• Proceedings of the Korean Information Science Society Conference
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• 2004.04a
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• pp.592-594
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• 2004

Bluetooth 칩셋의 생산량을 보면, 보이지 않는 곳에서 Bluetooth의 성장은 계속 되고 있다. [1] 그리고 Bluetooth는 Scatternet을 구성하여 Personal Area Network의 영역을 넘어 Senssor network에 적용하는 것이 가능하다. 그러나 Bluetooth specification[2]에서는 Scatternet Formation 방법에 대해 제안하지 않는다. 이를 개선하기 위해 BTCP (Bleutooth Topology Construction Protocol)[3], Bluetree[4], Bluenet[5], TPSF(Two-Phase Scatternet Formation) protocol[6]이 제안되었다. 본 논문에서는 이러한 protocol들을 개략적으로 설명하고 그에 대한 장단점을 알아보겠다.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.526-532
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• 2014

In this paper, we present and analyze a LQ (Linear Quadratic) inverse optimal state-consensus protocol for continuous-time multi-agent systems with undirected graph topology. By Lyapunov analysis of the state-consensus error dynamics, we show the sufficient conditions on the algebraic connectivity of the graph to guarantee LQ inverse optimality and closed-loop stability. A more relaxed stability condition is also provided in terms of the algebraic connectivity. Finally, a formation control protocol for multiple mobile robots is proposed based on the target LQ inverse optimal consensus protocol, and the simulation results are provided to verify the performance of the proposed LQ inverse formation control method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.4A
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• pp.411-417
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• 2008

This paper proposes BSFP (Bluetooth Scatternet Formation Protocol), which establishes a multi-hop bluetooth scatternet. BSFP independently operates on each bluetooth device, does not require any information on neighbor devices at the very beginning, and can establish a scatternet even though all the devices are spreaded beyond the bluetooth transmission range. BSFP is composed of the following three stages; 1) Init stage to investigate neighbor nodes, 2) Ready stage to establish a scatternet using gathered local information at each node, and 3) Complete stage to use the determined scatternet links. In BSFP, the scatternet formation time does not significantly affected by the number of bluetooth devices and a robust mobile ad hoc network is formed because BSFP formulates a scatternet with many adjacent links to neighbor devices.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.434-441
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• 2015

In this paper, we propose an inverse optimal distributed protocol for the formation and velocity consensus of nonholonomic mobile robots. The communication among mobile robots is described by a simple undirected graph, and the mobile robots' kinematics are considered. The group of mobile robots driven by the proposed protocols asymptotically achieves the desired formation and group velocity in an inverse optimal fashion. The design of the protocols is based on dynamic feedback linearization and the proposed linear quadratic (LQ) inverse optimal second-order consensus protocol. A numerical simulation is given to verify the effectiveness of the proposed scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1225-1230
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• 2014

This paper investigates the group average-consensus and group formation-consensus problems for first-order multi-agent systems. The control protocol for group consensus is designed by considering the positive adjacency elements. Since each intra-group Laplacian matrix cannot be satisfied with the in-degree balance because of the positive adjacency elements between groups, we decompose the Laplacian matrix into an intra-group Laplacian matrix and an inter-group Laplacian matrix. Moreover, average matrices are used in the control protocol to analyze the stability of multi-agent systems with a fixed and undirected communication topology. Using the graph theory and the Lyapunov functional, stability analysis is performed for group average-consensus and group formation-consensus, respectively. Finally, some simulation results are presented to validate the effectiveness of the proposed control protocol for group consensus.

