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Purpose In this paper, a three-dimensional (3D) printer-based manufacturing line and supporting system, which supports personalized/customized manufacturing for individual businesses or start-up companies, was studied to evaluate the practicality of using additive manufacturing for personalization/mass customization. Design/methodology/approach First, factory-as-a-service (FaaS) system, which provides factory as a service to customers, was proposed and designed to manufacture various products within a distributed manufacturing environment. This system includes 3D printer-based material extrusion processes, vapor machine/computer numerical control machines as post-processes and assembly and inspection processes with an automated material handling robot in the factory. Second, a virtualization module for the FaaS factory was developed using a simulation model interfaced with a cloud-based order and production-planning system and an internet-of-things-based control and monitoring system. This is part of the system for manufacturing operations, which is capable of dynamic scheduling in a distributed manufacturing environment. In addition, simulation-based virtual production was conducted to verify and evaluate the FaaS factory for the target production scenario. Main information of the simulation also has been identified and included in the virtualization module. Finally, the established system was applied in a sample production scenario to evaluate its practicality and efficiency. Findings Additive manufacturing is a reliable, feasible and applicable technology, and it can be a core element in smart manufacturing and the realization of personalization/mass customization. Originality/value Various studies on additive manufacturing have been conducted with regard to replacing the existing manufacturing methods or integrating with them, but these studies mostly focused on materials or types of additive manufacturing, with few advanced or applied studies on the establishment of a new manufacturing environment for personalization/mass customization.

We present our latest work and investigation of exceptional point in plasmonic nanostructures. We show that the non-Hermitian singularity can be effectively deployed in small scale sensors and pave the path for engineering metamaterials with novel properties.

Robot learning by demonstration is a research paradigm that can play an important role in expanding areas where robots can be applied. An easy method to get a policy to reproduce the demonstrated behavior is to learn a model that maps directly from demonstrations to action. This is referred to as behavioral cloning (BC). In this paper, a novel robotic BC method for directly imitating a policy from trajectories generated by performing a task is proposed. The proposed method not only allows a user to obtain a demonstrated trajectory for performing a task by manipulating the robot, but also automatically generates a trajectory by having the robot perform the task on behalf of the user. Experiment results showed that the proposed method can effectively learn to make accurate behavior prediction for robot manipulators.

Recently, reinforcement learning utilizing deep learning, called deep reinforcement learning, is being developed for discontinuous action space. It is shown that deep reinforcement learning has higher playing skills than those of human in the video game as Atari. The development of deep reinforcement learning for discontinuous action space, has been extended to the continuous action space as robot control area. The area of control deals with issues closely related to real world environment. However, deep reinforcement learning has limitations to solve control problems in the real world due to numerous trial-and-error based training. To address the limitations of learning in the real world, virtual world environments are used to emulate control problem in real world. In this paper, to solve a complex robot manipulation task, the learning robot manipulation based modular reward shaping is proposed. Since it is difficult to solve the complex task using only single primitive manipulation skill with a reward, it is required to combine various primitive manipulation skills with various rewards. In simulation results, it is shown that the combination of the reward functions affects to the robot manipulation performance.

Advances in deep reinforcement learning enabled cost-efficient training of control policy of physical robot actions from robot simulators. Learning control policy in a simulated environment is cost-efficient over learning in a real environment. Reward engineering is one of the key components to train efficient control policy. For tasks with long horizons such as navigation and manipulation, a sparse reward is providing limited information. The robot simulator for a physical engine of physical robot manipulation has made it easy for researchers in the field of deep reinforcement learning to simulate complicated robot manipulation environments. In this paper, A robot manipulation simulator and a deep RL framework are utilized for implement a training control policy by utilizing previous experiences. For implementation, Recent innovation Hindsight Experience Replay (HER) algorithms with previous experiences to calculate dense rewards from a sparse reward is leveraged . Proposed implementation showed an approach to investigate the reward engineering method to formulate dense reward in robot manipulator tasks.

This paper provides an experimental study of reinforcement learning on IoT devices using distilled knowledge, whose a teacher with a well-trained model transfers to a student with a new model to be trained. The experimental results show that the distilled knowledge is effective to a new model training on IoT devices.

