• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.98-108
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• 2005

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 improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.11
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• pp.213-223
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• 1999

In this paper, input-output transmission characteristics of the Eclipse, which is a parallel machine tool capable of 5 face rapid machining, are investigated. By splitting the weighted Jacobian matrix into two parts, the force and moment transmission characteristics together with the velocity and angular velocity transmission characteristics are analyzed. A new manipulability measure, which combines the volume of the manipulability ellipsoid and the condition number of the splitted Jcobian matrix, is proposed. Two link parameters, the ratio of upper and lower platforms' radii and the length of a supporting link of the Eclipse, are designed by applying the new manipulability measure derived. Computer simulations are provided.

• Journal of Information Processing Systems
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• v.15 no.1
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• pp.100-115
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• 2019

Malicious code distribution on the Internet is one of the most critical Internet-based threats and distribution technology has evolved to bypass detection systems. As a new defense against the detection bypass technology of malicious attackers, this study proposes the automated tracing of malicious websites in a malware distribution network (MDN). The proposed technology extracts automated links and classifies websites into malicious and normal websites based on link structure. Even if attackers use a new distribution technology, website classification is possible as long as the connections are established through automated links. The use of a real web-browser and proxy server enables an adequate response to attackers' perception of analysis environments and evasion technology and prevents analysis environments from being infected by malicious code. The validity and accuracy of the proposed method for classification are verified using 20,000 links, 10,000 each from normal and malicious websites.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1338-1341
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• 2004

In this paper, we have proposed a new approach of routing and wavelength assignment algorithms, called Possible Available Wavelength (PAW) algorithm. The weight of a link is used as the main factor for routing decision in PAW algorithm. The weight of a link is defined as a function of hop count and available wavelengths. This function includes a determination factor of the number of wavelengths that are being used currently and are supposed to be available after a certain time. The session requests from users will be routed on the links that has the greatest number of link weight by using Dijkstra's shortest path algorithm. This means that the selected lightpath will has the least hop count and the greatest number of possible available wavelengths. The impact of proposed link weight computing function on the blocking probability and link utilization is investigated by means of computer simulation and comparing with the traditional mechanism. The results show that the proposed PAW algorithm can achieve the better performance in terms of the blocking probability and link utilization.

• Journal of Communications and Networks
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• v.8 no.4
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• pp.391-400
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• 2006

With the on-going wireless access technologies, the Internet has become accessible anytime anywhere. In wireless networks, link errors significantly degrade the performance of the transmission control protocol (TCP). To cope with this issue, this paper improves the recently-proposed terrestrial REFWA (T-REFWA) scheme by adding a new error recovery mechanism to its original design. In the T-REFWA scheme, senders are acknowledged with appropriate sending rates at which an efficient and fair utilization of network resources can be achieved. As the feedback values are computed independently of link errors, senders can keep transmitting data at high rates even in case of link error occurrences. Using this feature, the proposed error recovery mechanism can achieve high throughput in environments with high bit error rates. The throughput is further improved by disabling the exponential back-off algorithm of TCP so that long idle times are avoided in case of link errors. We show through simulations that the proposed method improves TCP performance in high bit error rates. Compared with several TCP variants, the proposed error recovery scheme exhibits higher link utilization and guarantees system fairness for different bit error rates.

• Journal of Communications and Networks
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• v.17 no.4
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• pp.370-383
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• 2015

Effective link quality estimation is a vital issue for reliable routing in wireless networks. This paper studies the performance of expected transmission count (ETX) under different traffic loads. Although ETX shows good performance under light load, its performance gets significantly worse when the traffic load is high. A broadcast packet storm due to new route discoveries severely affects the link ETX values under high traffic load, which makes it difficult to find a good path. This paper presents the design and implementation of a variation of ETX called high load - ETX (HETX), which reduces the impact of route request broadcast packets to link metric values under high load. We also propose a reliable routing protocol using link quality metrics, which is called link quality distance vector (LQDV). We conducted the evaluation of the performance of three metrics - HETX, ETX and minimum hop-count. The simulation results show that HETX improves the average route throughput by up to 25% over ETX under high traffic load. Minimum hop-count has poor performance compared with both HETX and ETX at all of the different traffic loads. Under light load, HETX and ETX show the same performance.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.163-171
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• 2016

A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.6
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• pp.1064-1070
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• 2010

Korea Department of Defense has been developing Link-K, Korean Joint Tactical Datalink, to support their independent joint operations and trying to enlarge the scope of Link-K tactical message delivery to nodes in IP based tactical networks for sharing situation awareness more broadly. A Link-K tactical message size is too small to fit into an IP packet, inefficiently wasting most of the IP packet space of the low bandwidth IP-based tactical networks. This paper proposes a new Link-K tactical message aggregation and delivery method when tactical messages need to be sent to some nodes located at IP-based tactical networks. With numerical analysis and OPNET simulation studies, we prove the effectiveness and efficiency of the proposed method.

• The KIPS Transactions:PartC
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• v.11C no.7 s.96
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• pp.879-888
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• 2004

Ad Node transmits packets to a destination node using routing function of intermediate nodes on the path in Ad Hoc networks. When the link to a next hop node in a path is broken due to the next hop node's mobility, a new route search process is required for continuing packets transmission. The node which recognizes link fault starts a local route recovery or the source node starts a new route search in the on demand routing protocol AODV. In this case, the new route search or the local route search brings packet delays and bad QoSs by packet delay. We propose RPAODV that the node predicts a link fault selects a possible node in neighbor nodes as a new next hop node for the path. The proposed protocol can avoid path faults and improve QoS.

• Knowledge Management Research
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• v.15 no.4
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• pp.207-221
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• 2014

Due to the awareness for the importance of social capital, many researches have investigated that social capital contributes to the successful implementation of product innovation. Although most researchers tried to model the effect of social capital on product innovation as a linear relation, we consider it too simplistic and fuzzy because knowledge utilization which ultimately leads to product innovation should exist in the relationship between social capital and product innovation. Using 107 survey data, this study found there is a partial mediating effect of knowledge utilization on the link between structure aspect of social capital and product innovation (i.e., new product development and improvement in existing products). Next, this study reported knowledge utilization does act as a perfect mediating variable on the link between awareness aspect of social capital and improvement of existing products, but act as a partial mediating variable on the link between awareness aspect of social capital and new product development. Finally, this study found that knowledge utilization does not act as a mediating variable on the link between relation aspect of social capita and product innovation.