• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.8
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• pp.50-57
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• 2003

Controlling rotorcraft to fly precisely through multiple, irregularly, and closely spaced waypoints is a common and practical mission. However, finding an optimal trajectory for this kind of mission is quite challenging. Usability of traditional approaches such as inverse control or direct methods to this kind of problem is limited because of either limitation on the specification of the constraints or requirement of extensive computation time. This paper proposes a method that can easily compute the full trajectory and control history for rotorcraft to pass through waypoints while satisfying other general constraints of states such as velocities and attitudes on each waypoint. The proposed method is applied to rotorcraft guidance problems of slalom and linear trajectory in the middle of general curved trajectory. The algorithm is test for various situations and demonstrates its usability.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.6
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• pp.506-514
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• 2012

This paper represents a method for designing of path following Line-of-Sight(LOS) guidance law based on vehicle kinematics. In general, a LOS guidance law which is composed of gains and approach length as design parameters is designed by empirical or trial-and-error method. These approaches cannot guarantee a precision tracking performance of guidance law consistently. Also, the design parameters should be redesigned with variations of vehicle maneuverability and flight velocity. Based on a vehicle kinematics with its velocity, the proposed method for designing of parameters not only minimizes the number of design parameters, also has a reliable and consistent tracking performance using variable guidance gain changed in accordance with flight velocity. This is validated by nonlinear simulation with $1^{st}$ order attitude response dynamics and flight experiments with given linear and circular path.

• Journal of the Institute of Convergence Signal Processing
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• v.24 no.3
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• pp.166-171
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• 2023

Efficient energy management is a very important factor in sensor networks with limited resources, and cluster techniques have been studied a lot in this respect. However, a problem may occur in which energy use of the cluster header is concentrated, and when the cluster header is not evenly distributed over the entire area but concentrated in a specific area, the transmission distance of the cluster members may be large or very uneven. The transmission distance can be directly related to the problem of energy consumption. Since the energy of a specific node is quickly exhausted, the lifetime of the sensor network is shortened, and the efficiency of the entire sensor network is reduced. Thus, balanced energy consumption of sensor nodes is a very important research task. In this study, factors for balanced energy consumption by cluster headers and sensor nodes are analyzed, and a balancing distribution clustering method in which cluster headers are balanced distributed throughout the sensor network is proposed. The proposed cluster method uses multi-hop routing to reduce energy consumption of sensor nodes due to long-distance transmission. Existing multi-hop cluster studies sets up a multi-hop cluster path through a two-step process of cluster setup and routing path setup, whereas the proposed method establishes a hierarchical cluster routing path in the process of selecting cluster headers to minimize the overhead of control messages.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.11B
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• pp.900-910
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• 2004

Route failure is mainly caused by mobility of mobile host in ad hoc networks. Route failure, which may lead to sudden packet losses and delays, is losing the route from source to destination. In this situation, TCP assumes that congestion has occurred within the network and also initiates the congestion control procedures. Congestion control algorithm provides the means for the source to deal with lost packets. TCP performance in ad hoc environments will be degraded as TCP source cannot distinguish congestion from route failure. In this paper, we propose TCP-P as pre-detection approach to deal with route failure. TCP-P freezes TCP through pre-detection of route failure. Route failure information of the proposed mechanism is obtained not by routing protocol but by MAC protocol. The intermediated node, obtaining route failure information by its MAC layer, relays the information to TCP source and lets TCP source stop the congestion control algorithm. Results reveal that TCP-P responding with proactive manner outperforms other approaches in terms of communication throughput under the presence of node mobility.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.170-178
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• 2017

This paper proposes an improved path-planning technique based on the $A^*$ algorithm. The conventional $A^*$ algorithm only considers the optimality of the planned path and sometimes produces a path that an unmanned underwater vehicle (UUV) cannot navigate due to its dynamic constraint such as the limit of the radius of gyration. It is because that the previous method evaluate the moving cost based on the straight distance between nodes. We enhance the conventional method by evaluating the moving cost on the basis of the practically navigable trajectory, which is generated by the waypoint-tracking control of the UUV dynamics. The simulation examples indeed show the effectiveness of the proposed technique.

