• 한국지능시스템학회논문지
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• 제11권7호
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• pp.591-597
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• 2001

In this paper, we propose a method of cooperative control (T-cell modeling) and selection of group behavior strategy (B-cell modeling) based on immune system in distributed autonomous robotic system (DARS). Immune system is living body's self-protection and self-maintenance system. These features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For applying immune system to DARS, a robot is regarded as a B-cell, each environmental condition as an antigen, a behavior strategy as an antibody and control parameter as a T-cell respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is stimulated and suppressed by other robot using communication. Finally much stimulated strategy is adopted as a swarm behavior strategy. This control school is based on clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy. By T-cell modeling, adaptation ability of robot is enhanced in dynamic environments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제4권6호
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• pp.1023-1041
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• 2010

In cognitive radio networks, cooperative spectrum sensing schemes are proposed to improve the performance of detecting licensees by secondary users. Commonly, the cooperative sensing can be realized by means of hard decision fusion (HDF) or soft decision fusion (SDF) schemes. The SDF schemes are superior to the HDF ones in terms of the detection performance whereas the HDF schemes are outperforming the SDF ones when the traffic overhead is taken into account. In this paper, a hybrid SFD-HDF cluster-based approach is developed to jointly exploit the advantages of SFD and HDF schemes. Different SDF schemes have been proposed and compared within a given cluster whereas the OR-rule base HDF scheme is applied to combine the decisions reported by cluster headers to a common receiver or base station. The computer simulations show promising results as the performance of the proposed scenario of hybridizing soft and hard fusion schemes is significantly outperforming other different combinations of conventional SDF and HDF schemes while it noticeably reduces the network traffic overhead.

• Journal of Communications and Networks
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• 제14권5호
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• pp.471-480
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• 2012

Reliable detection of primary user activity increases the opportunity to access temporarily unused bands and prevents harmful interference to the primary system. By extracting a global decision from local sensing results, cooperative sensing achieves high reliability against multipath fading. For the effective combining of sensing results, which is generalized by a likelihood ratio test, the fusion center should learn some parameters, such as the probabilities of primary transmission, false alarm, and detection at the local sensors. During the training period in supervised learning, the on/off log of primary transmission serves as the output label of decision statistics from the local sensor. In this paper, we extend unsupervised learning techniques with an expectation maximization algorithm for cooperative spectrum sensing, which does not require an external primary transmission log. Local sensors report binary hard decisions to the fusion center and adjust their operating points to enhance learning performance. Increasing the number of sensors, the joint-expectation step makes a confident classification on the primary transmission as in the supervised learning. Thereby, the proposed scheme provides accurate parameter estimates and a fast convergence rate even in low signal-to-noise ratio regimes, where the primary signal is dominated by the noise at the local sensors.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.468-472
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• 1992

In recent years, lots of researches on autonomous mobile robot have been accomplished. However they focused on environment recognition and its processing to make a decision on the motion, And cooperative multi-robot, which must be able to avoid crash and to make mutual communication, has not been studied much. This paper deals with cooperative motion of two robots, 'Meari 1" and "Meari 2 " made in our laboratory, based on communication between the two. Because there is an interference on communication occurring in cooperative motion of multi-robot, many restrictive conditions are required. Therefore, we have designed these robot system so that communication between them is available and mutual interference is precluded, and we used fuzzy interference to overcome unstability of sensor data.of sensor data.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권8호
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• pp.2755-2773
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• 2015

Cooperative spectrum sensing increases the detection performance in a cognitive radio network, based on the number of sensing nodes. However, as the number of sensing nodes increases, the reporting overhead linearly increases. This paper proposes two kinds of cooperative spectrum sensing with limited reporting in a centralized cognitive radio network, a soft combination with threshold-based reporting (SC-TR) and a soft combination with contention-based reporting (SC-CR). In the proposed SC-TR scheme, each sensing node reports its sensing result to the fusion center through its own reporting channel only if the observed energy value is higher than a decision threshold. In the proposed SC-CR scheme, sensing nodes compete to report their sensing results via shared reporting channels. The simulation results show that the proposed schemes significantly reduce the reporting overhead without sacrificing the detection performance too much.

• Journal of information and communication convergence engineering
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• 제9권4호
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• pp.391-395
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• 2011

Cognitive radio (CR) technique is a useful tool for improving spectrum utilization by detecting and using the vacant frequency bands while avoiding interference to the primary user. The sensing performance in a CR network can be improved by allowing some CR users to perform cooperative spectrum sensing. In this paper, we propose a new sensing algorithm that utilizes an adaptive energy threshold for cooperative spectrum sensing in which a changeable energy threshold is adopted by the CR users for improving local sensing performance. Through the proposed scheme, the reliability of global decision can be enhanced mainly due to the improvement in local sensing performance.

