• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.4
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• pp.1935-1941
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• 2013

We can use NAT(Network Address Translation) technology to solve the lack of IP address. The problem of NAT traversal is happened when the filtering characteristics of NAT remove the packet that has no binding in the address translation table of NAT. There were many kinds of way to solve these problems by using additional device. Lately, network market is changed into integrating wired and wireless network by the IMS(IP Multimedia Subsystem). The IMS integrates to control network of wired and wireless network, has emerged to control convergence network effectively. Lately, the additional devices like IBCF(Interconnection Border Control Function) and IBGF(Interconnection Border Gateway Function) are used to solve the NAT traversal problem in the IMS. In this paper, we propose the solution of NAT traversal using P-CSCF without any additional equipment in the IMS.

• Journal of KIISE
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• v.44 no.10
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• pp.1034-1044
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• 2017

Although traversal strategies are important for the performance of model checking, many studies have ignored the impact of traversal strategies in model checking with a block-encoded abstract reachability graph. Studies have considered traversal strategies only for an abstract reachability graph without block-encoding. Block encoding plays a crucial role in the model checking performance. This paper therefore describes Dual-traversal strategy, a simple and novel technique to control traversal strategies in a block-encoded abstract reachability graph. This method uses two traversal strategies for a model checking, one for effective block-encoding, and the other for traversal in an encoded abstract reachability graph. Dual-traversal strategy is very simple and can be implemented without overhead compared to the existing single-traversal strategy. We implemented the Dual-traversal strategy in an open source model checking tool and compare the performances of different traversal strategies. The results show that the model checking performance varies from the traversal strategies for the encoded abstract reachability graph.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.55-63
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• 2007

Mobile robots traveling on rough terrain need several algorithms to overcome obstacles. In this paper, we propose the step-type obstacle traversal algorithm to adapt the mobile robot with six arms and wheels to travel on rough terrain. Obstacle traversal is composed of two different stages: planning and control. In planning stage, the required joint torque of each arm as well as the interference between the wheels and the arms are analyzed to guarantee traversing obstacles. Control stage includes such steps as checking distance to obstacle, determining the height and length of obstacle, performing arm motion according to sensed torque data, and evaluating safety at every instance. The proposed algorithm is designed and implemented for CALEB 1 six legged robot developed in the laboratory and verified by simulation and experiment in outdoor environment.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.827-833
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• 2013

In this paper, an efficient computational method is presented for state space analysis of bilinear systems via Legendre wavelets. The differential matrix equation is converted to a generalized Sylvester matrix equation by using Legendre wavelets as a basis. First, an explicit expression for the inverse of the integral operational matrix of the Legendre wavelets is presented. Then using it, we propose a preorder traversal algorithm to solve the generalized Sylvester matrix equation, which greatly reduces the computation time. Finally the efficiency of the proposed method is discussed using numerical examples.

• Journal of the Korea Computer Graphics Society
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• v.24 no.5
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• pp.21-30
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• 2018

In this paper, we use Sound-tracing, a 3D sound technology based on ray-tracing that uses geometric method as auditory technology to enhance realism. The Sound-tracing is costly in the sound propagation stage. In order to reduce the sound propagation cost, we propose a method to calculate the average effective frame number of previous frames using the frame coherence property and to adjust the depth according to the space based on the calculated number. Experimental results show that the path loss rate is 0.72% and the traversal & Intersection test calculation amount is decreased by 85.13% and the frame rate is increased by 4.48% when the sound source is indoors, compared with the result of the case without depth control. When the sound source was outdoors, the path loss was 0% and the traversal & Intersection test calculation amount is decreased by 25.01% and the frame rate increased by 7.85%. This allowed the rendering performance to be increased while minimizing the path loss rate.

• The KIPS Transactions:PartC
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• v.13C no.4 s.107
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• pp.447-454
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• 2006

An ad-hoc network routing protocol, AODV(Ad-hoc On-demand Distance Vector) initially uses ERS(Expanding Ring Search) algorithm to control the RREQ(Route Request) retransmission in the route discovery process. Because ERS uses the fixed NTT(Node Travesal Time), it does not reflect accurately ad-hoc network environment. In this paper, we propose an improved ERS algorithm which lowers the retransmission rate. It uses RREP(Route Reply) and gives different weights in NTT of each node in accordance with the adjacency to an originating node. To show the effectiveness of the proposed algorithm, we perform a simulation using ns2. The simulation results showed that the proposed algorithm has better performance than existing algorithms.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.7
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• pp.1129-1136
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• 2021

A pan-tilt-zoom (PTZ) camera-based monitoring system for efficient monitoring in the engine room of a vessel was designed. A number of places exist where traditional analog instruments are still used in vessel engine rooms, and blind spots closely related to safety exist, for which flooding or fire is a concern. A camera-based monitoring system that guarantees a wide range at a relatively fast cycle for these monitoring points can be an effective alternative to enhance the safety of a vessel. Therefore, a multiview monitoring system is proposed in which the functions of the existing PTZ camera are further strengthened using a software. The monitoring system comprises four modules: camera control, location registration, traversal control, and multiview image reconstruction. The effectiveness of the method was evaluated through a series of experiments in an engine room environment.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.577-582
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• 2013

In this paper Legendre wavelets are used to approximate the solutions of linear time-invariant system. The Legendre wavelet and its integral operational matrix are presented and an efficient algorithm to solve the Sylvester matrix equation is proposed. The algorithm is based on the decomposition of the Sylvester matrix equation and the preorder traversal algorithm. Using the special structure of the Legendre wavelet's integral operational matrix, the full order Sylvester matrix equation can be solved in terms of the solutions of pure algebraic matrix equations, which reduce the computation time remarkably. Finally a numerical example is illustrated to demonstrate the validity of the proposed algorithm.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.1
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• pp.145-155
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• 2010

This paper presents a new approach to obstacle avoidance for mobile robot in unknown or partially unknown environments. The method combines two navigation subsystems: low level and high level. The low level subsystem takes part in the control of linear, angular velocities using a multivariable PI controller, and the nonlinear position control. The high level subsystem uses ultrasonic and IR sensors to detect the unknown obstacle include static and dynamic obstacle. This approach provides both obstacle avoidance and target-following behaviors and uses only the local information for decision making for the next action. Also, we propose a new algorithm for the identification and solution of the local minima situation during the robot's traversal using the set of fuzzy rules. The system has been successfully demonstrated by simulations and experiments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.11
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• pp.4068-4086
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• 2014

Due to the prevalence of powerful mobile terminals and the rapid advancements in wireless communication technologies, the wireless video streaming service has become increasingly more popular. Recent studies show that video streaming services via Transmission Control Protocol (TCP) are becoming more practical. TCP has more advantages than User Diagram Protocol (UDP), including firewall traversal, bandwidth fairness, and reliability. However, each video service shares an equal portion of the limited bandwidth because of the fair sharing characteristics inherent in TCP and this bandwidth fair sharing cannot always guarantee the video quality for each user. To solve this challenging problem, an Adaptive Multiple TCP (AM-TCP) scheme is proposed in this paper to guarantee the video quality for mobile devices in wireless networks. AM-TCP adaptively controls the number of TCP connections according to the video Rate Distortion (RD) characteristics of each stream and network status. The proposed scheme can minimize the total distortion of all participating video streams and maximize the service quality by guaranteeing the quality of each video streaming session. The simulation results show that the proposed scheme can significantly improve the quality of video streaming in wireless networks.