• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2804-2807
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• 2000

This paper suggests a method of the forward dynamic analysis for the computer simulation on the analysis of the dynamic behavior for biped walking robot. The equations f motion of the system or the simulation are constructed by using the Method of the multibody dynamics which is powerful method for modeling of the complex biped system. For the simplicity of simulation, we consider that the sole of the contacting foot is affected by the reaction forces for tree structure system topology instead of the addition or deletion of the kinematic constraints. The ground reaction forces can be modeled using the simple spring and damper model at the three contacting points on the sole of the foot. For minimizing the errors of numerical integration, the number of equations of motion is minimized by adding the driving constraints or a controller instead of the direct driving torques.

• Journal of Sensor Science and Technology
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• v.20 no.2
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• pp.77-81
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• 2011

This paper presents a single-pole eight-throw(SP8T) switch based on proposed a radio-frequency(RF) microelectromechanical systems (MEMS) switches. The proposed switch was driven by a double stop(DS) comb drive, with a lateral resistive contact. Additionally, the proposed switch was designed to have tapered signal line and bi-directionally actuated. A forward actuation connects between signal lines and contact part, and the output becomes on-state. A reverse actuation connects between ground lines and contact part, and the output becomes off-state. The SP8T switch of 3-stage tree topology was developed based on an arrangement of the proposed RF MEMS switches. The developed SP8T switch had an actuation voltage of 12 V, an insertion loss of 1.3 dB, a return loss of 15.1 dB, and an isolation of 31.4 dB at 6 GHz.

• Journal of Korea Multimedia Society
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• v.21 no.11
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• pp.1288-1296
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• 2018

PBS(Pairwise Broadcast Synchronization) is a well-known synchronization scheme for WSN(Wireless Sensor Networks). As PBS needs the set of node-pairs for network-wide synchronization by over-hearing, GPA(Group-Wise Pair Selection Algorithm) was also proposed after PBS. However, GPA is complex and requires too many message transmissions, leading to much power consumption. Besides, GPA is not appropriate to topology change or mobile wireless sensor networks. So, we propose a new and energy-efficient pair-node selection algorithm for PBS. The proposed scheme's performance has been evaluated and compared with GPA by simulation. The results are shown to be better than GPA.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.105-111
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• 1995

The inverse dynamic equations for 5 link robot including a closed chain have been derived. The closed chain is virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints by the Jacobian matrix which represents the configuration of the closed chain. The topology of tree structrued open chain robot is described by a FATHER array. The FATHER array of a link indicates the link tha tis connected in the direction of base link. Based on the inverse dynamic equations, the torque sensitivity models of the 5 link robot have been developed. The sensitivity models characterize the sensitivity of the driving torque with respect to the link parameters. All the procedures are illustrated through the 2 link robot.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.4
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• pp.1436-1457
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• 2018

Secure routing services in Wireless Sensor Networks (WSNs) are essential, especially in mission critical fields such as the military and in medical applications. Additionally, they play a vital role in the current and future Internet of Things (IoT) services. Lightness and efficiency of a routing protocol are not the only requirements that guarantee success; security assurance also needs to be enforced. This paper proposes a Secure-Fuzzy Energy Aware Routing Protocol (S-FEAR) for WSNs. S-FEAR applies a security model to an existing energy efficient FEAR protocol. As part of this research, the S-FEAR protocol has been analyzed in terms of the communication and processing costs associated with building and applying this model, regardless of the security techniques used. Moreover, the Qualnet network simulator was used to implement both FEAR and S-FEAR after carefully selecting the following security techniques to achieve both authentication and data integrity: the Cipher Block Chaining-Message Authentication Code (CBC-MAC) and the Elliptic Curve Digital Signature Algorithm (ECDSA). The performance of both protocols was assessed in terms of complexity and energy consumption. The results reveal that achieving authentication and data integrity successfully excluded all attackers from the network topology regardless of the percentage of attackers. Consequently, the constructed topology is secure and thus, safe data transmission over the network is ensured. Simulation results show that using CBC-MAC for example, costs 0.00064% of network energy while ECDSA costs about 0.0091%. On the other hand, attacks cost the network about 4.7 times the cost of applying these techniques.

