• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.1008-1013
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• 1992

본 논문에서는 다중 로보느의 협조제어(Coordinated Control)를 위한 로보트 콘트롤러의 설계에 대해서 연구한다. 첫 부분에서는 다중 로보느의 연구배경 및 연구동기에 대해서 논의하고 이어서 Coordinated Task를 묘사하기 위한 Programming Primiitive Set을 정의하며 구현에 대해서도 논의한다. 특히 Motopn Primitive는 synchronous(Coordinated Motion), Asynchronous Motion, Conditional Motion, 특수 Motion으로 분류하고, 각각의 궤적계획 및 구현에 대해서도 간단히 논의한다. 특히 본 논문에서는 외부의 변화하는 환경에 효과적으로 적응할 수 있게 하기 위하여 Vision센서, Encoder신호와 Limit센서, Force센서 등의 다양한 외부 센서를 융합 처리할수 있는 다중 로보트 제어 시스템을 개발하였다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.11
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• pp.2056-2063
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• 2011

A time based software simulator for the PRT system operation is presented. The purpose of the simulator is to estimate the passenger transportation performance of the PRT system. In this paper, it is presented how the system is modeled in the simulator to estimate passenger transportation performance and the running algorithm of the modeled subsystem. An application sample is also presented to find the system's design parameter to satisfy the transportation needs.

• Proceedings of the KAIS Fall Conference
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• 2001.05a
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• pp.169-172
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• 2001

본 논문은 ATMEL Bluetooth Development Kit (DK)를 이용하여 음성과 데이터를 전송하는 시스템을 구현하는 것으로, Bluetooth 디바이스간 연결을 위한 과정을 분석하였다. 또한, Synchronous Connection-Oriented (SCO) 링크와 Asynchronous Connectionless (ACL) 링크를 형성하여 음성과 데이터를 송수신하는 어플리케이션을 구현하였다. 향후 가정, 사무실, 공장 등에서 근거리 무선 통신 기술로 자리잡아갈 Bluetooth 기술을 적용한 어플리케이션 개발은 필수적이다. 본 논문에서는 Bluetooth 호스트 컨트롤러 인터페이스(HCI)를 이용한 어플리케이션 개발 과정을 제시하였다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.8
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• pp.31-37
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• 2016

Ranging is divided into a synchronous scheme and an asynchronous scheme according to the presence of global synchronization between nodes. In general, the asynchronous ranging is preferred over synchronous ranging because it does not require an expensive high-precision oscillator for the global synchronization. On the other hand, in a conventional asynchronous ranging scheme, the packets, which are generated by all nodes in a positioning system of a large-scale infrastructure and need to be sent for localization by reference nodes, are considerable, which cause an increase in network traffic as the number of nodes increases. The traffic congestion lowers the throughput of the network leading to a considerable loss of energy. To solve this problem, this paper proposes a ranging scheme, in which virtual transmission slots randomly and discretely selected by a plurality of nodes are used to reduce the overheads needed in synchronizing the nodes, and the ranging is performed asynchronously based on the virtual transmission slots, thereby decreasing the network traffic. In addition, a performance test proved that the proposed ranging scheme was stronger than the TWR and SDS-TWR on an error range, even though the intensity of traffic was very low.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.3
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• pp.352-361
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• 2021

An underwater positioning method that can be applied to structures for underwater construction is being developed at the Korea Institute of Ocean Science and Technology. The method uses an extended Kalman filter (EKF) based on an inertial navigation system for precise and continuous position estimation. The observation matrix was configured to be variable in order to apply asynchronous measured sensor data in the correction step of the EKF. A Doppler velocity logger (DVL) can acquire signals only when attached to the bottom of an underwater structure, and it is difficult to install and recover. Therefore, a complex sensor device for underwater structure attachment was developed without a DVL in consideration of an underwater construction environment, installation location, system operation convenience, etc.. Its performance was verified through a water tank test. The results are the measured underwater position using an ultra-short baseline, the estimated position using only a position vector, and the estimated position using position/velocity vectors. The results were compared and evaluated using the circular error probability (CEP). As a result, the CEP of the USBL alone was 0.02 m, the CEP of the position estimation with only the position vector corrected was 3.76 m, and the CEP of the position estimation with the position and velocity vectors corrected was 0.06 m. Through this research, it was confirmed that stable underwater positioning can be carried out using asynchronous sensors without a DVL.

