• The Journal of Korea Robotics Society
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• v.10 no.3
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• pp.162-170
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• 2015

This paper describes the development of a hand module of NREX (National Rehabilitation Center Robotic Exoskeleton) designed to assist individuals with sustained neurological impairments such as stroke and spinal cord injuries. To construct a simple and lightweight hand module, the robotic hand adopts a mechanism driven by a motor and moved by two four-bar linkages. The motor facilitates the flexion-extension movements of the thumb and the other four fingers simultaneously. Thus, an individual using the robotic hand module can effectively grip and release objects related to daily life activities. The robotic hand module has been designed to cover the range of motion with respect to its link distance. This hand module can be used in therapeutic rehabilitation as well as for daily life assistance. In addition, this hand module can either be mounted on an NREX or used as a standalone module.

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

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.816-822
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• 2010

In this paper, we propose an algorithm to improve TCP performance over wireless links. TCP is known to have poor performance over wireless links because TCP has no mechanism to differentiate congestion loss from wireless loss, and treats all losses as congestive. We present a simple method to determine the cause of packet loss using the successive ECN. In addition, we present an algorithm to control the congestion window size based on the estimated queue state in order to guarantee the fairness and high link utilization.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.2
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• pp.700-713
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• 2015

It is critical to design energy-efficient routing protocols for battery-limited mobile ad hoc networks, especially in which the energy-consuming MIMO techniques are employed. However, there are several challenges in such a design: first, it is difficult to characterize the energy consumption of a MIMO-based link; second, without a careful design, the broadcasted RREP packets, which are used in most energy-efficient routing protocols, could flood over the networks, and the destination node cannot decide when to reply the communication request; third, due to node mobility and persistent channel degradation, the selected route paths would break down frequently and hence the protocol overhead is increased further. To address these issues, in this paper, a novel Greedy Energy-Efficient Routing (GEER) protocol is proposed: (a) a generalized energy consumption model for the MIMO-based link, considering the trade-off between multiplexing and diversity gains, is derived to minimize link energy consumption and obtain the optimal transmit model; (b) a simple greedy route discovery algorithm and a novel adaptive reply strategy are adopted to speed up path setup with a reduced establishment overhead; (c) a lightweight route maintenance mechanism is introduced to adaptively rebuild the broken links. Extensive simulation results show that, in comparison with the conventional solutions, the proposed GEER protocol can significantly reduce the energy consumption by up to 68.74%.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.42 no.4 s.304
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• pp.59-68
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• 2005

In this paper, we design a PCI Express controller for future communication system The controller supports the full functionality of Transaction Layer and Data Link Layer of PCI Express. The designed controller has the proposed transmitter buffer architecture to obey Replay mechanism. This scheme merges the transmitting buffer and the replay buffer. The proposed buffer has the higher data transfer efficiency than the conventional buffer architecture because it can dynamically adjust size of a replay buffer space. We also design transmitter of Transmitter Transaction Layer to effectively support the proposed buffer, The receiver device of PCI Express must possess the buffer for three types of transaction to support Flow Control. And it must report the amount of the buffer space regularly to the Port at the opposite end of the link. We propose the simple receiver buffer scheme using only one buffer to easily support Flow Control. And the designed controller is verified under proposed test bench

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.3 no.6
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• pp.575-596
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• 2009

Facing limited network resources such as bandwidth and processing capability, the Internet will have congestion from time to time. In this paper, we propose a scheme to maximize the total utility offered by the network to the end user during congested times. We believe the only way to achieve our goal is to make the scheme application-aware, that is, to take advantage of the characteristics of the application. To make our scheme scalable, it is designed to be class-based. Traffic from applications with similar characteristics is classified into the same class. We adopted the RED queue management mechanism to adaptively control the traffic belonging to the same class. To achieve the optimal utility, the traffic belonging to different classes should be controlled differently. By adjusting link bandwidth assignments of different classes, the scheme can achieve the goal and adapt to the changes of dynamical incoming traffic. We use the control theoretical approach to analyze our scheme. In this paper, we focus on optimizing the control on two types of traffic flows: TCP and Simple UDP (SUDP, modeling audio or video applications based on UDP). We derive the differential equations to model the dynamics of SUDP traffic flows and drive stability conditions for the system with both SUDP and TCP traffic flows. In our study, we also find analytical results on the TCP traffic stable point are not accurate, so we derived new formulas on the TCP traffic stable point. We verified the proposed scheme with extensive NS2 simulations.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.1
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• pp.25-33
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• 2020

