• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.61 no.12
• /
• pp.1911-1919
• /
• 2012

In this paper, we focus on a robotic sealing process in which three robots are used. Each robot can be considered as a 7 axis redundant robot of which the first joint is prismatic and the last 6 joints are revolute. In the factory floor, robot path planning is not a simple problem and is not automated. They need experienced operators who can operate robots by teaching and playing back fashion. However, the robotic sealing process is well organized so the relative positions and orientations of the objects in the floor and robot paths are all pre-determined. Therefore by adopting robotic theory, we can optimally plan robot pathes without using teaching. In this paper, we analyze the sealing robot by using redundant manipulator theory and propose three different methods for path planning. For sealing paths outside of a car body, we propose two methods. The first one is resolving redundancy by using pseudo-inverse of Jacobian and the second one is by using weighted pseudo-inverse of Jacobian. The former is optimal in the sense of energy and the latter is optimal in the sense of manipulability. For sealing paths inside of a car body, we must consider collision avoidance so we propose a performance index for that purpose and a method for optimizing that performance index. We show by simulation that the proposed method can avoid collision with faithfully following the given end effector path.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.4B
• /
• pp.391-398
• /
• 2011

In this paper, we propose a MAC protocol for visible light wireless LAN using LED light. The proposed MAC protocol has a function of automatic direction optimization for LED transceiver. There is periodical time slot for broadcasting and registration in the proposed MAC protocol. We used polling method for data transfer in the protocol since visible light is hard to detect carrier and collision by other mobile stations; thus we cannot use CSMA/CD method in visible light LAN. We also amended the MAC frame of IEEE 802.11 to propose a revised version for visible light wireless LAN using LED light. We investigate the performance of the proposed MAC protocol. When the bit rate of physical layer is 100 Mb/s, the net data throughput using the proposed MAC protocol is estimated to 94.386 Mb/s.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.42 no.3
• /
• pp.604-611
• /
• 2017

In wireless sensor networks, an energy efficient operation is important since the energy of the sensors is limited. This paper proposes an energy efficient method that reduces a packet generation with Matrix Completion method where sensor value matrix has low-rank and decreases a collision rate and an overhead by transmitting only sensor ID to a time slot corresponding to the sensor value. Computer simulations demonstrates that the proposed method shows 17% of transmission failure and 73% of the packet generation compared to a conventional CSMA/CS. Delay time of transmitting information of the proposed method exhibits 22% of the CSMA/CA and the MSE error after reconstructing sensor values by Singular Value Thresholding(SVT) in Fusion Center is 87% of the CSMA/CA.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2009.06a
• /
• pp.19-20
• /
• 2009

International Maritime Organization(IMO) recommends the installation of an Automatic Identification System(AIS) according to requirements by SOLAS Chapter 5 to avoid maritime collision. AIS provides traffic information of other ships that may be used for maritime traffic control, SAR(Search and Rescue) and collision avoidance to apply safety management. In this paper, preliminary results to implement an aeronautical surveillance transceiver using AIS transceiver based on ADS-B concepts are described. Although altitude information is not required for AIS since the AIS is operated at MSL(Mean Sea Level), altitude information can be extracted by a GPS chip-set in the ALS transceiver. ADS-B transceiver is implemented by defining a surveillance message format including the altitude information and modifying SOTDMA protocol. Ground tests and flight tests are performed to validate the implementation results.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.52 no.11
• /
• pp.12-19
• /
• 2015

In network-centric warfare, the communication network has played a significant role in defeating an enemy. Especially, the urgent and important data should be preferentially delivered in time. Thus, we proposed a priority MAC protocol based on CSMA/CA with Binary Exponential Back-off for tactical wireless networks. This MAC protocol suggested a PCW(Prioritized Contention Window) with differentiated back-off time by priority and a RBR(Repetitive Back-off Reset) to reset the remaining back-off time. The results showed that this proposed MAC has higher performance than those of DCF(Distributed Coordination Function) in the transmission success rate and the number of control packet transmission by reducing the packet collision. Thus, it produced more effective power consumption. In comparison with DCF, this proposed protocol is more suitable in high-traffic network.

