• International Journal of Computer Science & Network Security
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• v.21 no.12
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• pp.21-28
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• 2021

In this paper, a novel data transferring method is introduced that can transmit sensor data without using data bandwidth or an extra-processing cycle in a delay insensitive network. The proposed method uses human devices as Mules, does not disturb the device owner for permission, and saves energy while transferring sensor data to the collection hub in a wireless sensor network. This paper uses IP addressing technique as the data transferring mechanism by embedding the sensor data with the IP address of a Mule. The collection hub uses the ARP sequence method to extract the embedded data from the IP address. The proposed method follows WiFi standard in its every step and ends when data collection is over. Every step of the proposed method is discussed in detail with the help of figures in the paper.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.7 s.178
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• pp.1854-1862
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• 2000

Input shaping method is to convolute input shaper, which is sequence of impulses, with reference input command not to excite the natural frequency of system. To reduce residual vibration for the ch ange of frequency, the number of impulses should be increased. Until now, amplitudes and time interval of those has been searched from the derivative of residual vibration. However, if time interval of impulses is fixed as the half of vibration period of system, input shaper H(z) in z-domain becomes (I-pz-1)n/K in which increasing n is the mean that robustness for change of parameter is improved. Also, design of many types of input shapers in z-domain is very easy because sensitivity curve is displayed with $\mid$H(z)zn$\mid$$\times$100. In the z-domain, EI(Extra-Insensitive) input shaper could be designed without solving nonlinear simultaneous equations as design in continuous time domain. In addition to, the design possibility of input shaper for a damped system was shown.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.4
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• pp.181-188
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• 2000

Input shaping is a method fur reducing residual vibration. Vibration is eliminated by convolving an input shaper, which is a sequence of impulses, with the desired system command. It has been applied to robot with a flexible manipulator. But it can be applied to the reduction of residual vibration far overhead crane. In this paper, input shaping shows good performance for anti-sway of overhead crane. In the z-domain, we designed an input shaper and calculated the sensitivity of it. If sensitivity is calculated in the z-domain, the shapes of sensitivity curves are expected easily. Accordingly, it is easy to design an input shaper in the z-domain. We compared the response of a system with shaper to it without that. Also, we compared El shaper to ZV shaper in view of robustness.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.1
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• pp.67-73
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• 2002

The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers have been considered robustness fur only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness fur the variation of frequency and damping ratio.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.4 s.97
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• pp.155-162
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• 1999

Input shaping technique has been used as a simple method of controlling the residual vibration of a flexible manipulator. With the conventional methods previously proposed by several authors, the frequency range that shows a good performance is restricted. When the designed frequency being different from the natural frequency of a system, the performance of control degrades remarkably. This paper introduced a new technique that designs input shaping with robustness in the z-domain.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.127-133
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• 2001

The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers has been considered robustness for only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness for the variation of frequency and damping ratio.