• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.11 no.1
• /
• pp.374-395
• /
• 2017

Users quite often experience volatile channel conditions which negatively influence multimedia transmission. HTTP adaptive streaming has emerged as a new promising technology where the video quality can be adjusted to variable network conditions. Nevertheless, the new technology does not remain without drawbacks. As it has been observed, multiple video players sharing the same network link have often problems with achieving good efficiency and stability of play-out due to a mutual interference and competition among video players. Our investigation indicates that there may be another cause for under-performance of the streamed video. In an emulated environment, we implemented three algorithms of adaptive video play-out based on bandwidth or buffer assessment. As we show, traffic generated by players employing the same or similar play-out strategies is positively correlated and synchronised (clustered), whereas traffic originated from different play-out strategies shows negative or no correlations. However, when some of the parameters of the play-out strategies are randomised, the correlation and synchronisation diminish what has a positive impact on the smoothness of the traffic and on the video quality perceived by end users. Our research shows that non-correlated traffic flows generated by play-out strategies improve efficiency and stability of streamed adaptive video.

• Convergence Security Journal
• /
• v.12 no.3
• /
• pp.67-73
• /
• 2012

In this paper, in order to overcome the disadvantage of wireless-based sensor network, a hybrid sensor network using wired and wireless linkage is proposed. Proposed a wired and wireless linkage hybrid sensor network can compensate the defect of poor transmission at the indoor wireless environment, and can be free from interference between a wireless LAN and Bluetooth of the same frequency bandwidth due to an attribute of low-loss transmission at the CATV network. Also, proposed a wired and wireless linkage hybrid sensor network make use of CATV network which is well-built infrastructure, is more efficient to design network, assure a stability and high reliability of the sensor network as providing a stability for an inaccuracy and a predictable transmission link for the existing wireless network.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.13 no.3
• /
• pp.1213-1237
• /
• 2019

Vehicular Ad-hoc Network (VANET) facilities envision future Intelligent Transporting Systems (ITSs) by providing inter-vehicle communication for metrics such as road surveillance, traffic information, and road condition. In recent years, vehicle manufacturers, researchers and academicians have devoted significant attention to vehicular communication technology because of its highly dynamic connectivity and self-organized, decentralized networking characteristics. However, due to VANET's high mobility, dynamic network topology and low communication coverage, dissemination of large data packets (e.g. multimedia content) is challenging. Clustering enhances network performance by maintaining communication link stability, sharing network resources and efficiently using bandwidth among nodes. This paper proposes a mobility-based, multi-hop clustering algorithm, (MBCA) for multimedia content broadcasting over an IEEE 802.11p-LTE-enabled hybrid VANET architecture. The OMNeT++ network simulator and a SUMO traffic generator are used to simulate a network scenario. The simulation results indicate that the proposed clustering algorithm over a hybrid VANET architecture improves the overall network stability and performance, resulting in an overall 20% increased cluster head duration, 20% increased cluster member duration, lower cluster overhead, 15% improved data packet delivery ratio and lower network delay from the referenced schemes [46], [47] and [50] during multimedia content dissemination over VANET.

• The Journal of Korea Robotics Society
• /
• v.17 no.4
• /
• pp.438-446
• /
• 2022

In this paper, we propose an intelligent three-legged landing system that can maintain stability and level even on rough terrain than conventional four-legged landing systems. Conventional landing gear has the limitation that it requires flat terrain for landing. The 3-leg landing system proposed in this paper extends the usable range of the legs and reduces the weight, allowing the quadcopter to operate in various environments. To do this, kinematics determine the joint angles and coordinates of the legs of the two-link structure. Based on the angle value of the quadcopter detected via the IMU sensor, the leg control method that corrects the posture is determined. A force sensor attached to the end of the leg is used to detect contact with the ground. At the moment of contact with the ground, landing control starts according to the value of the IMU sensor. The proposed system verifies its reliability in various environments through an indoor landing test stand. Finally, in an outdoor environment, the quadcopter lands on a 20 degree incline and 20 cm rough terrain after flight. This demonstrates the stability and effectiveness of the 3-leg landing system even on rough terrain compared to the 4-leg landing system.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.4 s.175
• /
• pp.1007-1015
• /
• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.8
• /
• pp.731-737
• /
• 2013

In this paper, we propose an image-based output feedback robust controller of robot manipulators which have bounded parametric uncertainty. The proposed controller contains an integral action and high-gain observer in order to improve steady state error of joint position and performance deterioration due to measurement errors of joint velocity. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulations on a 5-link robot manipulators with two degrees of freedom.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.10
• /
• pp.1014-1021
• /
• 2008

This paper proposes an intelligent sliding mode control method for robotic systems with the unknown bound of model uncertainties. In our control structure, the unknown bound of model uncertainties is used as the gain of the sliding controller. Then, we employ the function approximation technique to estimate the unknown nonlinear function including the width of boundary layer and the uncertainty bound of robotic systems. The adaptation laws for all parameters of the self-recurrent wavelet neural network and those for the reconstruction error compensator are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with model uncertainties and external disturbances. Accordingly, the proposed method can not only overcome the chattering phenomenon in the control effort but also have the robustness regardless of model uncertainties and external disturbances. Finally, simulation results for the five-link biped robot are included to illustrate the effectiveness of the proposed method.

• KSBB Journal
• /
• v.6 no.3
• /
• pp.249-254
• /
• 1991

Permeabilization of Zymomonas mobilis with CTAB(Cetyltrimethylammoniumbromide) was investigated in order to obtain stable process for sorbitol production in the immobilized system. The optimum conditions for sorbitol formation were obtained in the case of using cells treated with 0.2% CTAB at$ 4^{\circ}C$ for 10 min. Permeabilized cells were treated with glutaraldehyde to cross-link the internal enzyme for the improvement of the enzyme stability. In this way, no significant loss of enzyme activity was apparent during 30-day operation in a continuous process. The productivity of the continuous process at dilution rate 0.2h-1 was 6.51g/1/h for sorbitol. The CTAB permeabilized cells could be used to produce sorbitol in the long term continuous process.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10b
• /
• pp.172-178
• /
• 1993

This paper deals with the modeling and experiment of a robot system for force/impact control performance. The basic model is composed of a direct drive motor, servo amplifier, link, force sensor and environments. Based on the developed model, the stability of the whole system was analyzed via root locus method. For the force control, integral force compensation with velocity feedback method shows the best performance of all the explicit force control strategies. In dealing with impact, PID position control and the explicit force control method were implemented. Instead of add more damping to the robot system by velocity feedback, we developed a new passive damping method and it was also applied to enhance the damping characteristic of the system.

• Carbon letters
• /
• v.14 no.1
• /
• pp.58-61
• /
• 2013

In this work, the effect of catalysts on the mechanical properties of carbon fibers-reinforced epoxy matrix composites cured by cationic latent thermal catalysts, i.e., N-benzylpyrazinium hexafluoroantimonate (BPH) was studied. Differential scanning calorimetry was executed for thermal characterization of the epoxy matrix system. Mechanical interfacial properties of the composites were studied by interlaminar shear strength (ILSS), critical stress intensity factor ($K_{IC}$), and specific fracture energy ($G_{IC}$). As a result, the conversion of neat epoxy matrix cured by BPH was higher than that of one cured by diaminodiphenyl methane (DDM). The ILSS, $K_{IC}$, $G_{IC}$, and impact strength of the composites cured by BPH were also superior to those of the composites cured by DDM. This was probably the consequence of the effect of the substituted benzene group of BPH catalyst, resulting in an increase in the cross-link density and structural stability of the composites studied.