• Journal of KIISE:Information Networking
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• v.31 no.3
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• pp.314-326
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• 2004

Bluetooth has been reputed as a wireless ad-hoc networking technology supplying scalable and extensible networks between digital devices. For that kind of networks, scatternet is a most essential part in bluetooth. But past researches on bluetooth scatternet has proposed only possibilities of scatternet algorithm based on simulation results. And many of the researches failed in guaranteeing extensibility and flexibility and had many difficulties in real hardware implementation. In this paper, we proposed node ring scatternet(NRS) algorithm guaranteeing extensible and flexible networks. NRS algorithm is designed for hardware implementation using real commercial bluetooth module. That algorithm is divided into initial formation and reformation. For initial formation, we proposed limited SEEK/SCAN algorithm. For reformation, we proposed DIAC algorithm and Reserved Recovery Node algorithm. And we proposed SFMP(Scatternet Formation ＆ Management Protocol) in protocol stack for real implementation. NRS algorithm is operated in SFMP. Finally, we performed real hardware experiments and evaluated the proposed algorithm. In that experiments, we succeeded in forming scatternet up to 20 nodes. In comparison with other similar algorithm, proposed algorithm have the improvement in scatternet formation delay and success rate.

• Journal of the Korean Society for Railway
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• v.6 no.2
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• pp.135-141
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• 2003

According to the computerization of railway signaling systems, the interface link between these signaling equipment is also replaced by digital communication channel, expecially communication link for interface between EIS and LDTS, but there are some problems in the present state of railway signaling. First of all, different communication protocol is applied to interface between above two signaling equipment although they have same functions. The other is that the communication protocol currently used in railway field has some unreasonable points such as structure, formation of byte, error correction scheme and etc. To solve these problems, the standard communication protocol for railway signaling is designed. The structure of designed communication protocol and the results of performance analyses are represented in this paper. It will be expected the increase of safety, reliability and efficiency of maintenance of signaling system by using of the designed communication protocol for railway signaling.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.7
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• pp.3494-3510
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• 2019

Wireless sensor networks encounter energy saving as a major issue as the sensor nodes having no rechargeable batteries and also the resources are limited. Clustering of sensors play a pivotal role in energy saving of the deployed sensor nodes. However, in the cluster based wireless sensor network, the cluster heads tend to consume more energy for additional functions such as reception of data, aggregation and transmission of the received data to the base station. So, careful selection of cluster head and formation of cluster plays vital role in energy conservation and enhancement of lifetime of the wireless sensor networks. This study proposes a new mutation chemical reaction optimization (MCRO) which is an algorithm based energy efficient clustering protocol termed as MCRO-ECP, for wireless sensor networks. The proposed protocol is extensively developed with effective methods such as potential energy function and molecular structure encoding for cluster head selection and cluster formation. While developing potential functions for energy conservation, the following parameters are taken into account: neighbor node distance, base station distance, ratio of energy, intra-cluster distance, and CH node degree to make the MCRO-ECP protocol to be potential energy conserver. The proposed protocol is studied extensively and tested elaborately on NS2.35 Simulator under various senarios like varying the number of sensor nodes and CHs. A comparative study between the simulation results derived from the proposed MCRO-ECP protocol and the results of the already existing protocol, shows that MCRO-ECP protocol produces significantly better results in energy conservation, increase network life time, packets received by the BS and the convergence rate.

• IEMEK Journal of Embedded Systems and Applications
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• v.11 no.6
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• pp.343-351
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• 2016

In this study, we implemented a formation flight control system using two drones. Ground control system communicates with drones by MAVLink protocol, does keep watch on drone's status and sends simultaneously formation flight instructions to drones in real time. Two drones have been able to fly by a formation flight algorithm without crashing while maintaining the same speed, and a constant distance and altitude.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2005.11a
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• pp.461-470
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• 2005

A dynamic supply chain that is composed of many different companies with different rent roles and interests allows free joining and secession. Buyers place orders simultaneously and manufacturers should compete each other for the orders. The purpose of our paper is how to find the optimal formation of supply chain ill a global viewpoint while allowing each member company to pursue his local goal The dynamic nature of supply chain formation causes the variation of cost depending on how many orders a manufacturer would accept. We propose a multi-agent based negotiation protocol that efficiently leads to the formation of optimal supply chain without giving up maximization of the individual profit in multi-agent environment of the make-to-order industry. The goal of the negotiation is to form a supply chain to minimize the overall sum of manufacturers' manufacturing cost, and earliness cost and tardiness cost based on SET model. We compare the negotiation protocol with Branch & Bound method. Finally, the validity and performance of buyer's negotiation has been tested experimentally.