• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.82.1-82
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• 2001

It is known that existence of irregular transmission time delay is a major bottleneck for application of advanced robot control schemes to internet telerobotic systems. In the internet teleoperation system, the irregular transmission time delay causes a critical problem, which is unstable and inaccurate. This paper suggests a practical internet teleoperation system with streaming buffer system, which consists of a buffer, a buffer manager, and a control timer. The proposed system converts the irregular transmission time delay to constant. So, the system effectively transmits the control input to a remote site to operate a robot stably and accurately. This feature enables short control input interval. That means the entire system has ...

• Journal of Advanced Navigation Technology
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• v.23 no.6
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• pp.577-583
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• 2019

A dynamic system is called positive if any trajectory of the system starting from non-negative initial states remains forever non-negative for non-negative controls. In this paper, we consider the new stability condition for the positive time-varying linear discrete interval systems with time-varying delay and unstructured uncertainty. The delay time is considered as time-varying within certain interval having minimum and maximum values and the system is subjected to nonlinear unstructured uncertainty which only gives information on uncertainty magnitude. The proposed stability condition is an improvement of the previous results which can be applied only to time-invariant systems or had no consideration of uncertainty, and they can be expressed in the form of a very simple inequality. The stability conditions are derived using the Lyapunov stability theory and have many advantages over previous results using the upper solution bound of the Lyapunov equation. Through numerical example, the proposed stability conditions are proven to be effective and can include the existing results.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.327-332
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• 2003

A new discretization method for nonlinear system with time-delay is proposed. It is based on the well-known Taylor series expansion and the zero-order hold (ZOH) assumption. We know that a discretization of linear system can be obtained with the ZOH assumption and within the sampling interval. A similar line of thinking is available in nonlinear case. The mathematical structure of the new discretization method is explored and under the structure, the sampled-data representation of nonlinear system including time-delay is computed. Provided that the discrete form of the single input nonlinear system with time-delay is derived, this result is easily extended to nonlinear system with multi-input time-delay. For simplicity two inputs are considered in this study. It is enough to generalize that of multiple inputs. Finally, the time-discretization of non-affine nonlinear system with time-delay is investigated for apply all nonlinear system

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.1
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• pp.205-214
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• 2008

To transfer large amount of packets fast in sensor network, it is necessary that the delay between successive packet transmissions should be minimized as possible. In Sensor network, since the Operating Systems are worked on the event driven, the Timer Event is used to transfer packets successively. However, since the transferring time of packet completely is varies very much, it is very hard to set appropriate interval. If interval is too long, delay also becomes too long but if interval is too short, the fail of transfer request would increase. In this paper, we propose ESTEO which reduces the delay between successive packet transmissions by using SendDone Event which informs that a packet transmission has been completed. In ESTEO, the delay between successive packet transmissions is shortened very much since the transmission of next Packet starts at the time when the transmission of previous packet has completed, irrespective of the transmission time. Therefore ESTEO could provide high packet transmission rate given large amount of packets.

• Journal of Information Processing Systems
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• v.16 no.6
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• pp.1447-1458
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• 2020

This paper describes a structured overlay network scheme based on multiple different time intervals. Many types of data (e.g., sensor data) can be requested at specific time intervals that depend on the user and the system. These queries are referred to as "interval queries." A method for constructing an overlay network that efficiently processes interval queries based on multiple different time intervals is proposed herein. The proposed method assumes a ring topology and assigns nodes to a keyspace based on one-dimensional time information. To reduce the number of forwarded messages for queries, each node constructs shortcut links for each interval that users tend to request. This study confirmed that the proposed method reduces the number of messages needed to process interval queries. The contributions of this study include the clarification of interval queries with specific time intervals; establishment of a structured overlay network scheme based on multiple different time intervals; and experimental verification of the scheme in terms of communication load, delay, and maintenance cost.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.501-508
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• 2004

A new method to solve a Lyapunov equation for a discrete delay system is proposed. Using this method, a Lyapunov equation can be solved from a simple linear equation and N-th power of a constant matrix, where N is the state delay. Combining a Lyapunov equation and frequency domain stability, a new stability condition is proposed for a discrete state delay system whose state delay is not exactly known but only known to lie in a certain interval.

• Journal of Trauma and Injury
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• v.23 no.2
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• pp.113-118
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• 2010

Purpose: Prolonged stay in the emergency department (ED), which is closely related with the time interval from the ED visit to a decision to admit, might be associated with poor outcomes for trauma patients and with overcrowding of the ED. Therefore, we examined the factors affecting the delay in the decision to admit severe trauma patients. Also, a multidisciplinary department system was preliminarily evaluated to see if it could reduce the time from triage to the admission decision. Methods: A retrospective observational study was conducted at a tertiary care university hospital without a specialized trauma team or specialized trauma surgeons from January 2009 to March 2010. Severe trauma patients with an International Classification of Disease Based Injury Severity Score (ICISS) below 0.9 were included. A multivariable logistic regression analysis was used to find independent variables associated with a delay in the decision for admission which was defined as the time interval between ED arrival and admission decision exceeded 4 hours. We also simulated the time from triage to the decision for admission by a multidisciplinary department system. Results: A total of 89 patients were enrolled. The average time from triage to the admission decision was $5.2{\pm}7.1$ hours and the average length of the ED stay was $9.0{\pm}11.5$ hours. The rate of decision delay for admission was 31.5%. A multivariable regression analysis revealed that multiple trauma (odds ratio [OR]: 30.6, 95%; confidence interval [CI]: 3.18-294.71), emergency operation (OR: 0.55, 95%; CI: 0.01-0.96), and treatment in the Department of Neurosurgery (OR: 0.07, 95%; CI: 0.01-0.78) were significantly associated with the decision delay. In a simulation based on a multidisciplinary department system, the virtual time from triage to admission decision was $2.1{\pm}1.5$ hours. Conclusion: In the ED, patients with severe trauma, multiple trauma was a significant factor causing a delay in the admission decision. On the other hand, emergency operation and treatment in Department of Neurosurgery were negatively associated with the delay. The simulated time from triage to the decision for admission by a multidisciplinary department system was 3 hours shorter than the real one.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.593-594
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• 2015

In wireless sensor networks (WSNs), due to the very low data rate, the sleeping schedule is usually used to save consumed energy and prolong the lifetime of nodes. However, duty-cycled approach can cause a high end-to-end (E2E) delay. In this paper, we study a node scheduling algorithm in WSNs such that E2E delay meets bounded delay with a given probability. We have applied the probability theory to spot the relationship between E2E delay and node interval. Simulation result illustrates that we can create the network to achieve given delay with prior probability and high energy use efficient as well.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.112-115
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• 1999

A new method to solve a Lyapunov equation for a discrete delay system is proposed. Using this method, a Lyapunov equation can be solved from a simple linear equation and N-th power of a constant matrix, where N is the state delay. Combining a Lyapunov equation and frequency domain stability, a new stability condition is proposed. The proposed stability condition ensures stability of a discrete state delay system whose state delay is not exactly known but only known to lie in a certain interval.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.895-901
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• 2012

The stability robustness problem of linear discrete systems with time-varying unstructured uncertainty of delayed states with time-varying delay time is considered. The proposed conditions for stability can be used for finding allowable bounds of timevarying uncertainty and delay time, which are solved by using LMI (Linear Matrix Inequality) and GEVP (Generalized Eigenvalue Problem) known as powerful computational methods. Furthermore, the conditions can imply the several previous results on the uncertainty bounds of time-invariant delayed states. Numerical examples are given to show the effectiveness of the proposed algorithms.