• Proceedings of the Korea Contents Association Conference
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• 2007.11a
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• pp.270-273
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• 2007

The overlay multicast that has been recently presented as an alternative for the IP multicast has been getting much persuasion by the advancement of the network techniques to enforce routing in application-level. But, The overlay multicast is a problem of delay and the load of the traffic control. In this paper, we suggested to an effective transmission routing tree between users based on overlay multicast of Internet broadcasting Service. And we evaluated an optimal value of transmission delay about Internet broadcasting using this suggest model.

• Journal of Digital Contents Society
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• v.3 no.2
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• pp.143-152
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• 2002

In this paper, we present the general interface, label-switched path structure and link bundling in GMPLS to improve the scalability. The LMP protocol is also introduced to efficiently manage the internal link, and the signaling protocol, hierarchical path setup, hi-directional LSP setup and suggested label method are presented. Finally, the techniques of protection and restoration are presented. In specific, various applicable restoration techniques in GMPLS are discussed.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.05a
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• pp.1245-1248
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• 2005

ad hoc 네트워크는 호스트와 라우터 역할을 동시에 하는 무선 노드들로 구성되고, 각각의 노드들의 이동성과, 제한된 특성으로 인하여 잦은 네트워크 토폴로지의 변화가 일어난다. 그러므로 ad hoc을 구성 하고 있는 노드들의 인증과, 경로 탐색에 사용되는 라우팅 정보의 무결성, 전송되는 데이터의 기밀성을 제공하는 방법이 기존의 유선 환경과는 다르다. 본 논문에서는 IPv6의 자동 주소 설정 방식과 IP 생성 방식 중 CGA(Cryptographically Generated Address) 방식을 이용하여, IP 주소에 대한 소유권 (ownership) 문제를 해결하고, 중앙 집중적인 인증기관과 키 발급 센터가 없이, ad hoc에 참여한 노드 스스로 키를 생성하고, 인증하는 방식을 제안한다. 또한, SAODV 라우팅 프로토콜의 필드 값 중 공개 키 값을 가지고, Diffie-Hellman 키 교환 방식을 적용하여, 안전하게 경로 설정이 된 후에 전송되는 데이터의 기밀성을 제공하는 방식을 제안한다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2021.01a
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• pp.153-154
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• 2021

본 논문에서는 ROS(Robot Operating System)를 기반으로 한 로봇(Robot)에 LiDAR 센서를 설치하여 SLAM(Simultaneous Localization and Mapping) 기술인 동시적 위치 추적 지도 작성 기법을 이용하여 실내 맵 정보를 습득하고, 이를 기반으로 장애물과 건물 실내를 안전하고 정확하게 이동할 수 있도록 하였다. 또한 로봇에 자바에서 제공하는 개발 툴킷 Swing 및 AWT 라이브러리를 이용하여 GUI(Graphical User Interface)를 구현하였고 터치스크린을 장착하여 사용자가 원하는 제품을 선택하고 선택한 제품의 목적지를 습득한 맵을 토대로 좌표 값을 설정하여 ROS에서 지원하는 이동 프로세스를 실행시켜 목적지까지 경로를 설정하고 자율 주행하게 된다.

• Journal of KIISE:Information Networking
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• v.34 no.3
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• pp.218-225
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• 2007

As the research on home network technologies, sensor network technologies, and ubiquitous network technologies makes rapid progresses, wireless ad-hoc network have attracted a lot of attention. A wireless mobile ad-hoc network is a temporary network formed by a collection of wireless mobile nodes without the aid of any existing network infrastructure or centralized administration, and it is suitable for ubiquitous computing environments. In this paper, we suggest an extension scheme of a wireless mobile ad-hoc network based on limited multiple paths source routing protocol. This scheme reduces the overhead of route re-establishment and re-registration by maintaining link/node non-disjoint multiple paths between mobile hosts in a wireless mobile ad-hoc network or a mobile host in a wireless mobile ad-hoc network and a base station supporting fixed network services. By maintaining multiple paths, our scheme provides short end-to-end delay and is reliable extension scheme of a wireless mobile ad-hoc network to a fixed network. In this paper, our simulations show that our scheme outperforms existing schemes with regards to throughput and end-to-end delay. Also we show that our scheme outperforms multi-paths approach using disjoint routes with regards to routing overhead.