• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2435-2437
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• 2004

In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.

• 한국항행학회논문지
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• 제19권1호
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• pp.53-59
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• 2015

노드들 간의 설치비용과 트래픽 요구량이 주어졌을 때, 이 조건을 만족하는 메쉬망을 설계하는 주요 고려사항으로는 설계시간, 비용, 지연, 신뢰성등 여러 가지가 있으며, 일반적으로 설계시간을 줄이고, 비용은 작게, 지연은 적게, 신뢰성이 높은 메쉬망을 설계하여야 한다. 설계시간에 대한 문제는 Aaron Kershenbaum이 제안한 MENTOR (mesh network topology optimization and routing) 알고리즘에 의해 최소화를 이루는데 성공하였지만 비용, 지연, 신뢰성에는 여전히 문제가 남아있다. 본 논문에서는 MENTOR의 설계시간의 장점을 유지하면서 다른 성능인자들을 만족시킬 수 있는 새로운 망설계 알고리즘을 제안하고자 한다. 제안된 알고리즘의 설계결과는 MENTOR 알고리즘의 성능인자들보다 개선되었음을 보여주었다.

• 한국지능시스템학회논문지
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• 제15권4호
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• pp.412-417
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• 2005

오늘날 인터넷을 기반으로 하는 원격 제어 기술이 급속히 발달하고 있다. 그러나 이러한 원거리 네트워크 기반 제어는 데이터를 전송함에 있어서 지연이 불가피하며, 또한 이 지연이 일정하지 않은 문제점을 지니고 있다. 이러한 네트워크 지연은 시스템의 안정성이나 정확도에 영향을 미친다. 본 논문에서는 네트워크상의 데이터 전송 지연을 고려한 이동 로봇의 원격 운용을 위해 TSK (Takagi-Sugeno-Kang) 퍼지 시스템을 이용하여 전송 지연의 확률 분포 함수와 네트워크 모델을 구하고 이를 전송 지연 예측 알고리즘에 적용하였다. 그리고 컴퓨터 시뮬레이션으로부터 제안된 알고리즘의 실효성을 검증하고, 기존의 예측 알고리즘과의 비교분석을 통하여 그 성능을 평가하였다.

• ETRI Journal
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• 제30권2호
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• pp.282-289
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• 2008

We propose a new mini-slot transmission scheme for a passive optical network (PON) in which each customer can be switched either to access mode or to internetworking mode dynamically. In this paper, we present the system implementation (called LAN-PON) as well as the performance of the proposed transmission scheme to illustrate its feasibility and benefits. A mini-slot scheme can rapidly reduce the queuing delay, which increases due to the flooding of the deflected packets in a deflection scheme. We evaluate the impact of mode switching time on the bandwidth gain (throughput) and delay of local area network (LAN) traffic in the LAN-PON with a mini-slot scheme. We also analyze a theoretical delay model of the proposed scheme. The simulation results demonstrate that switching time has an impact on LAN performance, and the average packet delay of the proposed scheme is significantly improved compared to that of the deflection scheme.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1898-1899
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• 2011

In this paper, we propose an obstacle avoidance algorithm for a network-based autonomous mobile robot. The obstacle avoidance algorithm is based on the VFH (Vector Field Histogram) algorithm and delay-compensative methods with the VFH algorithm are proposed for the network-based robot that is a unified system composed of distributed environmental sensors, mobile actuators, and the VFH controller. Firstly, the compensated readings of the sensors are used for building the polar histogram of the VFH algorithm. Secondly, a sensory fusion using the Kalman filter is proposed for the localization of the robot to compensate both the delay of the readings of an odometry sensor and the delay of the readings of the environmental sensors. The performance enhancements of the proposed obstacle avoidance algorithm from the viewpoint of efficient path generation and accurate goal positioning are also shown in this paper through some simulation experiments by the Marilou Robotics Studio Simulator.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 2006년도 춘계공동학술대회 논문집
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• pp.1609-1615
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• 2006

Overlay multicast technique is an effective way as an alternative to IP multicast. Traditional IP multicast is not widely deployed because of the complexity of IP multicast technology and lack of application. But overlay multicast can be easily deployed by effectively reducing complexity of network routers. Because overlay multicast resides on top of densely connected IP network, In case of multimedia streaming service over overlay multicast tree, real-time data is sensitive to end-to-end delay. Therefore, moderate algorithm's development to this network environment is very important. In this paper, we are interested in minimizing maximum end-to-end delay in overlay multicast tree. The problem is formulated as a degree-bounded minimum delay spanning tree, which is a problem well-known as NP-hard. We develop tabu search heuristic with intensification and diversification strategies. Robust experimental results show that is comparable to the optimal solution and applicable in real time

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.133.3-133
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• 2001

This paper analyses the real-time performance of Ethernet based intranet whether it is applicable to the real-time network. Unpredictability of transmission delay by collision-delay-retransmission mechanism in CAMA/CD(Carrier Sense Multiple Access with Collision Detect) of Ethernet is the major reason making hard to apply to real-time system. Both retransmission mechanism of TCP(Transmission Control Protocol) for reliability and sliding windows algorithm for high utilization make hard to predict transmission delay. Because real-time control network require fast responsibility and bustle of short-periodic messages, global-clock for collision avoidance and UDP(User Datagram Protocol) for high utilization of network are used. The mathematical models for time-delay that can be occured between ...

• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.1055-1064
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• 2003

In many automated systems, such as manufacturing systems and process plants, a fieldbus is a very important component for the exchange of various and sometimes crucial information. Some of the information has a tendency to rapidly lose its value as time elapses after its creation. Such information or data is called real-time data that includes sensor values and control commands. In order to deliver these data in time, the fieldbus network should be tailored to have short delay with respect to the individual time limit of various data. Fine-tuning the network for a given traffic requires the knowledge on the relationship between the protocol parameters such as timer values and the performance measure such as network delay. This paper presents a mathematical performance model to calculate communication delays of the Profibus-FMS network when the timer value and the traffic characteristics are given.

• 전기전자학회논문지
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• 제18권4호
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• pp.517-522
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• 2014

본 논문은 임의의 네트워크 시간 지연이 존재하는 선형 다개체 시스템의 일치문제를 다룬다. 다개체 시스템의 상태일치를 위한 충분조건은 선형행렬방정식을 이용하여 제공된다. 또한, 제안한 충분조건아래에서 임의의 크기를 갖는 네트워크 지연이 존재하는 경우에도 일치에 도달할 수 있음을 증명한다. 마지막으로 제안한 결과의 유효성을 증명하기 위하여 수치 예제를 제공한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.118.2-118
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• 2002

Uncertain time delay happens when the process reads the sensor data and sends the control input to the plant located at a remote site in distributed control system. As in the case of data network using TCP/IP, VDN that integrates both device network and data network has uncertain tim e delay. Uncertain time delay can cause degradation in stability of distributed control system based on VDN. This paper investigates the transmission characteristic of VDN and suggests a control scheme based on the Smith's predictor to minimize the effect of uncertain time delay. The validity of the proposed control scheme is demonstrated with tracking position control of experiments.