• Journal of Advanced Navigation Technology
• /
• v.27 no.5
• /
• pp.552-560
• /
• 2023

Aircraft midair collisions are dangerous events that can cause massive casualties. To prevent this, civil aviation has mandated the installation of TCAS (ACAS), which is becoming more sophisticated with the help of new technologies. However, there are institutional problems in collecting data for TCAS research in Korea, limiting the ability to obtain data for personal research. ADS-B and Mode-S automatic broadcast various information about the flight status of the aircraft. This data also contains information about TCAS RA, which can be used by anyone to find examples of TCAS RA operation. We used the databases of ADS-B Exchange and Opensky-Network to acquire data and visually represent three TCAS RA cases through Python coding. We also identified domestic TCAS cases in the first half of 2023 and analyzed their characteristics to confirm the usefulness of the data.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.32 no.4
• /
• pp.363-371
• /
• 1996

The Steering and Sailing Rules of International Regulations for Preventing Collisions at Sea now in use direct the best aid - action to avoid collision by the stand - on vessel. But these rules do not refer to the safety relative distance between two vessels when she should take such action. In this paper, the author analyzed the ship's collision avoiding actions from the viewpoint of ship motions and worked out mathematical formulas to calculate the relative distances necessary for taking action to avoid collision. Figuring out the values of maneuvering indices through experiments of 11 actual ships of small, medium, large and mammoth size, the author applied these values to the calculating formulas and calculated the minimum relative distances. The main results are as follows: 1. It was confIrmed that the stand - on vessel should keep the greatest relative distance for taking best aid - action to avoid collision when the cross angle of course was $90^{\circ}$ and near it(70-$90^{\circ}$ ). 2. When the cross angle of course was $90^{\circ}$ , the minimum relative distance of small vessel(GT: 160-650tons) was found to be more than about 6.8 times of her own length, and those of medium(GT : 2,300-3,500tons), large(GT : 22,OOO-62,OOOtons) and mammoth(GT : 91,000-139,000tons) vessels were found to be more than about 9.0 times, about 5.4 times and about 6.8 times of their own lengths. 3. It was confIrmed that collision danger was greater when crossing angle was obtuse than in an acute angle, therefore greater relative distance was to be kept by the stand - on vessel for taking best aid - action to avoid collision in the case of the obtuse angle. 4. In every vessels, in the case of $90^{\circ}$ cross angle of course the safety minimum relative distance was found to be more than about 9.0 times of their own lengths.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.8 no.1
• /
• pp.55-64
• /
• 2013

The USB-IF has specified a Wireless USB (WUSB) protocol based on UWB for high speed wireless home networks and WPANs. In this paper, firstly, performance degradation due to the Private Distributed Reservation Protocol (DRP) conflict problem caused by devices' mobility is analyzed. And a novel relay transmission protocol combined with Private DRP conflict resolution is proposed to overcome the performance degradation at Private DRP conflicts. In order to give the loser device due to Private DRP conflicts another chance to maintain resources, the proposed relay transmission protocol executed at each device helps the loser device reserve another indirect link maintaining the required resources via a relay node.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.442-449
• /
• 2013

In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.14 no.2
• /
• pp.595-609
• /
• 2020

In this study, we propose a decentralized mathematical model for predictive control of a system of multi-autonomous unmanned aerial vehicles (UAVs), also known as drones. Being decentralized and autonomous implies that all members make their own decisions and fly depending on the dynamic information received from other unmanned aircraft in the area. We consider a variety of realistic characteristics, including time delay and communication locality. For this flocking flight, we do not possess control for central data processing or control over each UAV, as each UAV runs its collision avoidance algorithm by itself. The main contribution of this work is a mathematical model for stable group flight even in adverse weather conditions (e.g., heavy wind, rain, etc.) by adding Gaussian noise. Two of our proposed variance control algorithms are presented in this work. One is based on a simple biological imitation from statistical physical modeling, which mimics animal group behavior; the other is an algorithm for cooperatively tracking an object, which aligns the velocities of neighboring agents corresponding to each other. We demonstrate the stability of the control algorithm and its applicability in autonomous multi-drone systems using numerical simulations.