• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.106-111
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• 2008

This paper presents a decentralized coordination for a small-scale mobile robot teams performing a task through cooperation. Robot teams are required to generate and maintain various geometric patterns adapting to an environment and/or a task in many cooperative applications. In particular, all robots must continue to strive toward achieving the team's mission even if some members fail to perform their role. Toward this end, given the number of robots in a team, an effective coordination is investigated for decentralized formation control strategies. Specifically, all members are required first to reach agreement on their coordinate system and have an identifier (ID) for role assignment in a self-organizing way. Then, employing IDs on individual robots within a common coordinate system, a decentralized neighbor-referenced formation control is realized to generate, keep, and switch between different geometric shapes. This approach is verified using an in-house simulator and physical mobile robots. We detail and evaluate the formation control approach, whose common features include self-organization, robustness, and flexibility.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.50.5-50
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• 2002

In this paper, we propose a method using neural network (NN) to improve the motion control of a decentralized control system for cooperative transportation. In our former work, a decentralized control system for transporting a single object by multiple nonholonomic mobile robots has been developed. One of these mobile robots acts as a leader, who is assumed to be able to plan and to manipulate the omnidirectional motion of the object. Other robots, referred to as followers, cooperatively transport the object by keeping a constant position relative to the object. in this work, it is assumed that the leader can not only plan but also broadcast the local velocity of the object. Then...

• Journal of the Korea Society of Computer and Information
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• v.25 no.9
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• pp.91-100
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• 2020

This paper presents an evaluation framework for prototyping multimedia streaming services including audio and video in a distributed and/or decentralized storage that can evaluate service quality and performance under various network conditions. The evaluation framework focuses on important indicators which measure and improve service quality by applying decentralized storage to multimedia streaming services that can mimic the scalability of the existing server-client software architecture and the issue of a single point of failure. The integrated framework not only measures performance indicators for evaluating the quality and performance of multimedia streaming on open source based multimedia content streaming services, but also adjusts network quality using network virtualization technology for comprehensive evaluations. The experimental results show that the integrated framework has low overhead in building and operating a decentralized storage with multimedia streaming services on a single host computer which validates the scalability of the developed framework.

• International Journal of Control, Automation, and Systems
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• v.3 no.spc2
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• pp.270-277
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• 2005

In this paper, a decentralized control problem is considered for multimachine power systems with nonlinear interconnections and disturbances. A direct feedback linearization compensator is employed to cancel most of the nonlinearities, and then a backstepping procedure is applied to deal with the interconnections and to reduce the effects of a disturbance that does not satisfy the matching condition. In this procedure, the disturbance is handled by using a smooth approximation of the signum function. Practical stability is achieved under the assumption that the infinite norm of the disturbance is known. However, even in the case where the infinite norm of the disturbance is not known precisely, the proposed control system still guarantees $L_2$ stability. Furthermore, the origin is globally uniformly asymptotically stable in the absence of the disturbance. A three-machine power system is considered as an application example.

• Annual Conference of KIPS
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• 2018.10a
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• pp.235-237
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• 2018

The Internet has allowed many things to move fast, including sharing of data, files and others within a second. Many domains use applications range from IoT, smart cities, healthcare, and organizations to share the data when necessary. However, there are some challenges faced by existing systems that works on centralized nature. Such challenges are data breach, trustiness issue, unauthorized access and data fraud. Therefore in this work, we focus on using a smart contract which is used by blockchain platform and works on decentralized form. Furthermore, in this work our contract provides an access to the file uploaded onto the decentralized storage such as IPFS. By leveraging smart contract-role based which consist of a contract owner who can manage the users when access the certain resources such as a file and as well as use of decentralized storage to avoid single point of failure and censorship over secure communication channel. We checked the gas cost of the smart contract since most of contracts tends to be a high cost.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.6
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• pp.208-216
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• 1996

This paper presents a decentralized control scheme for interconnected systems with unmodeled nonlinearities and interactions using a neural coordinator. The interactions due to the interconnection and the unmodeled nonlinearity associated with each subsystem are represented by the deviations from linearized states of decomposed subsystems. the decentralized controller is composed of local controllers and a neural coordinator. The local controller for each subsystem is derived from linearized local system parameters y linear optimal control theory. the neural cooridnator generates a corrective control signal to cancel the effect of deviation sthrough the backpropagation learning with the rrors obtained form the difference of the local system outputs and reference model outputs. the reference model consists of the part of local system without deviations. The effectiveness of the proposed control scheme is demonstrated by simulation studies.

• Smart Structures and Systems
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• v.11 no.2
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• pp.163-183
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• 2013

Control systems have been greatly studied in recent years and can be classified as: passive, active, semi-active or hybrid systems. Most forms of control systems have been applied in a centralized manner where all the information is sent to a central node where control the algorithm is then calculated. One of the possible problems of centralized control is the difficulty to scale its application. In this paper, a completely decentralized control algorithm is analytically implemented. The algorithm considers that each of the control systems makes the best decision based solely on the information collected at its location. Semi-active control is used in preference to active control because it has minimal energy consumption, little to no possibility of destabilization, a reduction in the possibility of data saturation, and a reduction in the response time in comparison to centralized control.

• Journal of the Semiconductor & Display Technology
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• v.19 no.2
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• pp.1-10
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• 2020

Blockchain enabled Decentralized Autonomous Organization (DAO), a new form of organization with conveying its core value - trust. Token holders who are participating DAO's governance share their thoughts, information, and ideas in online forum. But it is problem that chronological form of DAO's online forum makes token holders hard to find crucial information, meaning that many of them might not understand what is happening discussion. In this paper, we studied not only a decision making process which feature is iteration, visualization, and applicable to DAO with 6 steps in total but also a decision making tool which is based on the process of this paper. The tool has features to help participants such as voting model, visualization features which gives guidance to them for their decision during the process. Our experiment showed that the process and tool is somewhat reasonable, and the information during the process is effective for participants. This work is expected to be applied to current DAOs to make a decision among the token holders.

• Journal of Korean Institute of Industrial Engineers
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• v.39 no.4
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• pp.278-289
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• 2013

Up-to-date market dynamics and intense competition have forced a production system to be more widely distributed and decentralized than ever, and the production system itself can be regarded as a collaborative network of autonomous production resources in which the responsibility of decision making is also decentralized into individual autonomous entities. The conventional resource management models, however, are not suitable for the distributed and decentralized environment because of their centralized nature. In this paper, an agent-based resource management model is proposed. The proposed model applies employment relation-driven fractal organization (FrOrg) into organizational model for distributed production resources and presents a resource management framework based on employment contracts. The fractal organization is a structured association in which a self-similar pattern recursively appears, and employment relations between production resources are recursively constructed throughout the entire production system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.2
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• pp.619-634
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• 2019

In the field of traceability systems, researchers focus on applications in the agricultural food traceability and scanning commodities. The purposes of this paper, however, is to propose an efficient and reliable traceability system that can be applied to all kinds of commodities. Currently, most traceability systems store data in a central server, which is unreliable when the system is under attack or if the administrator tampers with the data for personal interests. Therefore, it is necessary to design a system that can eliminate these threats. In this paper, we propose a decentralized and non-reversible traceability system for storing commodity data. This system depends on blockchain technology, which organizes data in the form of chains without a central server. This chain-style storage mechanism can prevent malicious modifications. In addition, some strategies are adopted to reduce the storage pressure and response time when the system has stored all kinds of commodity data.