• Advances in Computational Design
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• v.3 no.2
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• pp.191-200
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• 2018

Establishment of an efficient routing technique in multiple-input-multiple-output (MIMO) based mobile ad hoc network (MANET) is a new challenge in wireless communication system to communicate in a complex terrain where permanent infrastructure network implementation is not possible. Due to limited power of mobile nodes, a minimum power consumed routing (MPCR) algorithm is developed which is an integration of cooperative transmission process. This algorithm select relay node and support short distance communication. The performance analysis of proposed routing algorithm increased signal to noise interference ratio (SNIR) resulting effect of cooperative transmission. Finally performance analysis of the proposed algorithm is verified with simulated result.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1177-1180
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• 1996

In this paper, we propose an algorithm that realizes cooperative behavior by construction of autonomous mobile robot system. Each robot is able to sense other robots and obstacles, and it has the rule of behavior to achieve the goal of the system. In this paper, to improve performance of the whole system, we use Genetic Programming based on Natural Selection. Genetic Programming's chromosome is a program of tree structure and it's major operators are crossover and mutation. We verify the effectiveness of the proposed scheme from the several examples.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1909-1914
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• 2004

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified behaviorally in terms of a velocity field, and the closed-loop was passive with respect to a supply rate given by the environment input. However the PVFC was only applied to a single manipulator, the proposed control law was derived geometrically, and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a method to apply a decentralized control algorithm to cooperative 3-wheeled mobile robots whose subsystem is under nonholonomic constraints and which convey a common rigid object in a horizontal plain. Moreover it is shown that multiple robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative mobile robot systems.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.4
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• pp.8-17
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• 1998

Autonomous mobile robot agents(AMRAs) are robots which perform a given task by the same distributed self-organizing rules. In this paper, we let them form an equi-distance circle for the task of cooperative behaviors. Here, we suggest an algorithm to perform the taqk and then utilize a fuzzy system to improve the algorithm. It is shown that various cooperative activities appear in the simulation and particularly chaotic behaviors also appear by increasing the robot speed. Moreover, we prove the characteristics of this chaotic behaviors by calculating Lyapunov exponent.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.948-954
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• 1999

In this paper, we propose a cooperative motion planning algorithm for two tightly-coupled mobile robots. Specifically, the considered cooperative work is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce a master-slave concept for two obile robots having the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. The slave normally tracks the master's motion, but in case that the velocity of the slave exceeds the velocity limit, the roles of the robots should be interchanged. The effectiveness of the proposed algorithm is proved by computer simulations.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.129-138
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• 2004

In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.

• International Journal of Computer Science & Network Security
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• v.22 no.3
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• pp.95-100
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• 2022

Cloud computing platform is a shared pool of resources and services with various kind of models delivered to the customers through the Internet. The methods include an on-demand dynamically-scalable form charged using a pay-per-use model. The main problem with this model is the allocation of resource in dynamic. In this paper, we have proposed a mechanism to optimize the resource provisioning task by reducing the job completion time while, minimizing the associated cost. We present the Cooperative Agents Dynamic Resource Allocation and Monitoring in Cloud Computing CADRAM system, which includes more than one agent in order to manage and observe resource provided by the service provider while considering the Clients' quality of service (QoS) requirements as defined in the service-level agreement (SLA). Moreover, CADRAM contains a new Virtual Machine (VM) selection algorithm called the Node Failure Discovery (NFD) algorithm. The performance of the CADRAM system is evaluated using the CloudSim tool. The results illustrated that CADRAM system increases resource utilization and decreases power consumption while avoiding SLA violations.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.10A
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• pp.752-759
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• 2009

Cooperative diversity is an effective technique to combat multi-path fading. When this technique is applied to energy-constrained wireless sensor networks, it is a key issue to design appropriate relay selection and power allocation strategies. In this paper, we proposed a new multi-relay selection and power allocation algorithm to maximize network lifetime. The algorithm are composed of two relay selection stages, where the channel condition and residual power of each node were considered in multi-relay selection and the power is fairly allocated proportional to the residual power, satisfies the required SNR at destination and minimizes the total transmit power. In this paper, proposed algorithm is based on AF (amplify and forward) model. We evaluated the proposed algorithm by using extensive simulation and simulation results show that proposed algorithm obtains much longer network lifetime than the conventional algorithm.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.4
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• pp.141-147
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• 2017

In this paper, an efficient and robust localization algorithm using Receiver Signal Strength Difference (RSSD) for a non-cooperative RF emitter is given. The proposed algorithm firstly calculate the center point and radius of Apollonius's circles and then estimate the intersection point of the circles based on Time of Arrival concept. And this paper also compares the performance of RSSD localization algorithms such as Non-linear Least Squares and Linearized Least Squares by Lines of Position (LOP) with the proposed algorithm. And some conclusions have been reached regarding the relative accuracy, robustness and computational cost of these algorithms.