• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 추계학술대회 논문집 학회본부
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• pp.383-385
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• 1996

In this paper, the dynamic path-following using the path-observer is proposed to improve the stability when initial position errors are considered. The dynamic path-following without the path-observer cannot follow reference path when initial position errors are large, so we propose the path-observer method. Finally, the results of simulation will be described.

• 대한전자공학회논문지TC
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• 제47권4호
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• pp.9-17
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• 2010

무선 애드혹 네트워크에서 노드들의 이동성은 각각 다르다. 각 경로를 구성하는 노드는 라우터로서 동작하고 있고, 따라서 이러한 노드들이 이동하게 되면 빈번하게 새로운 경로를 탐색해야 한다. 경로를 구성하고 있는 노드 중 일 노드가 높은 이동성을 갖을 경우, 이러한 노드는 경로의 단절을 수시로 야기시키므로 경로 선택에서 최대한 회피해야만 한다. 본 논문에서는 무선 애드혹 네트워크에서 다중경로 라우팅을 위한 경로 안정성 평가를 위해 기존에 알려져 있는 다중경로 라우팅 프로토콜인 Ad hoc on-demand multipath distance vector (AOMDV)를 확장한 한 이동성 인식 방법으로, path stability evaluation (PSE) 프로토콜을 제안한다. AOMDV와 PSE 프로토콜을 ns-2를 통해 비교하였으며, 시뮬레이션 결과에서는 PSE가 패킷 전달, 종단간 딜레이(end-to-end delay), 라우팅 오버헤드(routing overhead) 및 처리율 측면에서 보다 optimistic한 성능을 보여주고 있음을 증명한다.

• 대한기계학회논문집A
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• 제25권9호
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• pp.1461-1467
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• 2001

This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.

• 한국통신학회논문지
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• 제31권7B호
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• pp.652-659
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• 2006

애드 혹 네트워크에서 라우팅 알고리즘은 매우 중요한 연구 분야중의 하나이다. 기존의 라우팅 알고리즘은 현재의 네트워크 토폴로지 상황만을 고려하여 라우팅 경로를 설정하기 때문에 안정적인 라우팅 경로를 설정하는데 많은 어려움이 있다. 이와 같은 문제점을 해결하기 위해 수신 신호 세기를 이용하여 라우팅을 수행하는 알고리즘들이 제안되었지만, 이들은 평균 수신 신호 세기만을 고려하였기 때문에 라우팅 프로토콜의 성능 향상에는 한계가 있다. 따라서 본 논문에서는 평균 수신 신호 세기와 수신 신호 세기의 변화를 고려한 링크 안정성 기반의 라우팅 알고리즘을 제안하였다. 제안된 알고리즘의 성능을 분석하기 위해 다양한 환경에서의 모의실험을 수행하였으며, 그 결과 기존의 알고리즘보다 우수한 성능을 보임을 확인하였다.

• 자동차안전학회지
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• 제12권2호
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• pp.27-32
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• 2020

This paper presents steering system requirements to ensure the stabilized lateral control of autonomous driving vehicles. The two main objectives of a lateral controller in autonomous vehicles are maintenance of vehicle stability and tracking of the desired path. Even if the desired steering angle is immediately determined by the upper level controller, the overall controller performance is greatly influenced by the specification of steering system actuators. Since one of the major inescapable traits that affects controller performance is the time delay of the steering actuator, our work is mainly focused on finding adequate parameters of high level control algorithm to compensate these response characteristics and guarantee vehicle stability. Actual vehicle steering angle response was obtained with Electric Power Steering (EPS) actuator test subject to various longitudinal velocity. Steering input and output response analysis was performed via MATLAB system identification toolbox. The use of system identification is advantageous since the transfer function of the system is conveniently obtained compared with methods that require actual mathematical modeling of the system. Simulation results of full vehicle model suggest that the obtained tuning parameter yields reduced oscillation and lateral error compared with other cases, thus enhancing path tracking performance.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.758-771
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• 2021

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.

• 대한전기학회논문지:전력기술부문A
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• 제51권11호
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• pp.568-576
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• 2002

This paper presents a new algorithm for the enhancement of voltage stability by optimal routing (OR) technique. A new voltage stability index (VSI) for optimal routing is also proposed by using theories of critical transmission path based on voltage phasor approach and equivalent impedance method. Furthermore, the proposed algorithm automatically detect the critical transmission path to critical transmission path to critical load which are faced to voltage collapse due to additional real or reactive loading. We also adopt a improved branch exchange (IBE) algorithm based on a tie branch power (TBP) flow equation to apply the OR technique. The proposed IBE algorithm for the VSI maximizing can effectively search the optimal topological structures of distribution feeders by changing the open/closed states of the sectionalizing and tie switches. The proposed algorithm has been evaluated with the practical IEEE 32, 69 bus test systems and KEPCO 148 bus test system to show favorable performance.

• 스마트미디어저널
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• 제11권5호
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• pp.82-90
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• 2022

Along with the growing popularity of 5G technology, providing flexible and personalized network services suitable for requirements of customers has also become a lucrative venture and business key for network service providers. Therefore, dynamic network provisioning is needed to help network service providers. Moreover, increasing user demand for network services meets specific requirements of users, including location, usage duration, and QoS. In this paper, a routing algorithm, which makes routing decisions using Reinforcement Learning (RL) based on the information about link stability, is proposed and called Link Stability aware Reinforcement Learning (LSRL) routing. To evaluate this algorithm, several mininet-based experiments with various network settings were conducted. As a result, it was observed that the proposed method accepts more requests through the evaluation than the past link annotated shorted path algorithm and it was demonstrated that the proposed approach is an appealing solution for dynamic network provisioning routing.

• 한국광학회:학술대회논문집
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• 한국광학회 2008년도 하계학술발표회 논문집
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• pp.273-274
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• 2008

We present a quantitative phase microscopy for live cells. This method uses the principles of common path inteferometry and single shot phase image. This system has the ability to measure live cells quantitatively with subnanometer path length stability and millisecond scale aquisition time.

• International Journal of Internet, Broadcasting and Communication
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• 제12권3호
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• pp.46-55
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• 2020

Ad Hoc network is a special wireless network, mainly because the nodes are no control center, the topology is flexible, and the networking could be established quickly, which results the transmission stability is lower than other types of networks. In order to guarantee the transmission of data packets in the network effectively, an improved Queue Ad Hoc On-demand Distance Vector Routing protocol (Q-AODV) for node detection by using blockchain technology is proposed. In the route search process. Firstly, according to the node's daily communication record the cluster is formed by the source node using the smart contract and gradually extends to the path detection. Then the best optional path nodes are chained in the form of Merkle tree. Finally, the best path is chosen on the blockchain. Simulation experiments show that the stability of Q-AODV protocol is higher than the AODV protocol or the Dynamic Source Routing (DSR) protocol.