• Journal of Industrial Technology
• /
• v.22 no.B
• /
• pp.251-260
• /
• 2002

In this thesis, a three degrees of freedom robot, which is able to provide sufficient precision for various robot researches, has been developed. The cable mechanism is used as a basic transmission of robot joints. Based on an optimal design strategy, link and joint parameters are determined and then overall geometry of the robot is designed. As an architecture of robot control, real time control system using real time linux and RtiC-Lab(Real Time Controls Laboratory) is developed. This system, written in C and based on Linux O/S, includes text editor, compiler, downloader, and real time plotter running in host computer for developing control purpose. Using these hardware and software, simple PD position control is implemented, the results shows the effectiveness of the system.

• Proceedings of the KIEE Conference
• /
• 1997.11a
• /
• pp.133-135
• /
• 1997

In this paper, a fuzzy tuning discrete-time repetitive control is suggested for a robot manipulator. Real-time implementation of this type of repetitive controller is also performed for a 2 link direct drive robot by using a real-time control system which consists of a real-time OS(Spectra), a single board computer, a communication board and an analog input/output board. First, it is shown that the tracking error is effectively reduced by discrete-time repetitive control. Second, the convergence performance is shown to be much improved by the suggested controller using real-time experimentations.

• Journal of the military operations research society of Korea
• /
• v.30 no.2
• /
• pp.32-49
• /
• 2004

The Tactical Data Link System is a standardized communication link to exchange and interface positional, situational information, command and control in real time. It has been evaluated that this Link would play an important role for tactical interoperability, situation awareness, and execution of joint operations in the future war. But considering the rapidly changing war situations, even though being admitted the necessity of the Tactical Data Link System of Army helicopter, one of superpowers in the Army, substantially we don't still have any concrete concept to build it. Therefore, this work presents how to embody the Tactical Data Link System through computer-aided system engineering on the base of Tactical Data Link System operating concept analysis of helicopters-ground units.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2015.10a
• /
• pp.579-581
• /
• 2015

Air threat such as aircrafts or missiles were incresed rapidly after World War II, warships were relatively vulnerable to air threat. Therefore U.S. and allies developed various Tactical Data Link(TDL) to defend warships from air threat. Target information can be managed and shared with other station by real or near-real time due to TDL. TDL is base system to manage battlefield and to carry out C2(Command and Control) effectively and rapidly. In this paper, the type, current operating status and characteristic of TDL is surveyed and newest technical trend such as LINK-K is described.

• Journal of information and communication convergence engineering
• /
• v.9 no.6
• /
• pp.775-779
• /
• 2011

As the technology of multimedia sensor networks is desired in large numbers of applications nowadays, real-time service becomes one of the most important research challenges. Even though lots of related works have been conducted to meet this requirement in several ways, the specific traffic model for real-time has not been taken yet. Thus, it causes lack of adaptability of those approaches in real deployment. To solve this problem, in this paper, we model the application via (m,k)-firm streams which have weakly hard real-time property. And then, a novel forwarding scheme based on modified DBP (Distance-Based Priority) is proposed by considering local-DBP and stream DBP together. Local-DBP can contribute to identify the detailed causes of unsatisfied quality, that is, network congestion or wireless link failure. Simulation results reveal that (m,k)-firm is a good traffic model for multimedia sensor networks and the proposed scheme can contribute to guarantee real-time requirement well.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.46 no.7
• /
• pp.45-51
• /
• 2009

We have presented a routing mechanism that selects a route by considering channel statuses in order to fast transfer delay-sensitive data in WSNs (Wireless Sensor Networks). The existing methods for real-time data transfer select a path whose latency is the shortest or the number of hops is the smallest. An algorithm to select a real-time transfer path based on link error rates according to the characteristic of wireless medium was also suggested. However, the propagation delay and retransmission timeout affected by link error rates are shorter than channel assessment time and backoff time. Therefore, the mechanism proposed in this paper estimated the time spent in using a clear channel and sending out a packet, which is based on channel backoff rates. A source node comes to select a route with the shortest end-to-end delay as a fast transfer path for real-time traffic, and sends data along the path chosen. We found that this proposed mechanism improves the speed of event-to-sink data transfer by performing experiments under different link error and channel backoff rates.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.26 no.5D
• /
• pp.731-738
• /
• 2006

Facing congestion, people want to know traffic information about their routes, especially real-time link travel time (LTT). In this paper, as a sequel paper of the previous non-taxi based LTT generating study by Choi et al. (1998), taxi based GPS probes have been tried to produce LTT for urban arterials. Taxis in itself are good deployment mode of GPS probes although it by nature experiences boarding and alighting time noises which should be accounted. A heuristic real-time dynamic outlier filter algorithm for taxi GPS probe has been developed focusing on urban arterials. An actual traffic survey for dynamic link travel times has been conducted using license plate method for the test arterials of Seoul city transportation network. With the algorithm, it is estimated that 70% of outliers have been filtered and the relative error has been improved by 73.7%. The filtering algorithm developed here would be expected to be in use for other spatial sites with some calibration efforts. Some limitations and future research agenda have also been discussed.

• ETRI Journal
• /
• v.34 no.3
• /
• pp.462-465
• /
• 2012

This letter proposes a new distributed scheduling scheme combined with routing to support the quality of service of real-time applications in wireless mesh networks. Next, this letter drives average end-to-end delay of the proposed scheduling scheme that sequentially schedules the slots on a path. Finally, this letter simulates the time division multiple access network for performance comparison. From the simulation results, when the average number of hops is 2.02, 2.66, 4.1, 4.75, and 6.3, the proposed sequential scheduling scheme reduces the average end-to-end delay by about 28%, 10%, 17%, 27%, and 30%, respectively, compared to the conventional random scheduling scheme.

• Journal of Korean Society of Transportation
• /
• v.17 no.3
• /
• pp.97-116
• /
• 1999

The growing demand for the real time traffic information is bringing about the category and number of traffic collection mechanism in the era of ITS. There are, however, two problems in making data into information using various traffic data. First, the information making process of making data into the representative information, for each traffic collection mechanism, for the specified analysis periods is required. Second, the integration process of fusing each representative information into "the information" for each link out of each source is also required. That is, both data reduction and/or data to information process and information fusion are required. This article is focusing on the development of information fusing algorithm based on voting technique, fuzzy regression, and, Bayesian pooling technique for estimating the dynamic link travel time of networks. The proposed algorithm has been validated using the field experiment data out of GPS probes and detectors over the roadways and the estimated link travel time from the algorithm is proved to be more useful than the mere arithmetic mean from each traffic source.

• Journal of Advanced Navigation Technology
• /
• v.5 no.2
• /
• pp.149-157
• /
• 2001

A high speed data link capability is one of the critical factors in determining the performance of the spaceborne SAR system with high resolution. It is due to the strict requirement for the real-time data transmission from a series of massive raw image data of spaceborne SAR to the ground station in a limited time of mission. In this paper, based on the data link model characterized by the spaceborne small SAR system, the high rate multi-channel data link module is designed including link storage, link processor, transmitter, and wide-angle antenna. The design results are presented with the performance analysis on the data link budget as well as the multi-mode data rate in association with the SAR imaging mode of operation from high resolution to the wide swath.