• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.8 s.350
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• pp.77-83
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• 2006

In this paper, we have pesented a reliable data transfer mechanism using Directed Diffusion in WSNs (fireless Sensor Networks). This mechanism involves selecting a route with higher reachability and transferring data along the route chosen, which is based on the end-to-end reliability calculated by the dissemination procedure of Interest packets, while each node of a sensor network maintains the only information on its neighborhood. We performed various experiments changing the link error rates and the number of nodes and discovered that this proposed mechanism improves event-to-sink data transfer reliability in WSNs. We also found that this mechanism spreads traffic load over and reduces energy consumption, which in turn prolongs network lifetime.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.4
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• pp.6-15
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• 2002

A neural network disturbance observer for a robotic manipulator is derived in this paper. The neural network used as the disturbance observer is a feedforward MLP(multiple-layered perceptron) network. The uniform ultimate boundness(UUB) of the proposed neural disturbance observer and the control error within a sufficiently small compact set is guaranteed. This neural disturbance observer method overcomes the disadvantages of the existing adaptive control methods which require the tedious analysis of the regressor matrix of the given manipulator. The effectiveness of the proposed neural disturbance observer is demonstrated by the application to the three-link robotic manipulator.

• International Journal of Contents
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• v.10 no.2
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• pp.9-17
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• 2014

Since vehicles' trajectories are so complex and dense traffic changes in nature frequently, the VANET (Vehicles Ad-hoc Network), using Omni-directional Antenna, has many channel collisions (or overlapping) on Data Link phrases (MAC layers). It is not easy to keep a good seamless communication status for VANET because of its unpredictable network environment. Among VANET research, Directional Antenna have been proposed as one of the most common systematical solutions to reduce (or to mitigate) this miss-communication problems by narrowing communicational ranges and making use of its customized error-detection process. However, even though Directional Antennas help VANET keep good seamless communication, many VANET researchers have reported that Directional VANET still has miss-communicational problems - this has lead to problems like 'Directional Hidden Terminal Problem', 'Deafness', 'Un-accuracy Lobe Scopes' and 'High Deployment Cost' being reported in various papers. To establish well-organized design assessments for a good Directional VANET MAC protocol to overcome these problems, we rearranged and grouped current Directional VANET' qualitative criteria from several current survey papers using these categories- 'Directional Discovery', 'Directional Forwarding' and 'Directional Handover'. In addition, based on the results of the following analysis, we show the essential design concerns that need to be looked at in order to develop a well-designed Directional-VANET MAC protocol.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.7
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• pp.3431-3445
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• 2017

Due to the advantages of low transmit power consumption, high spectral efficiency and extended system coverage, Device-to-Device (D2D) communication has drawn explosive attention in wireless communication field. Considering that intra-cell interference caused between cellular signals and D2D signals, in this paper, a network coding-based D2D relay cooperative transmission algorithm is proposed. Under D2D single-hop relay transmission mode, cellular interfering signals can be regarded as useful signals to code with D2D signals at D2D relay node. Using cellular interfering signals and network coded signals, D2D receiver restores the D2D signals to achieve the effect of interference suppression. Theoretical analysis shows that, compared with Amplify-and-forward (AF) mode and Decode-and-forward (DF) mode, the proposed algorithm can dramatically increase the link achievable rate. Furthermore, simulation experiment verifies that by employing the proposed algorithm, the interference signals in D2D communication can be eliminated effectively, and meanwhile the symbol error rate (SER) performance can be improved.

• Journal of Advanced Navigation Technology
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• v.14 no.2
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• pp.198-205
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• 2010

Any user in Ubiquitous environments have to be able to access networks in anywhere and anytime. Thus interests and researches are increasing. In this paper, we propose an interface selection scheme that adaptively utilizes a proper interface, as the wireless channel condition changes, instead of utilizing only one interface while the node is in move. The proposed scheme can determine which interface would be the most proper one by measuring data rate, packet error rate (PER), and end-to-end delay of each interface. From the simulation results, it is verified that the proposed scheme is able to enhance packet transmission about 20% better.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1494-1499
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.9
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• pp.1812-1823
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• 1994

In this paper, we focus on the simulation of receiver algorithms for the Q-CDMA reverse link modem to analyze its structure and performance. Receiver algorithm is to be characterized by processing a large amount of data for reliable data transmission through poor mobile channel environment. According to Q-CDMA receiver scheme, we connect the code acqusition and code tracking models for despreading of input signals and the RAKE structure demodulator used to resolve the time diversity signal due to multipath propagation. And this connected system is under test. The bit error rates are found for an arbitrary user under the AWGN and multipath fading environments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.3
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• pp.523-541
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• 2011

In current IEEE 802.11 wireless LAN, every unicast transmission requires an ACK from the receiver for reliability, though it consumes energy and bandwidth. There have been studies to remove or reduce ACK overhead, especially for energy efficiency. However none of them are practically used now. This paper introduces a noble method of selective unacknowledged transmission, where skipping an ACK is dynamically decided frame by frame. Utilizing the fact that a multicast frame is transmitted without accompanying an ACK in 802.11, the basic unacknowledged transmission is achieved simply by transforming the destination address of a frame to a multicast address. Since removing ACK is inherently more efficient but less strict, its practical profit is dependent on traffic characteristics of a frame as well as network error conditions. To figure out the selective conditions, energy and performance implications of unacknowledged transmission have been explored. Extensive experiments show that energy consumption is almost always reduced, but performance may be dropped especially when TCP exchanges long data with a long distance node through a poor wireless link. An experiment with a well-known traffic model shows that selective unacknowledged transmission gives energy saving with comparable performance.

• International Journal of Highway Engineering
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• v.15 no.2
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• pp.131-138
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• 2013

PURPOSES : The intents of the study are to identify the accident factors and to demonstrate the potentials of tobit model as a tool to study the number of accidents on arterial roads segments. METHODS : This paper uses a tobit regression as a methodology to analyze the factors affecting the number of accidents. In pursuing the above goal, this study gives particular attentions to analyzing the data of 2,446 accidents (1,610 in major arterial roads and 836 in minor arterial roads) occurred on arterial roads in 2007 to 2010. RESULTS : First, 3 accident models which were classified by total arterial roads, major arterial roads and minor arterial roads, and were all statistically significant were developed. Second, the exclusive right-turn lane as common variable, and the number of accident, traffic volume, number of lanes, link length, rate of median, number of entrances, number of pedestrian crossings, number of curves, number of bus stops and exclusive left-turn as specific variables of the models were selected. Finally, the paired sample t-test could not be rejected the null hypotheses of three types of models. CONCLUSIONS : Using data from vehicle accidents on arterial roads, the estimation results show that many factors related to roadway geometrics and traffic characteristics significantly affect to the number of accidents.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.285-292
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• 2016

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.