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이동 에이전트에 대한 신뢰 센터 기반 단방향 엔티티 인증 기법
이기현,노환주,Lee, Gi-Hyeon,No, Hwan-Ju 한국정보처리학회 1999 정보처리학회논문지 Vol.6 No.11
Electric commerce system based on distributed mobile on object such as mobile agents need both precise identification and secure authentication scheme on remotemobile entities. In this paper, existing discrete logarithm based Schnorr like entity authentication schemes are improved by the analysis of performance and security on the bi-directional interactive proofs. And ElGamal like schemes are also proposed. Then, there are enhanced with oblivious transfer based mono-directional authentication schemes based on trusted third party for applying to the mobile agent based computing systems. Therefore, proposed schemes provide compatible performance and safety on mobile entity authentication process.
전자기파의 감쇄신호를 이용한 무인 잠수정의 도킹시스템 개발
이기현(Gi-Hyeon Lee),김진현(Jinhyun Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.9
According to increasing the importance of underwater environments, the needs of UUV are growing. This paper represents the mechanism and algorithm of UUV docking system with 21-inch torpedo tubes for military submarines as a docking station. To improve the reliability of the docking, torpedo tubes launch a wired ROV and next the ROV combined with UUV is retrieved. For estimating the relative position between the ROV and UUV, in this paper, combining RF sensors and vision system is proposed. The RSSI method of RF sensors is used to estimate the distance and the optical image is combined for the directional information.
수중 구조물 검사로봇의 기구학적 관계를 이용한 확장 칼만 필터 기반의 위치추정
허영진(Young-Jin Heo),이기현(Gi-Hyeon Lee),김진현(Jinhyun Kim) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.4
In this paper, we research the localization problem of the crawler-type inspection robot for underwater structure which travels an outer wall of underwater structure. Since various factors of the underwater environment affect an encoder odometer, it is hard to localize robot itself using only on-board sensors. So in this research we used a depth sensor and an IMU to compensate odometer which has extreme error in the underwater environment through using Extended Kalman Filter(EKF) which is normally used in mobile robotics. To acquire valid measurements, we implemented precision sensor modeling after assuming specific situation that robot travels underwater structure. The depth sensor acquires a vertical position of robot and compensates one of the robot pose, and IMU is used to compensate a bearing. But horizontal position of robot can’t be compensated by using only on-board sensors. So we proposed a localization algorithm which makes horizontal direction error bounded by using kinematics relationship. Also we implemented computer simulations and experiments in underwater environment to verify the algorithm performance.