• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.265-265
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• 2000

In this paper the systematic modeling method of general wheeled mobile robot is proposed. First we show how to describe kinematics properties of wheeled mobile robot in the method formulating constraint equations using Basic Homogeneous Transform(BHT) which is used mainly the kinematics modeling of manipulator, and, under assumption it's provided part of nullvector in given constraint equations, find kinematics model of mobile robot related to actuators in real robot.

• 한국환경과학회지
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• 제11권7호
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• pp.697-703
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• 2002

In the present study, space allocation methods of pollutant emission from area and mobile sources are assessed by the actual application to air quality modeling of Pohang area. It is found that the TM-based modeling which allocates emission onto the 1km x 1km sized TM-grid system predicts almost the same mean ground-level concentration as that by the GIS-based modeling which uses geographical information of area and mobile sources directly, while maximum ground-level concentration by the TM-based modeling is predicted considerably lower than that by the GIS-based modeling. Moreover, the problem is found that the TM-based modeling causes deviation of mobile roads. In conclusion, it is anticipated to applying GIS-based modeling for a more accurate assessment of air quality in local scale.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2001년도 The Seoul International Simulation Conference
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• pp.453-458
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• 2001

A mobile agent is an autonomous software agent capable of moving from one computer to another while performing its tasks. We view the agent as a discrete event system in the view of its computation and communication. This paper presents a methodology far modeling and simulation of such a mobile agent system as a discrete event system. The methodology is based on the Mobile Discrete Event System Specification (MDEVS) formalism and the associated simulation environment AgentSim which are previously developed by the authors. Within the methodology an atomic model represents dynamics of a mobile agent; a coupled model is modeled as mobile agent servers for representation of structural changes between atomic agents. Being based on the object-oriented environment the modeling methodology exploits inheritance of basic classes AtomicModel and CoupledModel provided by AgentSim.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.44-44
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• 2000

Firstly, kinematic model of various type of wheels which includesskidding and skidding friction are presented. Tend, the transfer method of generalized coordinates which is useful to model the parallel mechanisms, can be applied to mobile robot by including such friction terms. Particularly, by appling the modeling method to mobile robot consisting of two conventional wheels and one caster wheel, forword/reverse kinematic modeling could be obtained without using pseudoinverse solutions.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2010년도 춘계 종합학술대회 논문집
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• pp.390-392
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• 2010

Mobile grid system supports the integration mobile devices as grid resources. Availability of mobile resources changes dynamically in mobile grid system. Stochastic reward nets (SRN) is an extension of stochastic Petri nets and provides compact modeling facilities for system analysis. We build the SRN model to represent availability of mobile resources with disconnected operation service.

• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.86-100
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• 2008

Most of the previously employed dynamic modeling approaches, including Natural Orthogonal Complement Algorithm, have limitations on their application to the mobile robot, specifically at singular configurations. Also, in their dynamic modeling of mobile robots, wheel dynamics is usually ignored assuming that its dynamic effect is negligibly small. As a remedy for this, a singularity-free operational space dynamic modeling approach based on Lagrange's form of the D' Alembert principle is proposed, and the singularity-free characteristic of the proposed dynamic modeling is discussed in the process of analytical derivation of the proposed dynamic model. Then an accurate dynamic model taking into account the wheel dynamics of the omni-directional mobile robot is derived, and through simulation it is manifested that the effect of the wheel dynamics on the whole dynamic model of the mobile robot may not be negligible, but rather in some cases it is significantly large, possibly affecting the operational performances of dynamic model-based control algorithms. Lastly, the importance of its accurate dynamic model is further illustrated through impulse analysis and its simulation for the mobile robot.

• 한국산학기술학회논문지
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• 제14권8호
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• pp.3999-4005
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• 2013

스마트 폰 2천만 시대가 도래 하면서 향후 모바일 시장의 규모는 엄청나게 거대해질 것으로 전망되고 있다. 이러한 흐름에 동반하여 소프트웨어 개발의 형태도 웹 기반 소프트웨어에서 모바일 기반의 앱 형태나 클라우드 컴퓨팅 기반의 서비스 형태로 변화되고 있다. 현재 전 세계적으로 스마트폰을 위한 플랫폼으로는 구글의 안드로이드와 애플의 IOS가 양대 산맥을 이루고 있다. 이러한 플랫폼 하에서 실행되는 모바일 앱을 개발할 경우 기존의 소프트웨어 모델링 기법을 그대로 적용할 수가 없다. 따라서 본 연구에서는 기존의 소프트웨어 모델링 기법을 안드로이드 기반의 소프트웨어 개발에 맞도록 특화된 모델링 기법을 제안한다. 안드로이드 기반의 모바일 스마트 환경에 필요한 분석 및 설계 기법을 모델링 기법으로 제안한다.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.233-242
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• 2002

A kinematic modeling method is proposed which models the sliding and skidding at the wheels as pseudo joints and utilizes those pseudo joint variables as augmented variables. Kinematic models of various type of wheels are derived based on this modeling method. Then, the transfer method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models of mobile robots. The kinematic models of five different types of planar mobile robots are derided to show the effectiveness of the proposed modeling method.

• International Journal of Internet, Broadcasting and Communication
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• 제11권2호
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• pp.31-42
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• 2019

As smartphone H/W performance and mobile communication service have been enhanced, large-capacity 3D modeling files are available in smartphones. Common formats of 3D modeling files include STL (STereoLithography), OBJ (Wavefront file format specification), FBX (Filmbox), and glTF (open GL Transmission Format). Each format has different characteristics depending on the configuration and functions, and formats that are supported are varied depending on the applications. Large-size files are commonly used. The 4th generation mobile communication network secures loading of 3D modeling files and transmission of large-size geometric files in order to provide augmented reality services via smartphones. This paper explains the concepts and characteristics of major 3D file formats such as OBJ, FBX, and glTF. In addition, it compares their performance in a wired web with that in the 4th generation mobile communication network. The loading time and packet transmission in each 3D format are also measured by means of different mobile web browsers (Google Chrome and MS Edge). The experiment result shows that glTF demonstrated the most efficient performance while the loading time of OBJ was relatively excessive. Findings of this study can be utilized in selecting specific 3D file formats for rendering time reduction depending on the mobile web environments.

• International Journal of Internet, Broadcasting and Communication
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• 제13권1호
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• pp.238-242
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• 2021

Game theory has been regarded as a useful theoretical tool for modeling the interactions between distinct entities and thus it has been harnessed in various research field. In particular, research attention has been shown to how to apply game theory to modeling the interactions between malign and benign entities in the field of wireless networks. Although various game theoretic modeling work have been proposed in the field of wireless networks, our proposed work is disparate to the existing work in the sense that we focus on mobile malign node detection problem in static wireless sensor networks. More specifically, we propose a Bayesian game theoretic modeling for mobile malign node detection problem in static wireless sensor networks. In our modeling, we formulate a two-player static Bayesian game with imperfect information such that player 1 is aware of the type of player 2, but player 2 is not aware of the type of player 1. We use four strategies in our static Bayesian game. We obtain Bayesian Nash Equilibria with pure strategies under certain conditions.