Developing an autonomous indoor mobile robot navigation system from scratch is very difficult and it takes a long time. It requires a series of complex tasks such as handling given sensor inputs, calculating all the information needed for autonomous navigation, and controlling actuators required for movement. In this paper, an autonomous navigation system for indoor mobile robots is introduced mainly based on open source provided by the robot operating system. The presented system is capable of autonomously navigating an unstructured indoor environment avoiding collision with static or dynamic objects. To this end, the system consists of three main modules: mapping, localization, and planning. The mapping module builds a global map for an unknown environment by means of a simultaneous localization and mapping algorithm based on laser scanner data. The localization module estimates the mobile robot’s pose within the prebuilt map by way of an adaptive Monte Carlo localization approach. The planning module builds a local cost map for collision avoidance, generates collision-free trajectories to reach a goal pose based on the cost map, and produces control commands to follow the trajectories. The presented system has been tested not only in simulation environments built in the Gazebo simulator but also in real environments utilizing the Jackal mobile robot, to validate its performance for autonomous navigation including collision avoidance.

Today, a paradigm in the manufacturing industry has been shifted from mass production to small and custom production. To adapt to today’s industrial expectations, this paper presents position-based visual servoing of multiple robotic manipulators. The presented visual servoing consists of two modules: task planning and motion planning. The task planning module manipulates each robotic arm not to collide with each other by distributing a task to them in a systematic manner. The motion planning module employs the MoveIt framework to solve inverse kinematics for each robotic arm so that it moves each end-effector’s pose to the desired pose to complete the task. In addition, the module controls a robotic hand to grasp or release a target object. The presented visual servoing has been tested and verified in the Gazebo simulator.

Applying deep learning to symbolic planning is not straightforward because they differently internalize knowledge. One represents knowledge numerically while the other does symbolically. Hybrid methods that take strengths from both techniques will deliver better performance on automated planning. This paper presents a method to improve the performance of symbolic planning by applying LSTM recurrent networks to inferring the guidance knowledge for search tree node expansion. The networks learn sequential patterns across previous node expansions and generalizes the learned knowledge to predict promising actions and their probability scores at the present expansion step. The prediction consists with node cost estimation for heuristic search. A simple experiment vindicates the method of this research.

This paper addresses a continual lifelong learning problem that learns incremental multiple tasks in real-world environments. We overview and summarize representative approaches and categorization of the state-of-the-art in continual learning. Comparable scenarios, benchmark datasets, and baseline approaches for different continual scenarios introduced in this paper. We suggested a comparison of the differences and similarities with other machine learning methods. We also report real-world applications, especially robots and healthcare fields. We summarize current states and suggest future direction of continual learning problems.

This paper proposes a system design for automation in multi-agent-based manufacturing systems to conduct a given complex task automatically by controlling multiple robotic manipulators in a systematic manner. To this end, the proposed system is designed with three-module configurations: environmental perception, task planning, and motion planning. The environmental perception module utilizes a vision sensor to recognize all objects placed on the workspace and extract their unique ID, size, and pose. The task planning module divides a given task into primitive skill levels and distributes each primitive skill to the associated robotic manipulator with the relevant object information in a systematic manner for robotic manipulators not to collide with each other. The motion planning module determines the motion of a robotic arm and a robotic hand by solving inverse kinematics for the robotic arm and by opening or closing two fingers. The proposed system has been tested and verified in real robot environments through a complex task "peg in hole" that requires at least two robotic manipulators.

This paper proposes a design technique of a survivable ship backbone network, which describes a near optimal configuration scheme of physical and logical topologies of which the survivable ship backbone network consists. We first analyze and present an efficient architecture of a survivable ship backbone network consisting of redundant links and ship devices with dual communication interfaces. Then, we present an integer linear programming-based configuration scheme of a physical topology with regard to the proposed ship backbone network architecture. Finally, we present a metaheuristic-based configuration scheme of a logical topology, underlying the physical topology.

