• 제어로봇시스템학회논문지
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• 제6권8호
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• pp.689-696
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• 2000

In this paper we propose an eminent controller for wheeled mobile robots. This controller consists of an input-output linearization controller trying to stabilize the system and a neural network controller to compensate for uncertainties. The uncertainties are divided into two parts. First unstructured uncertainties include the elements related with system order such as friction disturbance. Second structure uncertainties are the incorrect system parameters A neural network structure of the proposed overall controller learns structural errors of the wheeled mobile robots with uncertainties and includes the neural network output. This controller learns quickly the model and has good tracking performance Simulation results show that the proposed controller is more efficient than analog controllers.

• 한국정밀공학회지
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• 제20권7호
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• pp.155-162
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• 2003

We propose a new technique far real-tine controller design of a autonomous cruise mobile robot with three drive wheels. The proposed control scheme uses a Caussian function as a unit function in the fuzzy neural network. and a back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-foray. The control performance of the proposed controller is illustrated by performing the computer simulation for trajectory tracking of the speed and azimuth of a autonomous cruise mobile robot driven by three independent wheels.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1697-1700
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• 2003

We propose a new technique for real-time controller design of a autonomous cruise mobile robot with three drive wheels. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and a back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The control performance of the proposed controller is illustrated by performing the computer simulation for trajectory tracking of the speed and azimuth of a autonomous cruise mobile robot driven by three independent wheels.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.312-318
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• 2003

We propose a new technique for the cruise control system design of a mobile robot with three drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized teaming architecture. It is proposed a learning controller consisting of too neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by three independent wheels.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.207-212
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• 2004

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• 인터넷정보학회논문지
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• 제2권3호
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• pp.9-17
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• 2001

유선망과 기지국을 가지고 있지 않는 이동 노드들로만 구성된 Ad-Hoc 무선망에서는 잦은 호스트의 이동과 토폴로지 변화에 의해 패킷의 손실이 자주 발생한다. 이러한 환경 하에서 요구되는 Ad-Hoc 라우팅 프로토콜에 초점을 둔 많은 연구에서 인터넷 트래픽 성능 분석에 대한 연구가 미진하다. 따라서, 본 논문에서는 AODV 라우팅 프로토콜을 사용하여 Ad-Hoc 무선망의 트래픽을 모의 실험하였으며, 시뮬레이션 평가 요소인 Ad-Hoc 무선망의 크기, 이동하는 노드의 이동 속도를 변화시켜 인터넷 트래픽인 TCP/Reno와 TCP/Sack 성능을 모의 실험을 통해 분석하였다. 모의 실험 결과 TCP/Reno가 TCP/Sack보다 노드의 이동 속도나 노드 수에 다소 민감하다는 것을 알 수 있었다.

• Journal of Communications and Networks
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• 제7권3호
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• pp.377-384
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• 2005

The purpose of this research is to develop and evaluate a traffic engineering architecture that uses local state information. This architecture is applied to an Internet protocol radio access network (RAN) that uses multi-protocol label switching (MPLS) and differentiated services to support mobile hosts. We assume mobility support is provided by a protocol such as the hierarchical mobile Internet protocol. The traffic engineering architecture is router based-meaning that routers on the edges of the network make the decisions onto which paths to place admitted traffic. We propose an algorithm that supports the architecture and uses local network state in order to function. The goal of the architecture is to provide an inexpensive and fast method to reduce network congestion while increasing the quality of service (QoS) level when compared to traditional routing and traffic engineering techniques. We use a number of different mobility scenarios and a mix of different types of traffic to evaluate our architecture and algorithm. We use the network simulator ns-2 as the core of our simulation environment. Around this core we built a system of pre-simulation, during simulation, and post-processing software that enabled us to simulate our traffic engineering architecture with only very minimal changes to the core ns-2 software. Our simulation environment supports a number of different mobility scenarios and a mix of different types of traffic to evaluate our architecture and algorithm.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2002년도 추계학술대회 논문집
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• pp.9-16
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• 2002

Mobile IP는 단순히 이동성을 지원하는 것만을 목표로 제안되었기 때문에, 새로운 네트워크로의 연결만을 보장할 뿐, 핸드오프 후의 QoS는 보장하지 못한다. mobile IP에서 QoS는 이동 환경에서 멀티미디어 서비스나 실시간 서비스 제공 시 매우 중요시되는 문제로, 핸드오프에 의한 지연과 밀접히 연관되어있다. 본 논문에서는 이러한 핸드오프 지연 문제를 해결하기 위해, SNMP 정보 기반 라우팅을 이용하여 핸드오프 지연을 최소화하는 QoS 향상 기법을 제시한다. 이후 제시한 기법과 기존 핸드오프방법에서 필요한 요소를 모델링한 후 NS-2를 사용하여 시뮬레이션 한다. 시뮬레이션 결과는 제시한 기법이 핸드오프 지연을 감소시켜 결과적으로 QoS가 향상되는 것을 입증한다.

• 한국시뮬레이션학회논문지
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• 제10권4호
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• pp.11-20
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• 2001

In the IMT-2000 networks, the model of micro/pico cell is suggested for transmission of multimedia service. Hence, the efficient method is required for processing of mobile calls in micro/pico cell. In the central urban area, mobile calls may be dynamically increased because of many mobile users. And microcel]/picocell size has small size, handover calls will be more increased. Therefore, many of mobile calls is occurred at a cell in the central urban area, so channel requests for these calls will be increased in the call. In this paper, we propose a scheme, FTC(Fault Tolerant Channel allocation) which is the channel management method for hard handover and new call in a mobile cell of central urban area. When available channels in the cell are consumed, the FTC investigates channel states of neighbor cells in the RNC(Radio Network Controller) or BSC (Base Station Center), and provide available channel for mobile call. The ]no scheme is analyzed and compared with existing channel management method by simulation.

• 한국통신학회논문지
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• 제34권1B호
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• pp.1-9
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• 2009

본 논문에서는 IETF NetLMM WG에서 표준화되고 있는 Proxy-MIPv6을 기반으로, 빠르고 효율적인 핸드오프를 지원하는 망 기반의 이동성 지원 방안을 제안하였다. 제안된 방식은 Mobile Access Gateway (MAG)간의 dynamic virtual hierarchy 망 구조를 활용함으로써 망의 확장성과 안정성을 제공하고, Policy Store(PS) 기반의 빠른 인증 및 프로파일 획득 기법을 활용함으로써 빠르고 효율적인 핸드오프를 제공할 수 있다. 또한, 제안된 방식과 기존의 PMIPv6의 성능 분석 및 토의를 통하여 제안된 방식의 우수성을 알 수 있다.