• Journal of KIISE
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• v.44 no.10
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• pp.1071-1080
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• 2017

With today's complex networks, asset identification of network devices is becoming an important issue in management and security. Because these assets are connected to the network, it is also important to identify the network structure and to verify the location and connection status of each asset. This can be used to identify vulnerabilities in the network architecture and find solutions to minimize these vulnerabilities. However, in an IoT(Internet of Things) network with a small amount of resources, the Traceroute packets sent by the monitors may overload the IoT devices to determine the network structure. In this paper, we describe how we improved the existing the well-known double-tree algorithm to effectively reduce the load on the network of IoT devices. To balance the load, this paper proposes a new destination-matching algorithm and attempts to search for the path that does not overlap the current search path statistically. This balances the load on the network and additionally balances the monitor's resource usage.

• Journal of information and communication convergence engineering
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• v.6 no.2
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• pp.117-121
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• 2008

In ad hoc network, the scarce energy management of the mobile devices has become a critical issue in order to extend the network lifetime. Therefore, the energy consumption is important in the routing design, otherwise cluster schemes are efficient in energy conserving. For the above reasons, an Energy conserving Context aware Clustering algorithm (ECC) is proposed to establish the network clustering structure, and a routing algorithm is introduced to choose the Optimal Energy Routing Protocol (OERP) path in this paper. Because in ad hoc network, the topology, nodes residual energy and energy consuming rate are dynamic changing. The network system should react continuously and rapidly to the changing conditions, and make corresponding action according different conditions. So we use the context aware computing to actualize the cluster head node, the routing path choosing. In this paper, we consider a novel routing protocol using the cluster schemes to find the optimal energy routing path based on a special topology structure of Resilient Ontology Multicasting Routing Protocol (RODMRP). The RODMRP is one of the hierarchical ad hoc network structure which combines the advantage of the tree based and the mesh based network. This scheme divides the nodes in different level found on the node energy condition, and the clustering is established based on the levels. This protocol considered the residual energy of the nodes and the total consuming energy ratio on the routing path to get the energy efficiently routing. The proposed networks scheme could get better improve the awareness for data to achieve and performance on their clustering establishment and messages transmission. Also, by using the context aware computing, according to the condition and the rules defined, the sensor nodes could adjust their behaviors correspondingly to improve the network routing.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.36C no.1
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• pp.22-33
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• 1999

In this paper, we propose a new multi-way circuit partitioning system that partition large circuits to progrmmable circuit board which consist of FPGAs and interconnect components. Here the routing topology among the chips are predetermined and the number of available interconnections are fixed. Since the given constraints are difficult to be satisfied by the previous partition method, we suggest a new multi-way partition method by target restriction that considers all the constraints for the given board. To speed up, we construct a multi-level cluster tree for hierarchical partitioning. Experimental results for several benchmarks show that the our partition method partition them by satisfying all the given constraints and it used up to 10 % fewer interconnections among the chips than the previous K-way partition method.

• Journal of KIISE:Software and Applications
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• v.32 no.10
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• pp.963-973
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• 2005

Increasing attention is being recently devoted to various problems inherent in the topological design of networks systems. The topological structure of these networks can be based on service centers, terminals (users), and connection cable. Lately, these network systems are well designed with tiber optic cable, because the requirements from users become increased. But considering the high cost of the fiber optic cable, it is more desirable that the network architecture is composed of a spanning tree. In this paper, we present a GA (Genetic Algorithm) for solving bicriteria network topology design problems of wide-band communication networks connected with fiber optic cable, considering the connection cost, average message delay, and the network reliability We also employ the $Pr\ddot{u}fer$ number (PN) and cluster string in order to represent chromosomes. Finally, we get some experiments in order to certify that the proposed GA is the more effective and efficient method in terms of the computation time as well as the Pareto optimality.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.3A
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• pp.274-281
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• 2006

Sensor network applications need synchronized time extremely such as object tracking, consistent state updates, duplicate detection, and temporal order delivery. This paper describes reliable time synchronization protocol (RTSP) for wireless sensor networks. In the proposed method, synchronization error is decreased by creating hierarchical tree with lower depth and reliability is improved by maintaining and updating information of candidate parent nodes. The RTSP reduces recovery time and communication overheads comparing to TPSN when there are topology changes owing to moving of nodes, running out of energy and physical crashes. Simulation results show that RTSP has about 20% better performance than TPSN in synchronization accuracy. And the number of message in the RTSP is $20%{\sim}60%$ lower than that in the TPSN when nodes are failed in the network. In case of different transmission range of nodes, the communication overhead in the RTSP is reduced up to 40% than that in the TPSN at the maximum.