In this paper, we investigate an integrated architecture to support interoperability among heterogeneous middle wares on home networks. We propose and implement a general middleware bridge to support device interoperability on different middle wares for efficient home networks. The IWFEngine(inter working function engine) architecture provides an interface for identifying and utilizing services among devices using simple rules in other to support interoperability among heterogeneous middle wares. Through the registered rules, a local middleware message and a standard message are changed into each other. Unlike existing integrated middleware architectures, the IWFEngine architecture improves efficiency, and convenient adaptor development is possible through simple rules and by using local middleware messages. By this configuration, a conversion rule for exchanging messages between devices on various middle wares is described which does not require modification of the corresponding middleware, and operations can be performed in accordance with the existing corresponding middleware mechanism. Finally, the overhead incurred by a centralized and integrated middleware architecture can be reduced by distributing adaptors into multiple devices.

This paper introduces a smart sleep care system based on IoT bed sensors and IoT LED. Quality sleep is influenced by sleep duration as well as bio-rhythm based sleep pattern. IoT bed sensor acquires body pressure on the bed and the sensor detects user's pose and biosignal patterns; respiration and pulse. IoT LED controls brightness and light temperature to induce sleep (dimming without blue) and wake up (brightening with blue). To improve quality of sleep, this system induces sleep time using LED control to support sufficient sleep duration and analyzes sleep pattern from the biosignal to wake up refreshed.

This paper describes crowd-sourcing home energy efficiency measurement system that includes ways for logging, analyzing, mining, measuring and recommending energy usage activity at home. These activities are based on HVAC devices (air-conditioner, boiler, and temperature sensors. Our system can help to build more valuable applications for management, resource optimization and upgrading user experience. In energy efficiency analyzing, heterogeneous environments make it to be difficult to accurately analyze and predict energy use in mild climates than in more severe climate. Individual sensing and measuring can cause inaccurate data and each home's analysis does not make a respectable result. In this paper, we can achieve crowd-sourcing home data gathering and manipulating data analysis for energy efficiency at home.

A smart home usually has a variety of devices or home appliance, instead of designing software for a specific home, this paper proposes a service-oriented framework with a set of ontology systems to support service and device publishing, discovery of devices and their services, composition of control software using existing control services that wrap devices, deployment, and execution of the composed service in an computing environment, monitoring the execution, and recovery from device failure. The ontology systems specify semantic information about devices, services, and workflows used in various smart home, and users can compose and recompose services for their specific needs. New devices, workflows, and services can be added into ontology. Most of the steps in this process can be automated including code generation. For example, service composition will be carried out in three steps: abstract workflow design, function construction, and device discovery, and different codes can be generated for different computing platforms such as Java and Open Services Gateway initiative environments. In this way, a variety of smart home can be constructed rapidly using the framework by discovery and composition using existing services and workflows. This paper illustrates this framework using a media control example to illustrate the ontology, discovery, composition, deployment, execution, monitoring, and recovery.

With the advent of smart home devices including Smart TV or smart appliances, home becomes smarter. Smart home is a complex environment where heterogeneous smart devices and appliances are connected to each other to provide various smart services. As the home environments become smarter and more complex, the need for an effective managing mechanism with minimum user's intervention is growing. However, just only putting together all the individual information of each resource is not enough, since it is very hard to catch out overall home situation without the relation information between the managed resources. In this paper, we propose a resource-aware management system with hierarchical smart home resource model, using the home context information which defines the information convergence model of heterogeneous home resources and builds a home knowledge by constructing a resource relation graph. The proposed system can accelerate deployment of advanced future smart home service features such as context-aware dynamic service composition, autonomous fault management systems. In addition, it allows cost effective remote maintenance system with highly convenient manageability. We implemented the prototype system of our proposed architecture and evaluated the performance on the query response time of home resources and relations in a real environment. Results showed that it has acceptable performance for navigating or control of home information and excellent improvements in terms of relation based search. We anticipate that the proposed system will bring the huge benefits not only to the consumers, home network service providers but also to the home network maintenance companies in terms of ease of management, and diagnostic effectiveness.

