• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.12
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• pp.5835-5854
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• 2017

The implementation of IEEE 802.15.6 in Wireless Body Area Network (WBAN) is contention based. Meanwhile, IEEE 802.15.4 MAC provides limited 16 channels in the Superframe structure, making it unfit for N heterogeneous nature of patient's data. Also, the Beacon-enabled Carrier-Sense Multiple Access/Collision-Avoidance (CSMA/CA) scheduling access scheme in WBAN, allocates Contention-free Period (CAP) channels to emergency and non-emergency Biomedical Sensors (BMSs) using contention mechanism, increasing repetition in rounds. This reduces performance of the MAC protocol causing higher data collisions and delay, low data reliability, BMSs packet retransmissions and increased energy consumption. Moreover, it has no traffic differentiation method. This paper proposes a Low-delay Traffic-Aware Medium Access Control (LTA-MAC) protocol to provide sufficient channels with a higher bandwidth, and allocates them individually to non-emergency and emergency data. Also, a Contention Differentiated Adaptive Slot Allocation CSMA-CA (CDASA-CSMA/CA) for scheduling access scheme is proposed to reduce repetition in rounds, and assists in channels allocation to BMSs. Furthermore, an On-demand (OD) slot in the LTA-MAC to resolve the patient's data drops in the CSMA/CA scheme due to exceeding of threshold values in contentions is introduced. Simulation results demonstrate advantages of the proposed schemes over the IEEE 802.15.4 MAC and CSMA/CA scheme in terms of success rate, packet delivery delay, and energy consumption.

• Journal of information and communication convergence engineering
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• v.12 no.2
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• pp.104-108
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• 2014

The field of body sensor networks has attracted interest of many researchers due to its potential to revolutionize medicine. These sensors are usually implanted inside the human body and communicate among themselves. In the process of receiving, processing, or transmitting data, these devices produce heat. This heat damages the tissues surrounding the devices in the case of prolonged exposure. In this paper, to reduce this damages, we have improved and evaluated two protocols-the least temperature routing protocol and adaptive least temperature routing protocol-by implementing clustering as well as a leadership rotation algorithm. We used Castalia to simulate a basic body area network cluster composed of 6 nodes. A throughput application was used to simulate all the nodes sending data to one sink node. Simulations results shows that improved communication protocol with leadership rotation algorithm significantly reduce the energy consumption as compared to a scheme without leadership rotation algorithm.

• Proceedings of the KSME Conference
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• 2001.06a
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• pp.686-691
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• 2001

Structural optimization often require the evaluation of design sensitivities. The Semi Analytic method(SAM) is popular for shape optimization because this method has several advantages. But when relatively large rigid body motions are identified for individual elements, the SA method shows severe inaccuracy. In this paper, the improvement of design sensitivities corresponding to the rigid body mode is evaluated by exact differentiation of the rigid body modes. Moreover, the error of the SA method caused by numerical difference scheme is alleviated by using a series approximation for the sensitivity derivatives and considering the higher order terms.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.4
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• pp.593-600
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• 2003

Structural optimization often requires the evaluation of design sensitivities. The Semi Analytic Method(SAM) fur computing sensitivity is popular in shape optimization because this method has several advantages. But when relatively large rigid body motions are identified for individual elements. the SAM shows severe inaccuracy. In this study, the improvement of design sensitivities corresponding to the rigid body mode is evaluated by exact differentiation of the rigid body modes. Moreover. the error of the SAM caused by numerical difference scheme is alleviated by using a series approximation for the sensitivity derivatives and considering the higher order terms. Finally the present study shows that the refined SAM including the iterative method improves the results of sensitivity analysis in dynamic problems.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.359-364
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• 2022

This study presents a nonlinear model predictive control (NMPC)-based obstacle avoidance and whole-body motion planning method for the mobile manipulators. For the whole-body motion control, the mobile manipulator with an omnidirectional mobile base was modeled as a nine degrees-of-freedom (DoFs) serial open chain with the PPR (base) plus 6R (arm) joints, and a swept sphere volume (SSV) was applied to define a convex hull for collision avoidance. The proposed receding horizon control scheme can generate a trajectory to track the end-effector pose while avoiding the self-collision and obstacle in the task space. The proposed method could be calculated using an interior-point (IP) method solver with 100[ms] sampling time and ten samples of horizon size, and the validation of the method was conducted in the environment of Pybullet simulation.

