• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• Journal of Internet Computing and Services
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• v.13 no.1
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• pp.15-25
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• 2012

Mobile IPv6 (MIPv6) is a host-based protocol supporting global mobility while Proxy Mobile IPv6 (PMIPv6) is a network-based protocol supporting localized mobility. This paper makes its focus on how to reduce the longer delay and extra cost arising from the combination of authentication, authorization and accounting (AAA) and PMIPv6 further. Firstly, a novel authentication scheme (Proxy-AAA) is proposed, which supports fast handover mode and forwarding mode between different local mobility anchors (LMAs). Secondly, a cost analysis model is established based on Proxy-AAA. From the theoretical analysis, it could be noted that the cost is affected by average arrival rate and residence time.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.8B
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• pp.1105-1114
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• 2010

The Proxy Mobile IPv6 (PMIPv6) has been standardized by the IETF NETLMM WG for network-based mobility management. The PMIPv6 can provide IP mobility for Mobile Nodes (MNs) with low handover latency and less wireless resource usage. But, since the PMIPv6 is basically designed for local mobility management, it cannot support directly global mobility management between different PMIPv6 domains. In the PMIPv6, since all traffic is routed through a Local Mobility Anchor (LMA), it causes a long end-to-end delay and triangular routing problem. Therefore, in this paper, we propose a fast network-based global mobility management scheme and route optimization scheme with a new network entity, called Global Mobility Agent (GMA). Numerical analysis and simulation results show that the proposed scheme is able to support global mobility between different public domains with low handover latency and low end-to-end delay, compared with the PMIPv6.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.497-504
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• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.

• Journal of Families and Better Life
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• v.2 no.1
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• pp.151-164
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• 1984

The paper is intended to develop a typology of residential mobility and systemizes the many empirical analysis of reasons for moving. An integrated conceptual framework of decision making process for residential mobility is proposed. the traditional behavioral approaches were evaluated for its explaining power, and the results and constraints were testified. For the conceptual framework, the role of external opportunities and constrains on households was emphasized. Finally, it is suggested that the housing needs, housing constraints, and housing opportunities of urban households should be considered together form the integrated model.

• Journal of Service Research and Studies
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• v.14 no.2
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• pp.138-157
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• 2024

Due to recent developments in smartphones, lifestyles centred around their use are rapidly changing across many societal areas. Mobility apps, widely used by a large number of people, have also become popular among tourists for travel purposes. This trend is exemplified by the premium taxi industry, which champions smart mobility services-an essential component of smart tourism-to attract tourists as customers. This study investigates how smart mobility service attributes influence memorable user experiences from the perspective of both residents and tourists. It also examines the consequent image of smart mobility and users' intentions to reuse these services. To this end, a survey and analysis were conducted with 320 registered customers of domestic premium taxi companies, which are expanding their services to cater to both residents and tourists. The analysis confirmed all hypotheses. Among the attributes of smart mobility, involvement played a crucial role in shaping the image of smart mobility, more so than refreshment or novelty. Furthermore, the image of smart mobility significantly impacted the intention to reuse it. Based on these findings, this study presents practical implications regarding which empirical factors should be managed from a smart mobility perspective to foster a positive image and encourage reuse.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.8
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• pp.13-18
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• 2016

In Internet of Things (IoT) environment, a variety of smart devices are connected to Internet through various network technologies such as 4G/5G, WiBro, Bluetooth, etc. in order to provide the remote monitoring service such as smart healthcare service, etc. Most standard mobility management protocols based on IETF Mobile IP may not be suitable for Internet of Things (IoT) environments due to constrained power, constrained CPU processing and memory capacity, and large signalling overhead which are inherently accompanied by various devices in IoT environments. In this article, we propose a new mobility management protocol CoMP (CoAP-based Mobility Managemenbt Protocol) for reliable mobility management in IoT environments. The architecture and algorithm to achieve both reliability and simplicity for IoT mobility management are proposed. Finally, performance has been evaluated by both mathematical analysis and simulation.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.15 no.2
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• pp.87-97
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• 2015

To support the efficient mobility MIPv6v, FMIPv6, HMIPv6 and host-based mobility management protocols have been developed. AAAC (Authentication, Authorization, Accounting and Charging) system is applied in this paper analyzed the the existing IPv6 PMIPv6, FPMIPv6 network security effective and IPv6 MMP (Mobile Management Protocol) Features and performance analysis is performed. And IPv6 MMP seamless transfer performance in terms of packet loss probability, will be analyzed. That can be efficiently used as a method for the integration of QoS and mobility so that you can manage and control the resources presented QoSB usage. Results of evaluation results showed a better overall fast handover structure of mobility management techniques. PMIPv6 and FPMIPv6 in many respects the most efficient structure that can be specifically, a fast handover of the structure of the network-based mobility management scheme showed the best results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.1
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• pp.97-105
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• 2015

Recently, due to an explosive growth of the internet traffic, the limitations of a current framework for a mobility management have been focused. The current centralized mobility management is prone to several problems and limitations: suboptimal routing, low scalability, signaling overhead, and a single point of failure. To overcome these problems and limitations, IETF is working about the distributed mobility management scheme that the centralized mobility functions of HA(Home Agents) are distributed to networks edges such as access routers. These distributions of mobility functions overcome the limitations of the centralized mobility managements and go with the trend of flat networks e.g. more simple network architecture. This paper analyzes the distributed mobility management based on Proxy Mobile IPv6 and demonstrates the performance superiority.

• Journal of Information Technology Services
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• v.20 no.6
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• pp.83-95
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• 2021

In this study, various usage patterns were analyzed after establishing a data mart for micro mobility analysis based on the rental history of public bicycles in Seoul. Rental history data is origin-destination data that includes the rental location and time, and the return location and time. About 1500 rental locations were classified according to the characteristics of the location to create a 'station type' dimension. We also created a 'path type' dimension that displays whether the rental location and return location are the same. In addition, a derived variable called speed, which is obtained by dividing the distance used by the time used, is added, and through this, the characteristics of the riding area and the reason for the rental can be estimated. Meanwhile, administrative district link, administrative neighborhood link, and station type link were created to apply network analysis. Through this analysis, the roles and proportions of administrative districts, public facilities, and private facilities engaged in micro-mobility services were visualized. 49.9% of rentals occur at rental offices near transportation facilities, and half of them occur at rental offices near subway stations. The number of rentals during the evening rush hour is more than double that of the morning rush hour. When the path type is unidirectional, there is a fixed destination, so the distance and time used are short, and the movement speed tends to be high. In the case of round-trip, the purpose of use is exercise or leisure, so the distance and time used are long, and the movement speed is slow. It is expected that the results of the analysis can be used as reference materials for selecting new rental locations, providing convenient services for users, and developing user-specialized products.