In the shipbuilding industry, due to the global trends where the number of IT (Information Technology) devices of a smart ship have been increased rapidly, the need to develop a new shipboard backbone network has recently emerged for integrating and managing the IT devices of a smart ship efficiently. A shipboard backbone network requires high survivability because it is constructed in automatic and unmanned smart ships where a failure of the backbone network can cause critical problems. The purpose of this paper thus is to study SAN (Ship Area Network) as a efficient shipboard backbone network, considering particularity of shipboard environment and requirement of high survivability. In order to do so, we designed a dual network topology that all network nodes, including the IT devices installed in a smart ship, are connected each other through dual paths, and reuding tht IT devices pnstalles supporices network survivability as well as t Iffic efficiency for the dual network topology. And then, we verified the performance of the suggested SAN by theoretical and practical analysis including the graph theory, the probability theory, implemental specifications, and computer simulations.Keywords:Ship Area Network, Smart Ship, Network Survivability

In general, the flow of detailed data through the physical sensing of the mechanical system and the analysis of the production process is important as well as the development of the CPS(cyber-physical system) system in smartizing the production plant. In this study, stream is composed of three main fields in order to make fabric factory as smart factory. The three streams are divided into a knitting process, a dyeing process, and a sewing process. It can be made into a system that can monitor and manage the fabric production process as an integrated system by connecting the three separated streams. Physical sensors are developed and applied to the textile machines used in the three streams, and software programs for collecting and delivering data was performed together to construct a system for data collection per stream.

In mobile ad hoc networks, an application scenario requires mostly collaborative mobility behavior. The key problem of those applications is scalability with regard to the number of multicast members as well as the number of the multicast group. To enhance scalability with group mobility, we have proposed a multicast protocol based on a new framework for hierarchical multicasting that is suitable for the group mobility model in MANET. The key design goal of this protocol is to solve the problem of reflecting the node`s mobility in the overlay multicast tree, the efficient data delivery within the sub-group with group mobility support, and the scalability problem for the large multicast group size. The results obtained through simulations show that our approach supports scalability and efficient data transmission utilizing the characteristic of group mobility.

Various home network middleware such as HAVi, LnCP, LonWorks, and UPnP have been designed. They coexist because one middleware cannot support diverse requests of services and devices. This circumstance creates an interoperability problem among devices based on various types of home network middleware. The Universal Middleware Bridge system is designed and implemented to solve this interoperability problem using a device conversion mechanism and a message translation mechanism among the middleware. These conversion mechanisms make it possible for devices to distinguish and control other devices connected to different middleware networks in the Universal Middleware Bridge system. These mechanisms also easily support new device and middleware by adding some XML files.

Nowadays, much research in recent years has focused on IoT (Internet of Things). The home domain is the most important research area of IoT, because there expected accounts of home smart device for over 40 percent of connected device excepting mobile phone. Furthermore, enormous data is generated by home smart device. There is growing concern, but the previous works didn't address enough to manage and analyze home data. The purpose of this study is to describe and examine to manage the aggregated home IoT data based on SWO (Smart home Web of Objects), and SWO analytics platform. We shows the implementation of SWO analytics platform and a case study using real data from smart metering devices for analysis of appliance usage patterns.

This paper compares the performance of the unicast routing protocol and the broadcast routing protocol in a small-sized wireless multi-hop network, such as home network. Normally, ad-hoc routing protocols are designed for general wireless multi-hop networks, not being said to be optimized for the small-sized ad hoc network. This paper compares some unicast routing protocols and optimal broadcast routing protocol, and shows the result. The result of the simulation says the broadcast routing protocol shows better performance than the ad-hoc routing protocols in the small-sired wireless multi-hop network. Especially, the result shows that the broadcast protocol has higher packet delivery ratio and lower packet latency than unicast routing protocols

This paper describes the system which provides home entertainment services to users using the middleware-cooperation module which makes UPnP and ACAP cooperate with each other. UPnP or ACAP providespowerful functionalities to its own network to play multimedia contents using its own resources. U one middleware uses the information and the resources of another middleware, itcould provide services with more contents and more powerful functionalities than those which it originally provides. This paper develops the middleware-cooperation module to make two middleware cooperate with each other and use resources of another middleware. The middleware-cooperation module makes UPnP and ACAP cooperate with each other, and it makes them share their information and resources without resource collision.

This paper presents the IEEE 1394/UPnP software bridge for representing legacy IEEE 1394 devices to UPnP devices. UPnP devices must provide SSDP discovery, SOAP control, and GENA event processes. To represent the legacy IEEE1394 devices to UPnP devices, there have to be the IEEE 1394/UPnP software bridge to provide those functionalities on behalf of IEEE 1394 devices. The bridge can provide additional functions such as A/V data transferring with format converting between IEEE 1394 and UPnP devices. With those functionalities, the bridge makes UPnP control points recognize IEEE 1394 devices as UPnP devices, and makes possible exchange the A/V data between IEEE 1394 legacy devices and normal UPnP devices. Based on the general structure of the bridge, it can be easily extended to support a new IEEE 1394 device type.