• Proceedings of the ESK Conference
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• 1998.04a
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• pp.31-35
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• 1998

Many reaearchers have reproted that poor body postures are associated with pains or symptoms of musculoskeletal dissoders. Therefore, the ergonomic evaluation of postural stresses as well as biomechanical stresses is important when a job such as automobile assembly tasks involves highly repetitive and/or prolonged poor body postures. A macropostural classification shema was developed to characterise various body postures occurring in automobile assembly tasks in the study. To specify a postural code and stress level to each body posture, perceived joint discomforts were subjectively evaluated in the lab experiments for the full range of motion in five human body joints. Based on the reaults, a postural classification scheme was developed where the full range of motion in each body joint was classified into several codes repressenting different stress levels. The automobile tasks were clustered into 12 types based on the result walk-in-surveillance and the possible posture codes for each task type are defined. I was exposed that the poor postural problems in automobile assembly tasks were concerned in most part with arms, trunk and neck. Application of te developed schema to seven operations in automobile assembly tasks showed that the schema can be used as a tool to identify the operations and tasks involving highly stressful body postures. The schema can also be utilised as a basis to prioritise the candidate assembly operations for redesign of work methods.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.5
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• pp.257-263
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• 2000

One of the basic assumptions in the static gait design for a walking robot is that the weight of leg should be negligible compared to that of body, so that the total gravity center is not affected by swing of a leg. Based on the ideal assumption of zero leg-weight, conventional static gait has been simply designed for the gravity center of body to be inside the support polygon, consisting of each support leg's tip position. In case that the weight of leg is relatively heavy, however, while the gravity center of body is kept inside the support polygon, the total gravity center of walking robot can be out of the polygon due to weight of a swinging leg, which causes instability in walking. Thus, it is necessary in the static gait design of a real robot a compensation scheme for the fluctuation in the gravity center. In this paper, a body impedance control is proposed to obtain the total gravity center based on foot forces measured from load cells of a real walking robot and to adjust its position to track the pre-designed trajectory of the corresponding ideal robot's body center. Therefore, the walking stability is secured even in case that the weight of leg has serious influence on the total gravity center of robot.

• Journal of the Society of Naval Architects of Korea
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• v.58 no.6
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• pp.348-357
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• 2021

In this paper, the generalized hydrodynamic force and response of a flexible body are calculated at different reference coordinate systems. We generalize the equation of motion for a flexible body by using the conservation of momentum (Mei et al., 2005). To obtain the equations in the generalized mode, two different reference coordinates are adopted. The first is the body-fixed coordinate system by a rigid body motion. The other is the inertial coordinate system which has been adopted for the analysis. Using the perturbation scheme in the weakly-nonlinear assumption, the equations of motion are expanded up to second-order quantities and several second-order forces are obtained. Numerical tests are conducted for the flexible barge model in head waves and the vertical bending is only considered in the hydroelastic responses. The results show that the linear response does not have the difference between the two formulations. On the other hand, second-order quantities have different values for which the rigid body motion is relatively large. However, the total summation of second-order quantities has not shown a large difference at each reference coordinate system.

• Wind and Structures
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• v.20 no.3
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• pp.423-448
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• 2015

In this paper the unsteady fluid-structure interaction (FSI) problems with large structural displacement are solved by partitioned solution approaches in the arbitrary Lagrangian-Eulerian finite element framework. The incompressible Navier-Stokes equations are solved by the characteristic-based split (CBS) scheme. Both a rigid body and a geometrically nonlinear solid are considered as the structural models. The latter is solved by Newton-Raphson procedure. The equation governing the structural motion is advanced by Newmark-${\beta}$ method in time. The dynamic mesh is updated by using moving submesh approach that cooperates with the ortho-semi-torsional spring analogy method. A mass source term (MST) is introduced into the CBS scheme to satisfy geometric conservation law. Three partitioned coupling strategies are developed to take FSI into account, involving the explicit, implicit and semi-implicit schemes. The semi-implicit scheme is a mixture of the explicit and implicit coupling schemes due to the fluid projection splitting. In this scheme MST is renewed for interfacial elements. Fixed-point algorithm with Aitken's ${\Delta}^2$ method is carried out to couple different solvers within the implicit and semi-implicit schemes. Flow-induced vibrations of a bridge deck and a flexible cantilever behind an obstacle are analyzed to test the performance of the proposed methods. The overall numerical results agree well with the existing data, demonstrating the validity and applicability of the present approaches.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.902-911
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• 2012

This paper proposes a robust adaptive fuzzy backstepping control scheme for trajectory tracking of an electrically driven nonholonomic mobile robot with uncertainties and actuator dynamics. A complete model of an electrically driven nonholonomic mobile robot described in this work includes all models of the uncertain robot kinematics with a nonholonomic constraint, the uncertain robot body dynamics with uncertain frictions and unmodeled disturbances, and the uncertain actuator dynamics with disturbances. The proposed control scheme uses the backstepping control approach through a kinematic controller and a robust adaptive fuzzy velocity tracking controller. The presented control scheme has a voltage control input with an auxiliary current control input rather than a torque control input. It has two FBFNs(Fuzzy Basis Function Networks) to approximate two unknown nonlinear robot dynamic functions and a robust adaptive control input with the proposed adaptive laws to overcome the uncertainties such as parameter uncertainties and external disturbances. The proposed control scheme does not a priori require the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. It can also alleviate the chattering of the control input. Using the Lyapunov stability theory, the stability of the closed-loop robot control system is guaranteed. Simulation results show the validity and robustness of the proposed control scheme.