Multipath routing protocols with unmanned aerial vehicles have been proposed to improve reliability in tactical ad hoc networks. Most of existing studies tend to establish the paths with multiple metrics. However, these approaches suffer from link loss and congestion problems according to the network condition because they apply same metric for both ground and air path or employ the simple weight value to combine multiple metrics. To overcome this limitation, in this study, we propose new routing metrics for path over unmanned aerial vehicles and use the multi-criteria decision making (MCDM) method to determine the weight factors between multiple metrics. For the case studies, we extend the ad-hoc on-demand distance vector protocol and propose a strategy for modifying the route discovery and route recovery procedure. The simulation results show that the proposed mechanism is able to achieve high end-to-end reliability and low end-to-end delay in tactical ad hoc networks.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.8
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• pp.79-88
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• 2009

This paper presents the analytical stiffness analysis method for a low-DOF planar parallel manipulator. An n-DOF (n<3) planar parallel manipulator to which 1- or 2-DOF serial mechanism is connected in series may be used as a positioning device in planar tasks requring high payload and high speed. Differently from a 3-DOF planar parallel manipulator, an n-DOF planar parallel counterpart may be subject to constraint forces as well as actuation forces. Using the theory of reciprocal screws, the planar stiffness is modeled such that the moving platform is supported by three springs related to the reciprocal screws of actuations (n) and constraints (3-n). Then, the spring constants can be precisely determined by modeling the compliances of joints and links in serial chains. Finally, the stiffness of two kinds of 2-DOF planar parallel manipulators with simple and complex springs is analyzed. In order to show the effectiveness of the suggested method, the results of analytical stiffness analysis are compared to those of numerical stiffness analysis by using ADAMS.

• Journal of Aerospace System Engineering
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• v.11 no.5
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• pp.36-41
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• 2017

As the space debris in the satellite orbit increases, the risk of collision between the currently operating satellites and the space debris is continuously increasing. Therefore, in this study, we designed one-degree-of-freedom capture device using simple deployment mechanism. The capture device consists of four link groups connected with net. To increase the reliability, each link group is connected to one driving part so that the total degree of freedom is 1. In addition, the links were stowed on each side of the satellites so that they would not affect the janitor satellite mission. Finally, to confirm the possibility of deployment in the space environment, we carried out deployment experiments in water similar to the microgravity environment, and confirmed the deployment of capture device and the possibility of capturing target satellite.

• Journal of KIISE:Computer Systems and Theory
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• v.27 no.3
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• pp.255-263
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• 2000

A multistage interconnection network is a suitable class of interconnection architecture for constructing large-scale multicomputers. Broadcast and multicast communication are fundamental in supporting collective communication operations such as reduction and barrier synchronization. In this paper, we propose a new multicast technique in wormhole-switched bidirectional multistage banyan networks for constructing large-scale multicomputers. To efficiently support broadcast and multicast with simple additional hardware without deadlock, we propose a two-phase multicast algorithm which takes only two transmissions to perform a broadcast and a multicast to an arbitrary number of desired destinations. We encode a header as a cube and adopt the most upper input link first scheme with periodic priority rotation as arbitration mechanism on contented output links. We coalesce the desired destination addresses into multiple number of cubes. And then, we evaluate the performance of the proposed algorithm by simulation. The proposed two-phase multicast algorithm makes a significant improvement in terms of latency. It is noticeable that the two-phase algorithm keeps broadcast latency as efficient as the multicast latency of fanout 2^m where m is the minimum integer satisfying $2^m{\geq} {\sqrt{N}}$ ( N is a network size).