This paper describes user activity recognition in home network - several ways for developers to define some model for logging, analyzing, mining, measuring and recommending user's activity. These activities are based on home networking between devices (gadgets, sensors, appliances, and some software applications at computers) and providing some standard interfaces for these activities. Users spend a lot of time at home and even if mobile gadget should be synced within home appliances. User's life pattern can be achieved from some data such as network traffic, control data, energy consumption, pims (calendar, email, todo, and so on), contents and actual user's profile. In this paper, we will explain how to care a diabetic patient using user activity recognition at home.

This paper describes a method and a platform for generating a treatment plan for a patient with a chronic disease such as diabetes. The planning process considers the user's living environment so the doctor's prescription can be easily implemented as a monitored activity. The process utilizes OWL representation for the knowledge modeling and Answer Set Programming for managing the patient's goals.

This paper proposes an efficient autonomous fault diagnosis system for connected home. The system takes a model-based approach and initiates an automated fault diagnosis without user intervention when an error is notified from the home network resource management system. Our system performs two fault diagnosis methods of resource probing and code mapping to find the root cause of the error in the resource relation model. Our experiments show that it can identify a smallest set of symptoms effectively and efficiently.

In order to accommodate different requirements of reliable multicast applications, the real-time reliable multicasting support framework must possess generic yet rich features for detecting and reporting message losses with tight latency bounds. One highly promising concrete formulation of a multicast framework is the Real-time Multicast & Memory Replication Channel (RMMC) scheme. In this paper, we present the Delay-Bounded Reliable RMMC (DBR-RMMC) scheme, which extends the RMMC scheme in order to yield tight bounds on the latencies in detecting and reporting message losses over RMMCs and to enable application layer to initiate timely recovery actions. The DBR-RMMC scheme offers an API that allows application developers to freely explore the various design dimensions of reliable multicast applications while assuring timeliness. We also discuss a middleware subsystem devised to support DBRRMMC, followed by a summary of several analytical results on the bounds for latencies in reacting to the occurrence of a message loss. Experiments involving a real-time video streaming application have been conducted and encouraging results are presented.

Device handover based on user's movement without relying on an infrastructure enables various services in a localized personal area. We present an audio speaker handover system based on wireless distance estimation in a Bluetooth environment. It is designed to enable smooth device handover at walking speed without any help from the infrastructure. For smooth device handover, we studied the distance estimation method which satisfies a fast reaction and high resolution. We collected received signal strength indicator (RSSI) values and transmission power level (TPL) values and determined a relative distance using the model function obtained by statistical analysis method. With these methods, we experimented and analyzed the performance of device handover. Based on these experiments, we proposed a modified RSS based distance estimation that limit the transmission power control function. We also showed that the proposed system achieves good performance in the aspects of handover delay time and handover failure rate.

Network-based real-time computing applications which require tightly bounded end-to-end delays have been increasing at a steady rate in recent years. A messaging layer that yields tight bounds on the latencies in detecting message losses and enables the application layer to initiate a timely recovery action has thus become highly desirable. In this paper we present a new reliable real-time messaging scheme called the Delay-Bounded Reliable Messaging Scheme (DB-RMS) that is aimed at meeting such requirements. It is built on top of the UDP sub-layer. DB-RMS provides multiple service options, each with different fault detection/recovery capabilities and different costs in terms of the execution overhead. This feature makes DB-RMS suitable for a variety of applications. The service options and the corresponding support protocols are presented first, followed by a formal analysis on the detection and reaction latency bounds under various service options. A messaging layer prototype using DB-RMS has been implemented. Performance measurements of the prototype implementation have been taken and the positive results obtained are also presented.

