• Journal of Communications and Networks
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• 제14권1호
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• pp.91-103
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• 2012

Network mobility (NEMO) based on mobile IP version 6 has been proposed for networks that move as a whole. Route optimization is one of the most important topics in the field of NEMO. The current NEMO basic support protocol defines only the basic working mode for NEMO, and the route optimization problem is not mentioned. Some optimization schemes have been proposed in recent years, but they have limitations. A new NEMO route optimization scheme-involving a combination of the optimized route cache protocol (ORC) and reverse routing header (RRH) and the use of a quota mechanism for optimized sessions (OwR)-is proposed. This scheme focuses on balanced performance in different aspects. It combines the ORC and RRH schemes, and some improvements are made in the session selection mechanism to avoid blindness during route optimization. Simulation results for OwR show great similarity with those for ORC and RRH. Generally speaking, the OwR's performance is at least as good as that of the RRH, and besides, the OwR scheme is capable of setting up optimal routing for a certain number of sessions, so the performance can be improved and the cost of optimal routing in nested NEMO can be decreased.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.469-472
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• 2016

Jansen Mechanism has been a constant popularity by researchers studying legged robots because of many benefits. This paper proposed the design process of optimized legged robots using Jansen Mechanism and m.Sketch(Jansen Mechanism simulation software). First, driving part of legged robots is designed in compliance with the design regulations of a competitive exhibition. Second, setting the length of link and position of joint is conducted in keeping with the constraints. Third, Ground Length (GL) and Ground Angle Coefficient(GAC) values are extracted by m.Sketch simulation. Finally, by repeating the previous procedures, comparing the GL and GAC values, find the optimum input values. This.

• 한국지능정보시스템학회:학술대회논문집
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• 한국지능정보시스템학회 2005년도 공동추계학술대회
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• pp.379-390
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• 2005

In this paper, we introduce a new combinatorial auction mechanism - N-Bilateral Optimized Combinatorial Auction (N-BOCA). N-BOCA is a flexible iterative combinatorial auction model that offers optimized trading for multi-suppliers and multi-purchasers in the supply chain. We design the N-BOCA system from the perspectives of architecture, protocol, and trading strategy. Under the given N-BOCA architecture and protocol, auctioneers and bidders have diverse decision strategies for winner determination. This needs flexible modeling environments. Hence, we propose an optimization modeling agent for bid and auctioneer selection. The agent has the capability to automatic model formulation for Integer Programming modeling. Finally, we show the viability of N-BOCA through prototype and experiments. The results say both higher allocation efficiency and effectiveness compared with I-to-N general combinatorial auction mechanisms.

• 로봇학회논문지
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• 제4권4호
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.936-941
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• 2014

Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klann-linkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.493-497
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• 2016

Walking mechanism, there are many types. Prior to the modeling and design, we thought about a variety of mechanisms based on the Janssen mechanism to design a walking mechanism optimized for walking. The more the legs increases the stability of the structure, while the weight is heavy and if that advantage had the disadvantage, the legs are easier to walk in the utilization and structural aspects of the torque had fewer advantages. The disadvantage is that the instability mechanism, four-legged, but improve it and look forward to the idea of utilization and cost-effectiveness, its future utilization will be endless. To study this, we utilized a variety of software, such as m-sketch, Edison design program, we have seen the actual production through scientific experiments box.

• 로봇학회논문지
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• 제5권2호
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• pp.135-142
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• 2010

Security robot has gradually developed and deployed in order to protect civilian's lives as well as fortune and subjugate the shortcomings of CCTV which lacks of mobility. We have developed a security robot for outdoor environment and the main purpose of the driving mechanism is to overcome the bumps or projections with high speed. The robot platform consists of 4 omnidirectional wheel-based driving mechanisms and suspension for each driving mechanism. In this paper, principal suspension parameters of outdoor security robot for overcoming obstacles with stability are studied and approximately optimized using Response Surface Methodology (RSM) since it is difficult to find the exact relationship between suspension parameters and the shock, which is significantly associated with stability of the robot, at the robot platform. Simulation using ADAMS is conducted for assessing the feasibility of optimized design parameters.

• EDISON SW 활용 경진대회 논문집
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• 제6회(2017년)
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• pp.566-573
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• 2017

Develop a leg walking robot with 'Janssen mechanism'. Using 'ScienceBox' base and add more items to improve moving speed and balance of the robot. To make the robot better, made optimized drawing and produced it using plastic with 3D printer and acyrl with Laser cutting machine.

• 한국기계가공학회지
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• 제5권1호
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• pp.39-44
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• 2006

Ultra precision positioning mechanism has been widely used on semiconductor manufacturing equipments, optical spectrum analyzers and cell manipulations. Ultra precision positioning mechanism consists of several actuators, sensors, guides and control systems. Its efficiency depends on each performance of components. The object of this study is to design and analyze the micro stage that is one of the equipments embodied in ultra precision positioning mechanism. The micro stage consists of PZT actuators and flexure hinges. The structural design of flexure hinge is optimized by using RSM and FEM. The control factors concerned with the design of flexure hinges of stage and arms are optimized by minimizing the equivalent stress on the hinge and maximizing 1st natural frequency based on RSM and FEM simulation under various kinds of design conditions.

• 인터넷정보학회논문지
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• 제11권2호
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• pp.85-98
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• 2010

최근 All-IP 네트워크 환경이 구축되면서 다양한 형태의 트래픽이 송수신되고 있으며, 이와 더불어 다양한 형태의 공격이 급증하고 있어 이에 대한 능동적 대응 방안이 제시되어야 한다. 기존 연구로는 SPIE 시스템 기반 해시 함수와 Bloom filter 방식을 적용한 라우터 중심 패킷 경로 역추적 기법이 제시되었으나, DDoS 공격이 발생 시 이를 능동적으로 차단하면서 공격 근원지를 역추적하기에는 문제점이 있다. 따라서 본 연구에서는 기존 SPIE 및 Sinkhole 기반 라우터 기법의 장단점에 대한 분석을 통해 두 방식의 장점을 결합하여 All-IP 네트워크 환경에 적합한 IP 역추적 방식을 설계하고 이를 구현하였다. 본 연구에서 제시한 기법은 기존의 Sinkhole 방식과 유사하게 공격 패킷에 대한 수집/모니터링 기능을 제공하면서도 역추적 패킷 Manager 시스템을 기반으로 공격 패킷에 대한 판단 및 수집/제어 할 수 있어 성능 향상과 함께 DDoS 공격에 대한 능동적 대응이 가능하였다.