• Proceedings of the Korean Society of Developmental Biology Conference
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• 2003.10a
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• pp.80-80
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• 2003

In cryopreserved rat embryos, survival rates obtained in vitro are not always consistent with the rates obtained in vivo. To determine the optimal conditions for in vivo development to term, rat embryos at the 4-cell, 8-cell and morula stages were vitrified in EFS40 by a 1-step method and transferred into oviducts or uterine horns of recipients at various times during pseudopregnancy. Vitrified and fresh 4-cell embryos only developed after transfer into oviducts of asynchronous recipients on Day -1 to -2 of synchrony, i.e., at a point in pseudopregnancy that was 1-2 days earlier than the embryos. However, although about half the vitrified embryos transferred into oviducts on Day -1 developed to term, only a minority of embryos transferred at later times did so, whether vitrified (10-34%) or fresh (24-33%), suggesting that this may not be the most suitable stage for cryopreservation. Very few 8-cell embryos, either vitrified or fresh, developed when transferred into oviducts on Day 0 to -0.5. However, when transferred into uterine horns, high proportions of vitrified 8-cell embryos (-63%) developed to term in reasonably synchronous recipients (Day 0 to -0.5) but not in more asynchronous ones (6%; Day-1). A majority of vitrified morulae also developed to term (52-68%) in a wider range of recipients (Day 0 to -1), the greatest success occurring with recipients on Day -0.5. Similar proportions of vitrified and fresh 4-cell embryos, 8-cell embryos and morulae developed to term when there was appropriate synchronization between embryo and recipient. Thus vitrification of preimplantation stage rat embryos does not appear to impair their developmental potential in vivo.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.3
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• pp.680-690
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• 2011

To support asynchronous collaboration among remote users, collaborative applications provide collaboration services and environment through virtual workspaces. In general, collaborative applications support collaboration based on desktop-based personal computers, using the features such as resource sharing or asynchronous communication among users. Unfortunately, since those applications mainly run on personal computers, they do not easily support collaborative works in various places. In this paper, we describe the development of smartphone collaborative application which provides effective collaboration facilities like resource sharing through various types of workspaces or group communication, communicating with a WebDAV-based collaboration server. The developed application provides users with high accessibility through multi-touch/touch-slide based user-interfaces in mobile environment. To support effective communication with a collaboration server, we also present a WebDAV-based collaboration library using a collaboration protocol designed to analyze easily the responses from the collaboration server.

• Journal of Gifted/Talented Education
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• v.13 no.1
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• pp.65-80
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• 2003

The purpose of this study was to investigate the Asynchronous development of young gifted children by parents' perception. Total 3 groups of 145 subjects from age 30 months to 6 years 10 months old young gifted children's parents participated. The major findings were as follows: (1) The mean developmental characteristics was at a high average level. The developmental subscales tended to be high. The level of verbal understanding/expression tended to be high. It reared as followed; intellectual capacity, emotional maturity, visual-motor coordination, morality, self-behavior control, emotion control, physical development, social development, peer relationship, leadership ability. (2) There were significant differences between intellectual capacity, verbal understanding /expression and physical, social development, self-behavior control, emotion control. There were significant differences between physical development, self-behavior control and emotion control as children got lower. There were significant differences between verbal understanding/expression and visual-motor coordination as children got older. There were significant differences between social development, peer relationship and self-behavior control, emotion control as children got older. Also, there were significant differences between leadership ability and self-behavior control, emotion control as children got older. There were significant differences between morality and self-behavior control as children got older. These findings suggested that young gifted children were in the special needs because of the developmental differences.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.2
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• pp.32-49
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• 1996

An approach to providing computational support for concurrent design is discussed in the context of an automobile wiring harness design problem. Key issues include the development of an architecture that supports collaboration among specialists, the development of hierarchical representations that capture different characteristics of the design, and decomposition of tasks to achieve a tradeoff between efficiency and robustness of the system. We present an architecture in which the main design tasks are supported by agents-asynchronous and semi-autonomous modules that automate routine design tasks and provide specialized interfaces for working on particular aspects of the design. The agent communication and coordination mechanisms permit members of an engineering team to work concurrently, at different levels of detail and of different versions of the design. The design is represented hierarchically, with detailed models maintained by the participating agents. In conjunction with the architecture and design representations, issues pertaining to the exchange of information among different views of the design, management of dependencies and constraints, and propagation of design changes are discussed.

• JSTS:Journal of Semiconductor Technology and Science
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• v.4 no.4
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• pp.251-257
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• 2004

Nonvolatile FRAMs with a design rule of 0.18 ${\mu}m$ were developed for the high performance smart card. A 1Mb FRAM was embedded in place of an EEPROM and a 64Kb FRAM was embedded in place of a. SRAM. It was confirmed that the FRAMs performed the roles of the EEPROM and SRAM successfully using the asynchronous write/read operation method and the one time programming (OTP) scheme. The cycle time of the FRAM was 10 MHz, which remarkably improved the write performance of the smart card in comparison with that of the conventional smart card with an EEPROM. Additionally, a simple and smart bit-line reference scheme for the future FRAM device having a 1T1C cell type was proposed.