A middleware model named ROAFTS (Real-time Object-oriented Adaptive Fault Tolerance Support) has been evolving in the UCI DREAM Lab. over the past decade as the core of a reliable execution engine model for fault-tolerant (FT) real-time (RT) distributed computing (DC) applications. It is meant to be an integration of various mechanisms for fault detection and recovery in a form that meshes well with high-level RT DC object-/component- based programming, in particular, TMO (Time-triggered Message-triggered Object) programming. Using ROAFTS as a backbone and low-layer middleware, we developed a model and a skeleton implementation for FT DC middleware providing efficient FT execution services for component-based home network applications. Capabilities for management of home information processing devices, including health monitoring of home devices, reconfiguration of device connections, and servicing queries on device status, were added to ROAFTS. Those additions were first designed as a network of high-level RT DC components, i.e., TMOs. Then the TMO network was extended into an FT TMO network by applying the replication scheme called the PSTR (Primary-Shadow TMO Replication) scheme and incorporating a component responsible for reconfiguring TMO replicas. This extension of ROAFTS is called ROAFTS-HNE (Home Network Extension) and its architecture is presented here. In addition, during the development of the ROAFTS-HNE model, we formulated a new approach for applying the PSTR scheme to RT DC components supported by ROAFTS. Finally, evaluations of the recovery times of a prototype implementation have been conducted.

Given the diversity of home environment, appliances, and residents, the applications for smart homes must be configurable and adaptive. Instead of programming each household, we propose an ontology-based framework to facilitate the automatic composition of appropriate applications. The system composes appropriate services depending upon the available equipments in each individual household automatically. Meanwhile, it dynamically adjusts the environment parameters to match the customer needs and to encompass the available resource. With its supporting on customized function template editing, customers are able to specify their usual behavior templates as different mode.

Universal middleware bridge (UMB) provides seamless interoperation among heterogeneous home network middleware. There have been high demands for the UMB components (UMB core and adaptors) to have fault- tolerance capabilities. This paper presents a TMO structuring approach together with new implementation techniques for the fault-tolerant TMO-replica structuring scheme called PSTR. PSTR implementations of UMB components provide fault tolerance capabilities essential in realizing high reliability for the UMB facility.

This paper proposes the ad hoc authentication protocol for user convenience and guest authentication in a home environment. To improve the delay performance, an authentication protocol was implemented into the ad hoc routing algorithm. The proposed protocol was evaluated through three analyses. The correctness of the proposed protocol was proved via the GNY analysis. According to the security analysis, the proposed protocol was shown to be resistant to various attacks. For the performance analysis, the protocol was implemented on the laptop using the Linux operating system and transmission time was measured. The analysis results show that the proposed protocol provides a secure home network environment without significant performance degradation.

This paper proposes the design of the autonomous fault processing mechanism that can be used to solve abnormal faults in home network. In home network environments that consists of several kind of networks and devices, their unrevealed functionalities can cause non-instinct faults (combination or inferred situation). Usually many researches had tried to make a model-based fault processing mechanism. But, those works depended on the characteristics of the model for the specific environment. We focus on the process in which faults are induced and establish fault categories that can be caused in home network and the autonomous fault processing mechanism.

This paper describes how the conversion of a device and a control message is accomplished in a UMB. The UMB solves interoperability problems caused by the heterogeneity of several types of home network middleware. To solve the problems, conversion of a device and messages among the middleware is indispensable. Devices can see and control other devices connected to different middlewares in the UMB framework by the mechanism of device and message conversion.

IEEE 802.11i standard supports a secure access control for wireless LAN and IEEE 802.1X standard includes various authentication method protocols. It is expected that next-generation wireless LAN security techniques will be based on IEEE 802.1X and IEEE 802.11i standards. However, at present users who are not familiar with a computer and an authentication details have difficulty to setup the network security based on IEEE 802.11i. Accordingly, this paper proposes authentication scenarios to minimize the process by users, a password method which is changed randomly and periodically, and authentication protocols. The proposed protocols provide convenience for nonprofessional computer users as well as secure home network environment against the unwanted attacks such as a brute force attack or a replay attack

This work presents the UPnP - IEEE1394 software bridge structure for representing legacy IEEE1394 devices to the UPnP middleware. This bridge implementation provides a UPnP based control mechanism for IEEE1394 devices and data transferring from IEEE1394 bus to IP network with formal conversion.

We propose the electrical crosstalk reduction method of the gigabit transceiver module for the FTTH (Fiber-To-The-Home) applications. For the electrical crosstalk reduction between LD and PD, we insert a dummy ground line nearby a signal lines.