• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.337-340
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• 2005

Context-awareness techniques in ubiquitous computing environment provide various services to users who need to get information via the analysis of collected information from sensors in a spatial area. Context-awareness has been increased in ubiquitous computing and is applied to many different applications such as disaster management system, intelligent robot system, transportation management system, shopping management system, and digital home service. Many researches have recently focused on services that provide the appropriate information, which are collected from Internet by different kinds of sensors, to users according to context of their surrounding environment. In this paper, we propose an abstraction model to manage the large-scale contextual information and their metadata which are collected from different kinds of in-situ sensors in a spatial area and are presented them on the web. This model is composed of the modules expressing functional elements of sensors using sensorML(Sensor Model Language) based on XML language and the modules managing contextual information, which is transmitted from the sensors.

• Journal of Korean Institute of Industrial Engineers
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• v.21 no.1
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• pp.119-135
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• 1995

We consider problems of tool loading and scheduling in a flexible manufacturing system (FMS) in which tool transportation constitutes the major portion of material flows. In this type of FMSs, parts are initially assigned to machines and released to the machines according to input sequencing rules. Operations for the parts released to the machines are performed by tools initially loaded onto the machines or provided by an automatic tool transport robot when needed. For an efficient operation of such systems, therefore, we may have to consider loading and scheduling problems for tools in addition to those for parts. In this paper, we consider three problems, part loading, tool loading, and tool scheduling problems with the overall objective of minimizing the makespan. The part loading problem is solved by a method similar to that for the bin packing problem and then a heuristic based on the frequency of tool usage is applied for tool loading. Also suggested are part input sequencing and tool scheduling rules. To show the effectiveness of the overall algorithm suggested here, we compare it with an existing algorithm through a series of computational tests on randomly generated test problems.

• Journal of Biosystems Engineering
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• v.27 no.5
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• pp.417-424
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• 2002

This study was conducted to develop a vehicle, leading or following a worker at a certain distance to assist laborious transporting works in greenhouses. A prototype vehicle was tested in the practical field conditions using a developed control algorithm. Results of this study were summarized as following: 1. The sensing device consisted of infrared sensors was attached to the front of the vehicle and turning following algorithm was developed to make the vehicle turned as it follows a worker simultaneously. 2. The measured average power consumptions were 110W and 89W, equivalent to 5.2-6.4 hrs battery durations, at low speed with and without the maximum payload, respectively. 3. Results of the travel tests showed that the deviations from the center of row spacing were $\pm$100 mm along the ridge and $\pm$85 mm along the hydroponic bed in the greenhouse. Therefore, the worker-following transport vehicle was feasible to travel along the row without collision in the greenhouse.

• Journal of Biosystems Engineering
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• v.27 no.5
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• pp.409-416
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• 2002

This study was conducted to develop a vehicle, leading or following a worker at a certain distance to assist laborious transporting works in greenhouses. A prototype vehicle, which consisted of the rear driving, the front steering and the console units, was designed and tested in the ideal indoor conditions. Results of this study were summarized as following: 1. The driving unit was designed to travel at the speed ranges of 0.3∼0.8 m/sec depending on the operating modes with a maximum payload of 100 kg. 2. The console unit consisted of a main-board including a 80C196KC microprocessor and peripheral devices, a power-board and safety interlock. Worker-leading, and following modes were available in automatic and manual modes. 3. Steering was achieved by turning the steering motor against the sensed direction. Proper steering angles for correcting travel direction were determined as 5 and 9 degrees when sensing cultivation beds and plants, respectively.

• Advances in robotics research
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• v.2 no.1
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• pp.59-68
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• 2018

Autonomous mobile service medical robots (AMSMRs) are one of the promising developments in contemporary medical robotics. In this study, we consider the essential technical and intellectual abilities needed by AMSMRs. Based on expert analysis of the behavior exhibited by AMSMRs in clinics under basic scenarios, these robots can be classified as intellectual dynamic systems acting according to a situation in a multi-object and multi-agent environment. An AMSMR should identify different objects that define the presented territory (rooms and paths), different objects between and inside rooms (doors, tables, and beds, among others), and other robots. They should also identify the means for interacting with these objects, people and their speech, different information for communication, and small objects for transportation. These are included in the minimum set required to form the internal world model in an AMSMR. Recognizing door handles and opening doors are some of the most difficult problems for contemporary AMSMRs. The ability to recognize the meaning of human speech and actions and to assist them effectively are other problems that need solutions. These unresolved issues indicate that AMSMRs will need to pass through some learning and training programs before starting real work in hospitals.

