• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.6
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• pp.785-791
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• 2021

In this paper, we propose a methodology for estimating the optimal traversable destination from the location-based information of the object recognized by the mobile robot to perform the object delivery service. The location estimation process is to apply the generalized Voronoi graph to the grid map to create an initial topology map composed of nodes and links, recognize objects and extract location data using RGB-D sensors, and collect the shape and distance information of obstacles. Then, by applying the hybrid approach that combines the center of gravity and thinning method, the optimal moving position for the service robot to perform the task of grabbing is estimated. And then, the optimal node information for the robot's work destination is updated by comparing the geometric distance between the estimated position and the existing node according to the node update rule.

• Journal of IKEEE
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• v.26 no.4
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• pp.584-589
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• 2022

For DC-AC power conversion from a high-voltage photovoltaic panel to a single-phase grid, the two-stage transformerless inverter with a buck-boost converter followed by a full-bridge inverter is widely used. To avoid an excessive leakage current due to the large parasitic capacitance of the photovoltaic panel, the full-bridge inverter can only adopt the bipolar PWM which results in much higher power loss compared to the unipolar PWM. In order to overcome such a poor efficiency, this paper proposes a new topology in which an IGBT and a diode for circuit isolation are added to the buck-boost converter. The proposed circuit isolation method allows the unipolar PWM in the full-bridge inverter without any increase in the leakage current so that the overall efficiency can be improved. The validity of the proposed solution is verified by computer simulation and power loss calculation.

• Wind and Structures
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• v.39 no.1
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• pp.1-14
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• 2024

Widespread damages from extreme winds have attracted lots of attentions of the resilience assessment of power distribution systems. With many related environmental parameters as well as numerous power infrastructure components, such as poles and wires, the increased challenge of power asset management before, during and after extreme events have to be addressed to prevent possible cascading failures in the power distribution system. Many extreme winds from weather events, such as hurricanes, generate widespread damages in multiple areas such as the economy, social security, and infrastructure management. The livelihoods of residents in the impaired areas are devastated largely due to the paucity of vital utilities, such as electricity. To address the challenge of power grid asset management, power system clustering is needed to partition a complex power system into several stable clusters to prevent the cascading failure from happening. Traditionally, system clustering uses the Binary Decision Diagram (BDD) to derive the clustering result, which is time-consuming and inefficient. Meanwhile, the previous studies considering the weather hazards did not include any detailed weather-related meteorologic parameters which is not appropriate as the heterogeneity of the parameters could largely affect the system performance. Therefore, a fragility-based network hierarchical spectral clustering method is proposed. In the present paper, the fragility curve and surfaces for a power distribution subsystem are obtained first. The fragility of the subsystem under typical failure mechanisms is calculated as a function of wind speed and pole characteristic dimension (diameter or span length). Secondly, the proposed fragility-based hierarchical spectral clustering method (F-HSC) integrates the physics-based fragility analysis into Hierarchical Spectral Clustering (HSC) technique from graph theory to achieve the clustering result for the power distribution system under extreme weather events. From the results of vulnerability analysis, it could be seen that the system performance after clustering is better than before clustering. With the F-HSC method, the impact of the extreme weather events could be considered with topology to cluster different power distribution systems to prevent the system from experiencing power blackouts.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.9 s.351
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• pp.165-174
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• 2006

In this paper, we propose a new contention window control algorithm to increase TCP performance in wireless multi-hop networks. The new contention window control algorithm is suggested to reduce the hidden and exposed terminal problems of wireless multi-hop networks. Most of packet drops in wireless multi-hop networks results from hidden and exposed terminal problems, not from collisions. However, in normal DCF algorithm a failed user increases its contention window exponentially, thus it reduces the success probability of fined nodes. This phenomenon causes burst data transmissions in a particular node that already was successful in packet transmission, because the success probability increases due to short contention window. However, other nodes that fail to transmit packet data until maximum retransmission attempts try to set up new routing path configuration in network layer, which cause TCP performance degradation and restrain seamless data transmission. To solve these problems, the proposed algorithm increases the number of back-of retransmissions to increase the success probability of MAC transmission, and fixes the contention window at a predetermined value. By using ns-2 simulation for the chain and grid topology, we show that the proposed algorithm enhances the TCP performance.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.1
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• pp.32-41
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• 2006

In this study, the thrust generation by simultaneous flapping airfoils in tandem configuration is parametrically studied with respect to flapping frequency, amplitude and relative location. Navier-Stokes solver with overset grid topology is employed to calculate the unsteady flowfields. The computation results indicate that when the two airfoils stroke in-phase - flapping phase lag is zero - the maximum propulsive efficiency and thrust can be obtained for most frequency and amplitude range. At a flapping amplitude of 0.2 chord and a reduced frequency of 0.75, the propulsive efficiency of aft airfoil is enhanced by about 37 % compared with that of forward airfoil. However, if flapping frequency exceeds some critical value, the strength of the leading edge vortex of aft airfoil is fortified by the trailing edge vortex of the forward airfoil, resulting in poor propulsive efficiency. It is also found that out-of-phase flapping has relatively low propulsive efficiency and thrust since vortical wake of the forward airfoil interacts with the leading edge vortex of aft airfoil in the unfavorable fashion. The total thrust and propulsive efficiency are shown to decrease with the horizontal miss distance of the aft airfoil. On the contrary, the vertical miss distance has little effect on the overall aerodynamic performance.

• Journal of KIISE
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• v.42 no.8
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• pp.1057-1064
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• 2015

The tactical network is system based on wireless networking technologies that ties together surveillance reconnaissance systems, precision strike systems and command and control systems. Several alternative paths exist in the network because it is connected as a grid to improve its survivability. In addition, the network topology changes frequently as forces and combatants change their network access points while conducting operations. However, most Internet routing standards have been designed for use in stable backbone networks. Therefore, tactical networks may exhibit a deterioration in performance when these standards are implemented. In this paper, we propose Priority based Multi-Path routing with Local Optimization(PMPLO) for a tactical backbone network. The PMPLO separately manages the global and local metrics. The global metric propagates to other routers through the use of a routing protocol, and it is used for a multi-path configuration that is guaranteed to be loop free. The local metric reflects the link utilization that is used to find an alternate path when congestion occurs, and it is managed internally only within each router. It also produces traffic that has a high priority privilege when choosing the optimal path. Finally, we conducted a simulation to verify that the PMPLO can effectively distribute the user traffic among available routers.

• Journal of KIISE:Information Networking
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• v.33 no.1
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• pp.76-90
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• 2006

Sensor network consists of a large number of sensor nodes that are densely deployed either inside the phenomenon or very close to it. The life time of each node in the sensor network significantly affects the life time of whole sensor network. A node which drained out its battery may incur the partition of whole network in some network topology The life time of each node depends on the battery capacity of each node. Therefore if all sensor nodes in the network live evenly long, the life time of the network will be longer. In this paper, we propose Cluster-Based Power-Efficient Routing (CBPER) Protocol which provides scalable and efficient data delivery to multiple mobile sinks. Previous r(luting protocols, such as Directed Diffusion and TTDD, need to flood many control packets to support multiple mobile sinks and many sources, causing nodes to consume their battery. In CBPER, we use the fact that sensor nodes are stationary and location-aware to construct and maintain the permanent grid structure, which makes nodes live longer by reducing the number of the flooding control packets. We have evaluated CBPER performance with TTDD. Our results show that CBPER is more power-efficient routing protocol than TTDD.