• The Transactions of the Korea Information Processing Society
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• v.6 no.11S
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• pp.3190-3198
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• 1999

Because of the rapid growth of the mobile communication, the need for the mobile internet access has grown up as well. since the current mobile communication network, however, is optimized for a voice communication system, which exclusively occupies a channel for a given time, it is not suitable for variable rate packet data. In order to support the mobile internet access, it is essential do design a reasonable packet switching network which supports the mobility. Since mobile packet network has longer latency, high speed switching and QoS are required to meet the user's requirements. In this paper, we suggest an resonable way to construct a network and its operation procedures utilizing GPRS(General Packet Radio Service) network and MPLS(Multi Protocol Label Switching) to provide a high speed switching and QoS mobile internet access. GPRS is used as a network which supports the mobility and MPLS guarantees the QoS and high speed IP protocol transmission based on the ATM switching technology.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1033-1041
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• 2003

A new visual tracking scheme is proposed for a mobile robot that tracks a moving object in 3D space in real time. Visual tracking is to control a mobile robot to keep a moving target at the center of input image at all time. We made it possible by simplifying the relationship between the 2D image frame captured by a single camera and the 3D workspace frame. To precisely calculate the input vector (orientation and distance) of the mobile robot, the speed vector of the target is determined by eliminating the speed component caused by the camera motion from the speed vector appeared in the input image. The problem of temporary disappearance of the target form the input image is solved by selecting the searching area based on the linear prediction of target motion. The experimental results have shown that the proposed scheme can make a mobile robot successfully follow a moving target in real time.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.83-93
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• 2002

This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Proceedings of the IEEK Conference
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• 2001.09a
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• pp.841-844
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• 2001

This paper introduces a new technique for estimating the speed of a mobile station in a wireless system. The proposed method is based on the feature extraction of the received signal envelope. The undecimated discrete wavelet transform via lifting captures local minimum points of the received signal, which is used for the speed estimation. This technique requires neither knowledge of the average received power of the nonstationary signal nor adaptation of a temporal observation window, in contrast to other speed estimators given in the literature. Simulations show that the proposed speed estimator tracks the variable speed of the mobile station.

• Journal of Information Processing Systems
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• v.6 no.3
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• pp.403-412
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• 2010

Multi-Relay Networks should accommodate mobile users of various speeds. The cellular system should meet the minimum residency time requirements for handover calls while considering an efficient use of available channels. In this paper, we design speed-sensitive handover under dynamic hierarchical cellular systems, in which mobile users are classified according to the mean speed of mobile users and each class has its cellular layer. In order to meet the minimum residency time, the cell size of each cellular layer is dynamically determined depending on the distributions of mean speeds of mobile users. Since the speed-dependent non-preferred cell can provide a secondary resource, overflow and take-back schemes are adopted in the system. We develop analytical models to study the performance of the proposed system, and show that the optimal cell size improves the blocking probability.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.1
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• pp.135-158
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• 2018

High-Speed vehicles can be considered as multiple mobile nodes that move together in a large-scale mobile network. High-speed makes the time allowed for a mobile node to complete a handover procedure shorter and more frequently. Hence, several protocols are used to manage the mobility of mobile nodes such as Network Mobility (NEMO). However, there are still some problems such as high handover latency and packet loss. So efficient handover management is needed to meet Quality of Service (QoS) requirements for real-time applications. This paper utilizes the cross-layer seamless handover technique for network mobility presented in cellular networks. It extends this technique to propose QoS-aware NEMO protocol which considers QoS requirements for real-time applications. A novel analytical framework is developed to compare the performance of the proposed protocol with basic NEMO using cost functions for realistic city mobility model. The numerical results show that QoS-aware NEMO protocol improves the performance in terms of handover latency, packet delivery cost, location update cost, and total cost.

• Journal of Korea Society of Digital Industry and Information Management
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• v.11 no.2
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• pp.55-66
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• 2015

In this paper, we design and implement a two-way search algorithm that can provide a customized service through the user with real-time two-way communication using a mobile instant messaging service. Therefore, we design and implement the automative search system which enables delivering message to each user mobile terminal from a plurality of relay mobile terminals by utilizing the mobile instant messenger, not to deliver a message from the main server to the mobile instant messenger user directly. Two-way search system using the mobile instant messenger can be immediately collect the user's response is easy to identify the orientation of each user, and thus can be provided to establish a differentiated service plan. Also, It provides a number of services(text, photos, videos, etc) in real-time information to the user by utilizing the mobile instant messenger service without the need to install a separate application. Experiment results, data processing speed of the category processing way to search for the data of the DB server from a user mobile terminal is about 7.06sec, data processing number per minute is about 13 times. The data processing speed of the instruction processing way is about 3.10sec, data processing number per minute is about 10 times. The data processing speed of the natural language processing way is about 5.13sec, per data processing number per minute is about 7 times. Therefore in category processing way, command processing way and natural language processing way, instruction processing way is the most excellent in aspect of data processing speed, otherwise in aspect of per data processing number per minute, the category processing way is the best method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.7
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• pp.1404-1409
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• 2011

The fundamental research for the mobile robot navigation using the numerical optimization method is presented. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using the nonlinear least squares optimization method, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. It will be very useful for applying to the mobile robot navigation. The performance was evaluated using the simulation.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• Proceedings of the Korean Information Science Society Conference
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• 2007.10d
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• pp.505-509
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• 2007

Proxy Mobile IPv6 (PMIPv6)는 Mobile Node (MN)가 스스로 이동성을 지원하지 않더라도 Mobile Access Gate가 MN대신 이동성을 처리하여 IPv6 이동성을 지원하는 기술이다. 좀 더 향상된 핸드오버 성능을 얻기 위해 Proxy Mobile IPv6에서도 버퍼링을 통한 패킷 손실을 줄이는 기법을 사용할 수 있다. 하지만, IEEE 802.11 네트워크에서는 Handover 발생 직전에 MN이 어떠한 통보도 AP로 하지 않기 때문에 Handover시에 패킷 손실을 줄이기 위한 패킷 버퍼링 방법을 사용하기가 어렵다. 본 논문에서 PMIPv6에서 MAG와 AP가 MN의 이동성을 감지하여 버퍼링을 시작하고 Handover가 발생하였을 경우에 대비해 버퍼링을 하는 Cross-layer 버퍼링 방법을 제안한다. 이를 통해 PMIPv6에서도 MN의 변경 없이 Handover시에 발생하는 패킷 손실을 최소화 할 수 있다. 또한 간단한 성능 비교를 통하여 제안 방법이 기존 PMIPv6보다 우수함을 알 수 있다.