• Food Science and Industry
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• v.50 no.2
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• pp.60-73
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• 2017

Recently, the whole world is facing an unprecedented moment of opportunity, so-called The Fourth Industrial Revolution. As emphasized in the World Economic Forum held in January of 2016 at Davos, the Fourth Industrial Revolution is not merely a changes of technological devices. The fundamental of the revolution is new, innovative, and visionary business models which change the whole systems dramatically. One of the greatest challenges is to feed an expected population of 9 billion by 2050 in a impactful way. The system should be sustainable as well as beneficial in improving the lives of people in the food chain along with the ecological health of environment. The technological advances of the Fourth Industrial Revolution are expected to improve our food system. The smart farm technology such as precision planting and irrigation techniques will improve the yields of food materials. The smart food transportation and logistics systems will substantially improve the safety and human nutrition. The adaptation the Fourth Industrial Revolution technology will induce the smart supply chains, smart production, and smart products in food industry due to its flexibility and standardization. This will lead the manufactures to adapt to customers' changing product specifications and traceable services in a timely manner.

• Journal of Internet Computing and Services
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• v.23 no.4
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• pp.57-64
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• 2022

If the inside of a building collapses due to a disaster such as fire, collapse, or natural disaster, the physical security inside the building is likely to become ineffective. Here, physical security is needed to minimize the human casualties and physical damages in the collapsed building. Therefore, this paper proposes an algorithm to minimize the damage in a disaster situation by fusing existing research that detects obstacles and collapsed areas in the building and a deep learning-based object detection algorithm that minimizes human casualties. The existing research uses a single camera to determine whether the corridor environment in which the robot is currently located has collapsed and detects obstacles that interfere with the search and rescue operation. Here, objects inside the collapsed building have irregular shapes due to the debris or collapse of the building, and they are classified and detected as obstacles. We also propose a method to detect rescue requesters-the most important resource in the disaster situation-and minimize human casualties. To this end, we collected open-source disaster images and image data of disaster situations and calculated the accuracy of detecting rescue requesters in disaster situations through various deep learning-based object detection algorithms. In this study, as a result of analyzing the algorithms that detect rescue requesters in disaster situations, we have found that the YOLOv4 algorithm has an accuracy of 0.94, proving that it is most suitable for use in actual disaster situations. This paper will be helpful for performing efficient search and rescue in disaster situations and achieving a high level of physical security, even in collapsed buildings.

• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.35-43
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• 2012

The UGV is one of the special field robot developed for mine detection, surveillance and transportation. To achieve successfully the missions of the UGV, the accurate and reliable navigation data should be provided. This paper presents design and implementation of multi-sensor-based open architecture integrated navigation for localization of UGV. The presented architecture hierarchically classifies the integrated system into four layers and data communications between layers are based on the distributed object oriented middleware. The navigation manager determines the navigation mode with the QoS information of each navigation sensor and the integrated filter performs the navigation mode-based data fusion in the filtering process. Also, all navigation variables including the filter parameters and QoS of navigation data can be modified in GUI and consequently, the user can operate the integrated navigation system more usefully. The conventional GPS/INS integrated system does not guarantee the long-term reliability of localization when GPS solution is not available by signal blockage and intentional jamming in outdoor environment. The presented integration algorithm, however, based on the adaptive federated filter structure with FDI algorithm can integrate effectively the output of multi-sensor such as 3D LADAR, vision, odometer, magnetic compass and zero velocity to enhance the accuracy of localization result in the case that GPS is unavailable. The field test was carried out with the UGV and the test results show that the presented integrated navigation system can provide more robust and accurate localization performance than the conventional GPS/INS integrated system in outdoor environments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.9
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• pp.3876-3881
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• 2012

In typical master/slave teleoperation systems, a human operator generally manipulates the master to control the slave through the visual information like camera image. However, the operator may get into trouble due to the limited visual information depending on the camera positions and the delay on the visual information because of low communication bandwidth. To cope with this inherit problem in the camera-based teleoperation system, this paper presents a teleoperation system using a reconstructed graphic model instead of the camera image. The proposed teleoperation system consists of a robot control module, a master module using a force-reflective joystick, and a graphic user interface (GUI) module. The graphic user interface module provides the operator with a 3D model reconstructed using a small set of sensing data received from the remote site. The proposed teleoperation system is evaluated through a peg-in-hole assembly task.

• Convergence Security Journal
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• v.14 no.2
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• pp.35-41
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• 2014

With ubiquitous computing and network, the concern of government, business and academy for IT or ICT convergence has been increased. In this paper, through the analysis of keyword trend for ICT convergence services from 2000's mid, the efficient policy is proposed by estimating the understanding and concern of common people. In addition to, the concept and development step of convergence are analyzed, and the keyword analysis for the ICT convergence services defined in TTA is performed. The services are classified into smart home work transportation, Health ICT, RFID USN, M2M IoT, e-Navigation, intelligent robot, and the keywords for each service are analyzed. The analytic results indicate that the keyword trend varies in the time, and highly indexing keywords and new trend are defined. To provide the efficient ICT services, the new ICT convergence services needed for customer will be proposed with new IT technology development, IT standard, law management, and policy provisioining.