• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.484-491
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• 2002

We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.1014-1015
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• 2006

In this paper, a new single phase voltage sag/swell compensator using direct power conversion is introduced. A new compensator consists of input/output filter, series transformer and direct at-ac converter, which is a single-phase back-to-back PWM converter without dc-link capacitors. Advantages of the proposed compensator include: simple power circuit by eliminating dc-link electrolytic capacitors and thereby, improved reliability and increased life time of the entire compensator; simple PWM strategy to compensate voltage sag/swell at the same time and reduced switching losses in the ac-ac converter. Further, the proposed scheme is able to adopt simple switch commutation method without requiring complex four-step commutation method commonly required in the direct power conversion. Simulation results are shown to demonstrate the advantages of the new compensator and PWM strategy.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.5
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• pp.539-546
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• 2004

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, a new type of the robot actuator based on the four-bar-link mechanism driven by the ball screw was proposed and constructed. Also, a new type of a revolute-jointed robot manipulator composed of the developed actuators was developed. The base axis is actuated by the motor with the conventional speed reducer, but the other axes are actuated by the proposed actuators. The kinematics and dynamics of the robot were analyzed, and the performance test of the robot was made. Through the test results, the performance of superior load capacity versus the robot weight is shown.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.10
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• pp.674-683
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• 2014

Multi-hop wireless networks has become common phenomenon according to a development of wireless communications and an increase of usage of wireless link. ARQ is one of the common protocols in link layer and can improve a link performance recovering packet loss in wireless link. However, ARQ cannot sufficient to assure a end-to-end performance because ARQ only manages the ARQ's own link. In this paper, we propose a new retransmission persistence for ARQ in multi-hop wireless network to satisfy the end-to-end performance. The proposed scheme can aware a bottleneck link according to the exchange of link information between ARQs and can support the end-to-end performance by managing a retransmission persistence. OPNET simulator is used to evaluate the performance of the proposed scheme and results show that proposed scheme can improve the end-to-end performance with satisfying a requirement of entire wireless section.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.12
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• pp.6986-6992
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• 2014

The generalized Voronoi graph (GVG) is a topological map of a constrained environment. This is defined in terms of workspace distance measurements using only sensor-provided information, with a robot having a maximum distance from obstacles, and is the optimum for exploration and obstacle avoidance. This is the safest path for the robot, and is very significant when studying the GVG edges of highly articulated robots. In previous work, the point-GVG edge and Rod-GVG were built with point robot and rod robot using sensor-based control. An attempt was made to use a higher degree of freedom robot to build GVG edges. This paper presents GVG-based a new local roadmap for the two-link robot in the constrained two-dimensional environment. This new local roadmap is called the two-identical-link generalized Voronoi graph (L2-GVG). This is used to explore an unknown planar workspace and build a local roadmap in an unknown configuration space $R^2{\times}T^2$ for a planar two-identical-link robot. The two-identical-link GVG also can be constructed using only sensor-provided information. These results show the more complex properties of two-link-GVG, which are very different from point-GVG and rod-GVG. Furthermore, this approach draws on the experience of other highly articulated robots.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.4
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• pp.651-669
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• 2013

In this paper, we study a novel routing algorithm based on load balancing for multi-channel wireless mesh networks. In order to increase the network capacity and reduce the interference of transmission streams and the communication delay, on the basis of weighted cumulative expected transmission time (WCETT) routing metric this paper proposes an improved routing metric based on load balancing and channel interference (LBI_WCETT), which considers the channel interference, channel diversity, link load and the latency brought by channel switching. Meanwhile, in order to utilize the multi-channel strategy efficiently in wireless mesh networks, a new channel allocation algorithm is proposed. This channel allocation algorithm utilizes the conflict graph model and considers the initial link load estimation and the potential interference of the link to assign a channel for each link in the wireless mesh network. It also utilizes the channel utilization percentage of the virtual link in its interference range as the channel selection standard. Simulation results show that the LBI_WCETT routing metric can help increase the network capacity effectively, reduce the average end to end delay, and improve the network performance.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.1
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• pp.64-71
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• 2012

In this paper, a parallel manipulator is comprised of two sliders and four links. Sliders execute a linear reciprocating motion depending on parallel guides and make the connected links rotate. A couple of links connected by sliders do coupling motion. The end-effector called a link tip has orientation angle. Through the kinematics analysis of this manipulator, we found displacement, velocity and acceleration using direct and inverse kinematics. We used equations that derived from this analysis and determined five constraint conditions. These conditions had much to do with rotation states of links, the relative relation of link length and coupling motion state. To verify those, we suggest a new algorithm regarding constraint conditions of a manipulator. With the result which performed the algorithm, we found out that operation range of coupled links was limited by relative relation of link length and that manipulator was not able to carry out a series of link motion, in case of being the link vertical between two parallel guides.

• Journal of Korea Multimedia Society
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• v.7 no.10
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• pp.1443-1451
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• 2004

In this paper we propose a new packet scheduling mechanism to improve TCP throughput and fairness with estimated link state information in wireless networks, in which mobile hosts are receivers. Since a priori estimated link state information is used in this proposed mechanism, the entire packet transmission time can be reduced. In other words, packets scheduling procedure is performed before packets are transmitted using estimated link state. The proposed mechanism also has an temporary FIFO queue to store packets which are on the head of queue and can not be transmitted due to bad link state. Using this temporary FIFO queue, HOL(Head of Line) problem of FIFO queue can be resolved.

• Journal of the Korean Operations Research and Management Science Society
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• v.34 no.4
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• pp.123-138
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• 2009

This study examined the first- and second-best pricing by stable dynamics in congested transportation networks. Stable dynamics, suggested by Nesterov and de Palma (2003), is a new model which describes and provides a stable state of congestion in urban transportation networks. The first-best pricing in user equilibrium models introduces user-equilibrium in the system-equilibrium by tolling the difference between the marginal social cost and the marginal private cost on each link. Nevertheless, the second-best pricing, which levies the toll on some, but not all, links, is relevant from the practical point of view. In comparison with the user equilibrium model, the stable dynamic model provides a solution equivalent to system-equilibrium if it is focused on link flows. Therefore the toll interval on each link, which keeps up the system-equilibrium, is more meaningful than the first-best pricing. In addition, the second-best pricing in stable dynamic models is the same as the first-best pricing since the toll interval is separately given by each link. As an effect of congestion pricing in stable dynamic models, we can remove the inefficiency of the network with inefficient Braess links by levying a toll on the Braess link. We present a numerical example applied to the network with 6 nodes and 9 links, including 2 Braess links.

• Journal of Advanced Navigation Technology
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• v.13 no.1
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• pp.27-33
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• 2009

New optical transmission link techniques improving performance of WDM channels, each channel have bit rate of 40 Gbps, are proposed. The proposed optical link configuration consist of optical phase conjugator (OPC) placed at middle of total transmission length, and dispersion management (DM) as a role of compensating dispersion cumulated in transmission line. It is confirmed that Q-factor of total channels are improved by combining OPC and DM in optical transmission link as a result of following fact; DM not only mitigate the cumulated dispersion in total transmission line but also help OPC to compensate optical nonlinearities. And, it is confirmed that the improvement of Q-factor of overall WDM channels depends on net residual dispersion (NRD) of optical link.