, which is performed through parallel relative rating of the image pixel pairs and halved the rating in every step. The array size is then decreased to one, and the minimax is determined at the final reduction. Kernels for the architectures are constructed using open source software to make it relatively platform independent. The kernels are tested in a hexa-core PC and an embedded device using Lenna images of various sizes based on the resolutions of industrial cameras. The performance of the kernels for the DFIs was investigated in terms of processing speed and computational acceleration; the maximum acceleration was 32.6× in the best case and the MCP exhibited a higher performance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1034-1039
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• 2005

SALM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important tasks in mobile robot research. Until now expensive sensors such as a laser sensor have been used for mobile robot localization. Currently, the proliferation of RFID technology is advancing rapidly, while RFID reader devices, antennas and tags are becoming increasingly smaller and cheaper. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying location of the mobile robot in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, the localization error results from the sensing area of the RFID reader, because the reader just knows whether the tag is in the sensing range of the sensor and, until now, there is no study to estimate the heading of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. The Markov localization method is used to reduce the location(X,Y) error and the Kalman Filter method is used to estimate the heading($\theta$) of mobile robot. The algorithms which are based on Markov localization require high computing power, so we suggest fast Markov localization algorithm. Finally we applied these algorithms our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors such as odometers and RFID tags for mobile robot localization in the smart floor

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.444-448
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• 2005

This paper presents a developing procedure of the CAN-based real-time simulator for car body control, aiming at replacing the actual W/H (Wiring Harness) and J/B(Junction Box) couple eventually. The CAN protocol, as one kind of field-bus communication, defines the lowest 2 layers of the ISO/OSI standard, namely, the physical layer(PL) and the data link layer(DLL), for which the CSMA/NBA protocol is generally adopted. For CPU, two PIC18Fxx8x's are used because of their built-in integration of CAN controller, large internal FLASH memory (48K or 64K), and their costs. To control J/B's and actuators, 2 controller boards are separately implemented, between which CAN lines communicate through CAN transceivers MCP255. A power motor for washing windshield, 1 door lock motor, and 6 blink lamps are chosen for actuators of the simulator for the first stage. For the software architecture, a polling method is used for the fast global response time despite its slow individual response time. To improve the individual response time and to escape from some eventual trapped-function loops, High/Low ports of the CPU are simply used, which increases the stability of the actuator modules. The experimental test shows generally satisfactory results in normal transmitting / receiving function and message trace function. This simulator based on CAN shows a promising usefulness of lighter, more reliable and intelligent distributed body control approach than the conventional W/H and J/B couple. Another advantage of this approach lies in the distributed control itself, which gives better performance in hard real-time computing than centralized one, and in the ability of integrating different modules through CAN.

• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.453-459
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• 2008

The neural network is currently being used throughout numerous control system fields. However, it is not easy to obtain an input-output pattern when the neural network is used for the system of a single feedback controller and it is difficult to obtain satisfactory performance with when the load changes rapidly or disturbance is applied. To resolve these problems, this paper proposes a new mode to implement a neural network controller by installing a real object for control and an algorithm for this, which can replace the existing method of implementing a neural network controller by utilizing activation function at the output node. The real plant object for controlling of this mode implements a simple neural network controller replacing the activation function and provides the error back propagation path to calculate the error at the output node. As the controller is designed using a simple structure neural network, the input-output pattern problem is solved naturally and real-time learning becomes possible through the general error back propagation algorithm. The new algorithm applied neural network controller gives excellent performance for initial and tracking response and shows a robust performance for rapid load change and disturbance, in which the permissible error surpasses the range border. The effect of the proposed control algorithm was verified in a test that controlled the speed of a motor equipped with a high speed computing capable DSP on which the proposed algorithm was loaded.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.457-462
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• 2005

Industrial and economical importance of CP(Cellular Phone) is growing rapidly. Combined with IT technology, CP is currently one of the most attractive technologies for all. However, unless we find a breakthrough to the technology, its growth may slow down soon. RT(Robot Technology) is considered one of the most promising next generation technology. Unlike the industrial robot of the past, today's robots require advanced technologies, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition, and many others. In this study, we present a new technological concept named RCP(Robotic Cellular Phone), which combines RT & CP, in the vision of opening a new direction to the advance of CP, IT, and RT all together. RCP consists of 3 sub-modules. They are $RCP^{Mobility}$, $RCP^{Interaction}$, and $RCP^{Interaction}$. $RCP^{Mobility}$ is the main focus of this paper. It is an autonomous navigation system that combines RT mobility with CP. Through $RCP^{Mobility}$, we should be able to provide CP with robotic functionalities such as auto-charging and real-world robotic entertainments. Eventually, CP may become a robotic pet to the human being. $RCP^{Mobility}$ consists of various controllers. Two of the main controllers are trajectory controller and self-localization controller. While Trajectory Controller is responsible for the wheel-based navigation of RCP, Self-Localization Controller provides localization information of the moving RCP. With the coordinate information acquired from RFID-based self-localization controller, Trajectory Controller refines RCP's movement to achieve better RCP navigations. In this paper, a prototype system we developed for $RCP^{Mobility}$ is presented. We describe overall structure of the system and provide experimental results of the RCP navigation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.808-812
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• 2003

We need a lot of manpower and we can cut down a labor cost by applying industrial robots the footwear bonding automation process. In this study, we suggest how to program off-line robot path along a shoe's outsole shape in the footwear bonding process by 5-axis microscribe system like robot arms. This microscribe system development consists 5-axis microscribe mechanics, signal processing circuit, and PC with software. It is the system for making database of a shoe's outsole through the movement of a microscribe with many joints. To do this, first read 5-encoders' pulse values while a robot arm points a shoe's outsole shape from the initial status. Then, calculate a relative shoe's outsole by Denavit-Hatenberg's (D-H) direct Kinematics of known length of links and coordinate values. Next, calculate the encoders' pulse values of the robot arm's rotation and transmitting the angle pulse values to the PC through a circuit. Finally, it is able to display a shoe's outsole at real-time by computing the Denvavit-Hantenberg's (D-H) direct kinematics in the PC. With the coordinate values calculated above, we can draw a bonding gauge-line on the upper. Also, we can make off-line robot path programming compute a shoe's bonding area on the upper. These results will be effectively applied for programming a robot path on off-line and automatically.