• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2423-2425
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• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has slip state. First of all, this paper models adhesion characteristics and slip in wheeled robot. Secondly, the paper proposes estimation method of adhesion force coefficient(AFC) according to slip velocity. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. The paper proposes an anti-slip control system based on an ordinary disturbance observer, that is, the re-adhesion control is achieved by reducing the driving torque enough to give maximum adhesion force coefficient. fuzzy logic controller(FLC) is petty useful with slip through that compare fuzzy with PI control for the controller performance. These procedure is implemented using a Pioneer 2-DXE parameter.

• 한국정밀공학회지
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• 제22권8호
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• pp.57-63
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• 2005

Development of a locomotive mechanism fer the capsule type endoscopes will largely enhance the ability to diagnose disease of digestive organs. In connection with it, most of researches have focused on an installable locomotive mechanism in the capsule. In this paper, it is introduced that the movement of a capsule type endoscope in digestive organ can be manipulated by magnetic force produced outside human body. Since the magnetic force is provided by permanent magnets, no additional power supply to the capsule is required. Using a robotic manipulator for locating the external magnet, the capsule motion control system can cover the whole human digestive organs. This study is particularly concentrated on dither motion effect to improve the mobility of capsule type endoscope. It was experimentally found out that the friction coefficient between the capsule and digestive organ can be remarkably reduced by superposing yawing or rolling dither motion on the translatory motion. In this paper, the experimental results obtained with the direction, amplitude and frequency of sinusoidal dither motion changed is reported.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 추계학술대회
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• pp.1035-1037
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• 2009

고정노드를 사용하는 일반적인 센서 네트워크와 달리 최근의 무선 센서 네트워크에서는 노드의 이동이 빈번히 일어난다. 이러한 무선 센서 네트워크에서는 센서노드의 이동성을 고려하여 동적으로 자가구성이 가능한 라우팅 프로토콜이 요구된다. 본 논문에서는 고정 노드에서의 자가구성과 에너지효율성이 유용한 LEACH 프로토콜을 기반으로 하여 노드의 이동에 따라 클러스터가 동적으로 자가 구성되는 M-LEACH 라우팅 프로토콜을 제안한다.

• 대한안전경영과학회지
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• 제1권1호
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• pp.145-157
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• 1999

In this paper, a research on the structure and the network configuration of the location register(LR), which database of new locations and service informations of subscribers according to the movement of subscribers in personal communication system(PCS). since the traditional PCS manages all the databases with the location informations as a centralized type. The service informations of the subscribers are centrally controlled by the HLR. So there have been the heavy signal traffic and the call setup delay. In order to relieve such problem, the proposed types of the configurations are the distributed type of PCS scheme and the hierarchical PCS scheme. In the distributed scheme, each PCS has its own LR and in the hierarchical PCS scheme, several LR are grouped to from a layer so that overall structure is a tree style.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.301-306
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• 2001

In this paper, we developed a quadruped walking robot, FRAMIX-T, with insectile leg mechanism and we inspected the efficiency of it in detail. In robotics, the legs of insect type are appropriate for the stability and the agile movement. So we first performed a gait analysis using duty factor, stride, phase etc., and analyzed the stability margin to improve the stability of robot. On the basis of this research, we planned the wave gait suitable for FRAMIX-T and performed a walking experiment. From this result, we proved the high efficiency using insectile leg mechanism and the possibility of walking with improved stability and mobility.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2003년도 춘계학술발표논문집 (중)
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• pp.1125-1128
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• 2003

Increased use of PDA and Laptop has accelerated the development of wireless networking. With the tendency the need to support efficient and seamless data transmission technique has also been increased. However current mobility management protocol, such as the Mobile If, which is defined in RFC 2002, does not cover well these requirements. To satisfy these requirements, we should reduce Handoff processing time occurred by the movement of MN (Mobile Node) about the other networks. This paper proposes efficient Handoff mechanism on the new Mobile IP architecture using the Extended Macro that is a group organized with subnetworks, and sewed by a new added agent.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.137-138
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• 2006

NEMO(Network MObility) is a complex model of mobile network which refers to a forming of Nested Mobile Network by a moving transportation like vessel, bus, or a train which then moves a Mobile Node, or by a movement of a PAN(Personal Area Network). In a Nested NEMO, pinball routing is the primary obstacle as exemplified by the IPv6 environment. This paper will focus on improving such models as RRH, RBU+ and MANET Approach, that attempted to solve pinball routing by route optimization.

• 한국정보통신학회논문지
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• 제3권1호
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• pp.75-82
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• 1999

무선 실시간 모니터링 시스템은 무선 모뎀, 중앙 모니터, 이동단말기, 데이터베이스 서버로 구성되며 환자의 이동성, 설치시간의 감소, 장기간으로 본 비용절감 등의 잇점을 제공한다. 또한 이 시스템은 환자 위치추적 서비스를 제공한다. 환자 위치 추적 서비스는 무선 모니터링 시스템의 경우 환자 이동중 위급 상황 발생시 응급 처치를 위해 반드시 제공되어야 한다. 본 논문에서는 개선된 CSMA/CA프로토콜과 환자 위치 추적 알고리즘을 제안하고 이를 이용하여 무선 실시간 모니터링 시스템을 구현하였다.

• 대한치과교정학회지
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• 제19권2호
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• pp.109-120
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• 1989

We tend to consider only static occlusion such as molar relationship, canine key, and interdigitation at finishing stage. Of course, this static occlusion is important for post-orthodontic stability. But we should remember that mandible is always on the move during its various functions. If no pressure or too much pressure is put on during its functions, untoward tooth movement could occur. And tooth mobility, periodontitis, wear facet, bruxism, and far worse temporomandibular disorder could occur. After many studies have been done on what is a desirable occlusal scheme to strengthen post-orthodontic stability, today, "mutually protective occlusion" is recommended. If an orthodontist does not have understanding about this occlusal scheme during orthodontic treatment, the following conditions will be resulted after orthodontic treatment. I. Centric discrepancy 1. centric prematurity 2. sunday bite 3. molar fulcrum II. Eccentric discrepancy 1. posterior interference 2. anterior interference If we have deep understanding about these discrepancies that can happen after orthodontic treatment and their causes, corrections, and especially preventions against them, post-orthodontic stability could be strengthened and further temporomandibular disorder could be prevented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.50-52
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• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has slip state. First of all, this paper models adhesion characteristics and slip in wheeled robot. Secondly, the paper proposes estimation method of adhesion force coefficient according to slip velocity. In oder to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. The paper proposes an anti-slip control system based on an ordinary disturbance observer, that is, the anti-slip control is achieved by reducing the driving torque enough to give maximum adhesion force coefficient. These procedure is implemented using a Pioneer 2-DXE parameter.