• 벤처창업연구
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• 제19권2호
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• pp.159-179
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• 2024

본 연구는 대기업과 스타트업의 협업 사례를 기반으로 개방형 혁신의 성공을 위해서는 상호 협력과 신뢰 관계 형성이 중요하다는 점을 협조적 게임이론 관점에서 제시하고, 어떻게 이를 구현할 수 있을지에 대한 시사점을 제공한다. 정보의 비대칭성, 그리고 대기업과 스타트업의 조직문화와 의사결정구조의 차이로 인해 일반적인 개방형 혁신에서는 참가자들 간의 비협조적 게임 형태로 협업이 진행될 가능성이 높으며, 이는 혁신의 정도가 낮아지는 개방형 혁신의 역설(the open innovation paradox) 현상으로 귀결된다. 이에 따라 본 연구는 "어떻게 하면 개방형 혁신을 협조적 게임 형태의 성공적인 협업으로 진행할 수 있을 것인가?"라는 연구문제에 기반하여 대기업 'G사'와 스타트업 'S사'와의 정보비대칭 상황에서 협업에 대한 사례연구를 수행하였다. 연구 결과, 성공적인 개방형 혁신을 위해서는 (1) 대기업-스타트업 간 조직문제를 해결하기 위해 양사 이해관계가 일치하는 명확한 목표 수립이 필요하다는 점, (2) 신뢰성 문제 해결을 위해서는 스타트업의 질적성장을 위한 인력파견 등의 지원이 중요하다는 점, (3) 이익배분 문제를 해결하기 위해서는 전략적 투자와 신사업 공동 추진으로 연결되는 유기적 협업이 중요하다는 점을 확인하였다. 본 연구는 개방형 혁신 성공 요인에 대한 논의를 참가자들 간의 조직 문화와 의사결정구조를 고려한 상호작용과 전략적 판단의 중요성으로 확장하는데 기여하고, 협조적 게임이론 관점에서 개방형 혁신의 성공 조건을 실증적으로 확인하였다는 점에서 그 의의를 찾을 수 있다.

• 대한전자공학회논문지TC
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• 제48권3호
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• pp.28-35
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• 2011

고용량의 멀티미디어 데이터 전송이 비약적으로 늘어나는 차세대 이동통신 시스템에서 cooperative ARQ 기법은 단말의 QoS를 만족시키기 위한 효과적인 방법이다. 그러나 기존의 cooperative ARQ 기법은 수신노드의 feedback을 받아서 재전송을 하기 때문에 채널 변화가 극심한 MANET 환경에서는 실시간 전송을 보장하기 어렵다는 단점이 있다. 본 논문에서는 ad-hoc OFDMA 통신 네트워크에서 cognitive relay를 이용한 협력통신 기반 cooperative ARQ 재전송 기법을 제안한다. 제안된 기법에서는 송신노드가 전송한 신호의 SINR을 relay가 사전에 sensing함으로써, 수신노드가 feedback 신호를 전송하기 전에 협력 통신을 능동적으로 제안한다. 이를 통하여, 무선 채널의 변화에 따른 지연 분산 특성을 극소화함으로써 실시간 통신을 원활하게 한다. 또한, relay에서 협력 통신을 제안할 때, 잘못된 제안을 최소화하기 위하여 최적의 sensing threshold를 유지할 수 있도록 하는 적응적 sensing threshold 최적화 알고리듬을 제안한다. 모의실험을 통하여, 실시간 멀티미디어 데이터 전송 시스템에서 제안된 cooperative ARQ 재전송 기법이 기존의 알고리듬에 비하여 프레임 전달시간 및 프레임 손실률 측면에서 우수한 성능을 가짐을 확인하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권3호
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• pp.1301-1318
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• 2017

In order to utilize the licensed channel of cognitive radio (CR) when the primary user (PU) is detected busy, a benefit-exchange access mode based on cooperative communication is proposed to allow secondary user (SU) to access the busy channel through giving assistance to PU's communication in exchange for some transmission bandwidth. A holistic joint optimization problem is formulated to maximize the total throughput of CR system through jointly optimizing the parameters of cooperative spectrum sensing (CSS), including the local sensing time, the pre-configured sensing decision threshold, the forward power of cooperative communication, and the bandwidth and transmission power allocated to SUs in benefit-exchange access mode and traditional access mode, respectively. To solve this complex problem, a combination of bi-level optimization, interior-point optimization and exhaustive optimization is proposed. Simulation results show that, compared with the tradition throughput maximizing model (TTMM), the proposed holistic joint optimization model (HJOM) can make use of the channel effectively even if PU is busy, and the total throughput of CR obtains a considerable improvement by HJOM.

• Journal of Communications and Networks
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• 제13권3호
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• pp.240-249
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• 2011

Cooperative diversity protocols have attracted a great deal of attention since they are thought to be capable of providing diversity multiplexing tradeoff among single antenna wireless devices. In the high signal-to-noise ratio (SNR) region, cooperation is rarely required; hence, the spectral efficiency of the cooperative protocol can be improved by applying a proper cooperation selection technique. In this paper, we present a simple "cooperation selection" technique based on instantaneous channel measurement to improve the spectral efficiency of cooperative protocols. We show that the same instantaneous channel measurement can also be used for relay selection. In this paper two protocols are proposed-proactive and reactive; the selection of one of these protocols depends on whether the decision of cooperation selection is made before or after the transmission of the source. These protocols can successfully select cooperation along with the best relay from a set of available M relays. If the instantaneous source-to-destination channel is strong enough to support the system requirements, then the source simply transmits to the destination as a noncooperative direct transmission; otherwise, a cooperative transmission with the help of the selected best relay is chosen by the system. Analysis and simulation results show that these protocols can achieve higher order diversity with improved spectral efficiency, i.e., a higher diversity-multiplexing tradeoff in a slow-fading environment.