• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.67-68
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• 2006

In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot ann was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the ann joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.63-64
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• 2006

In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F Biped walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.85-87
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• 2012

This paper, UAVs of the secondary communication link that applies to the analysys of time-division communication system and communication method proposed algorithm has been developed. UAVs of the important characteristics of the data link latency and throughput, the frequency is availability, weight. The data needed to operate UAVs vehicle control data, status data, there is an acquisition. Control and data acquisition will require real-time communication. Based on the requirements being applied to the secondary communication link communication method were compared and analyzed. The results of analysis of ground-base TDD method is suitable.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.1
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• pp.141-156
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• 2011

In this paper we develop a link cost function for data delivery in sensor network. Usually most conventional methods determine the optimal coefficients in the cost function without considering the surrounding environment of the node such as the wireless propagation environment or the topological environment. Due to this reason, there are limitations to improve the quality of data delivery such as data delivery ratio and delay of data delivery. To solve this problem, we derive a new cost function using the concept of Partially Connected Neural Network (PCNN) which is modeled according to the input types whether inputs are correlated or uncorrelated. The correlated inputs are connected to the hidden layer of the PCNN in a coupled fashion but the uncoupled inputs are in an uncoupled fashion. We also propose the training technique for finding an optimal weight vector in the link cost function. The link cost function is trained to the direction that the packet transmission success ratio of each node maximizes. In the experimental section, we show that our method outperforms other conventional methods in terms of the quality of data delivery and the energy efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1846-1850
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• 2005

This paper presents a constrained-based routing (CBR) algorithm called, Dynamic Possible Path per Link (D-PPL) routing algorithm, for MultiProtocol Label Switching (MPLS) networks. In MPLS on-line routing, future traffics are unknown and network resource is limited. Therefore many routing algorithms such as Minimum Hop Algorithm (MHA), Widest Shortest Path (WSP), Dynamic Link Weight (DLW), Minimum Interference Routing Algorithm (MIRA), Profiled-Based Routing (PBR), Possible Path per Link (PPL) and Residual bandwidth integrated - Possible Path per Link (R-PPL) are proposed in order to improve network throughput and reduce rejection probability. MIRA is the first algorithm that introduces interference level avoidance between source-destination node pairs by integrating topology information or address of source-destination node pairs into the routing calculation. From its results, MIRA improves lower rejection probability performance. Nevertheless, MIRA suffer from its high routing complexity which could be considered as NP-Complete problem. In PBR, complexity of on-line routing is reduced comparing to those of MIRA, because link weights are off-line calculated by statistical profile of history traffics. However, because of dynamic of traffic nature, PBR maybe unsuitable for MPLS on-line routing. Also, both PPL and R-PPL routing algorithm we formerly proposed, are algorithms that achieve reduction of interference level among source-destination node pairs, rejection probability and routing complexity. Again, those previously proposed algorithms do not take into account the dynamic nature of traffic load. In fact, future traffics are unknown, but, amount of previous traffic over link can be measured. Therefore, this is the motivation of our proposed algorithm, the D-PPL. The D-PPL algorithm is improved based on the R-PPL routing algorithm by integrating traffic-per-link parameters. The parameters are periodically updated and are dynamically changed depended on current incoming traffic. The D-PPL tries to reserve residual bandwidth to service future request by avoid routing through those high traffic-per-link parameters. We have developed extensive MATLAB simulator to evaluate performance of the D-PPL. From simulation results, the D-PPL improves performance of MPLS on-line routing in terms of rejection probability and total throughput.

• Journal of Internet Computing and Services
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• v.12 no.5
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• pp.11-19
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• 2011

In this paper, Service Boundary Line approximation method is proposed to improve the accuracy of aggregated link state information for source routing in transport networks that conduct hierarchical QoS routing. The proposed method is especially useful for aggregating links that have both delay and bandwidth as their QoS parameters. This method selects the main path weight in the network and transports the data to the external networks together with the aggregation information, reducing information distortion caused from the loss of some path weight during aggregation process. In this paper, the main path weight is defined as outlier. Service Boundary Line has 2k+5parameters. k is the number of outliers. The number of storage spaces of Service Boundary Line changes according to the number of outliers. Simulation results show that our approximation method requires a storage space that 1.5-2 times larger than those in other known techniques depending on outlier selection method, but its information accuracy of proposed method in the ratio between storage space and information accuracy is higher.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.2_2
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• pp.209-218
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• 2022

The purpose of this study is to analyze an economic assessment of PV-ESS systems based on the power generation performance data of solar power (PV) operating in domestic area, and to calculate the optimal capacity of the energy storage system. In this study, PVs in Gyeonggi-do, Jeollabuk-do, and Gyeongsangbuk-do were targeted, and PVs in this area were assumed to be installed on a general site, and the research was conducted by applying weights based on the facility's capacity. All the analysis was conducted using the actual amount of KPX transactions of PVs in 2019. In order to calculate the optimal capacity of PCS and BESS according to GHI, PV with a minimum/maximum/central value was selected by comparing the solar radiation before the horizontal plane between three years (2017-2019) of the location where PV was installed. As a result of the analysis, in Gyeonggi-do, if the REC weight decreases to 3.4 when there is no change in the cost of installing BESS and PCS, it is more economical to link BESS than PV alone operation of PV. In Jeollabuk-do, it was analyzed that if the REC weight was reduced to 3.6, it was more likely to link BESS than PV operated alone. In Gyeongsangbuk-do, it was analyzed that if the REC weight was reduced to 3.4, it was more likely to link BESS than PV operated alone.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.11
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• pp.3163-3181
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• 2023

Eavesdropping attacks have seriously threatened network security. Attackers could eavesdrop on target nodes and link to steal confidential data. In the traditional network architecture, the static routing path and the important nodes determined by the nature of network topology provide a great convenience for eavesdropping attacks. To resist monitoring attacks, this paper proposes a random routing mutation defense method based on dynamic path weight (DPW-RRM). It utilizes network centrality indicators to determine important nodes in the network topology and reduces the probability of important nodes in path selection, thereby distributing traffic to multiple communication paths, achieving the purpose of increasing the difficulty and cost of eavesdropping attacks. In addition, it dynamically adjusts the weight of the routing path through network state constraints to avoid link congestion and improve the availability of routing mutation. Experimental data shows that DPW-RRM could not only guarantee the normal algorithmic overhead, communication delay, and CPU load of the network, but also effectively resist eavesdropping attacks.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.668-672
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• 2001

The utility interactive sinewave modulated inverter for the solar photovoltaic (PV) power conversion and conditioning with a new high frequency pulse modulated link is presented for domestic residential applications. As compared with the conventional full-bridge hard switching PWM inverter with a high frequency AC link, the simplest single-ended quasi-resonant soft switching sinewave modulated inverter with a duty cycle pulse control is implemented, resulting in size and weight reduction and low-cost. This paper presents a prototype circuit of the single-ended zero voltage soft switching sinewave inverter for solar power conditioner and its operating principle. In addition, this paper proposes a control system to deliver high quality output current. Major design of each component and the power loss analysis under actual power processing is also discussed from an experimental point of view. A newly developed interactive sinewave power processor which has $92.5\%$ efficiencty at 4kW output is demonstrated. It is designed 540mm-300mm-125mm in size, and 20kg in weight.

• Journal of Mechanical Science and Technology
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• v.18 no.4
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• pp.573-581
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• 2004

A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for WALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.