• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권12호
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• pp.5744-5764
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• 2018

In Wireless Sensor Networks (WSNs) for Internet of Things (IoT) environment, fault tolerance is a most fundamental issue due to strict energy constraint of sensor node. In this paper, a robust energy saving data dissemination protocol for IoT-WSNs is proposed. Minimized energy consumption and dissemination delay time based on signal strength play an important role in our scheme. The representative dissemination protocol SPIN (Sensor Protocols for Information via Negotiation) overcomes overlapped data problem of the classical Flooding scheme. However, SPIN never considers distance between nodes, thus the issue of dissemination energy consumption is becoming more important problem. In order to minimize the energy consumption, the shortest path between sensors should be considered to disseminate the data through the entire IoT-WSNs. SPMS (Shortest Path Mined SPIN) scheme creates routing tables using Bellman Ford method and forwards data through a multi-hop manner to optimize power consumption and delay time. Due to these properties, it is very hard to avoid heavy traffic when routing information is updated. Additionally, a node failure of SPMS would be caused by frequently using some sensors on the shortest path, thus network lifetime might be shortened quickly. In contrast, our scheme is resilient to these failures because it employs energy aware concept. The dissemination delay time of the proposed protocol without a routing table is similar to that of shortest path-based SPMS. In addition, our protocol does not require routing table, which needs a lot of control packets, thus it prevents excessive control message generation. Finally, the proposed scheme outperforms previous schemes in terms of data transmission success ratio, therefore our protocol could be appropriate for IoT-WSNs environment.

• 드라이브 ㆍ 컨트롤
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• 제14권2호
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• pp.16-22
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• 2017

This paper presents the algorithm of an adaptive model-free-control-based steering control for multi-axle all-terrain cranes for which the recursive least squares with forgetting are applied. To optimally control the actual system in the real world, the linear or nonlinear mathematical model of the system should be given for the determination of the optimal control inputs; however, it is difficult to derive the mathematical model due to the actual system's complexity and nonlinearity. To address this problem, the proposed adaptive model-free controller is used to control the steering angle of a multi-axle crane. The proposed model-free control algorithm uses only the input and output signals of the system to determine the optimal inputs. The recursive least-squares algorithm identifies first-order systems. The uncertainty between the identified system and the actual system was estimated based on the disturbance observer. The proposed control algorithm was used for the steering control of a multi-axle crane, where only the steering input and the desired yaw rate were employed, to track the reference path. The controller and performance evaluations were constructed and conducted in the Matlab/Simulink environment. The evaluation results show that the proposed adaptive model-free-control-based steering-control algorithm produces a sound path-tracking performance.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.363-365
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• 2009

대부분의 이동 로봇은 효율적인 경로계획을 위하여 최단거리 및 최소비용을 갖는 경로를 선택한다. 그러나 다수의 로봇이 존재하는 환경에서는 이웃하는 로봇 상호간에 동적 장애물로 인식되어 주행성능을 떨어뜨리게 된다. 또한 트래픽량이 거의 없는 환경에서는 무선 통신의 전송거리 제한으로 이동 로봇간 네트워킹이 원활하게 수행될 수 없는 문제도 있다. 따라서 적당한 거리의 이웃 로봇들과 협업을 위한 네트워킹을 하면서 동적인 경로계획 및 주행을 하는 것이 필수적이다. 본 논문에서는 기존의 A* 알고리즘을 수정하여 로봇의 동적인 트래픽을 고려한 경로계획 알고리즘을 제안한다. 제안된 기법을 이용하여 경로설정과정에서의 로봇 상호간 병목현상을 완화시키며, 일관된 협업 통신도 유지할 수 있다. 모의 실험을 통하여 제안된 알고리즘이 동적인 트래픽을 고려하여 경로를 선택함을 보인다.

• 대한임베디드공학회논문지
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• 제3권2호
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• pp.49-56
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• 2008

This paper proposes a PC-based open architecture controller for a multi-axis robotic manipulator. The designed controller can be applied for various multi-axes robotic manipulators since the motion controller is implemented on a PC with its peripheral devices. The accuracy of the controller based on the computed torque method has been measured with the dynamic model of manipulator. Since the controller is implemented in the PC-based architecture, it is free from the user circumstances and the operating environment. Dynamics of the manipulator have been compensated by the feed forward path in the inner loop and the resulting linear outer loop has been controlled by PD algorithm. Using the specialized language, it can be more efficient in programming and in driving of the multi-axis robot. Unlike the conventional controller that is used to control only a specific robot, this controller can be easily changed for various types of robots. This paper proposes a PC-based controller that has a simple architecture with its simple interface circuits than general commercial controllers. The maintenance and the performance of the controller can be easily improved for a specific robot. In fact, using a Samsung multi-axis robot, AT1, the controller performance and convenience of the PC-based controller have been verified by comparing to the commercial one.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권3호
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• pp.1477-1491
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• 2017

Inspired by the multi-scale nature of hippocampal place cells, a biologically inspired model based on a multi-scale spatial representation for goal-directed navigation is proposed in order to achieve robotic spatial cognition and autonomous navigation. First, a map of the place cells is constructed in different scales, which is used for encoding the spatial environment. Then, the firing rate of the place cells in each layer is calculated by the Gaussian function as the input of the Q-learning process. The robot decides on its next direction for movement through several candidate actions according to the rules of action selection. After several training trials, the robot can accumulate experiential knowledge and thus learn an appropriate navigation policy to find its goal. The results in simulation show that, in contrast to the other two methods(G-Q, S-Q), the multi-scale model presented in this paper is not only in line with the multi-scale nature of place cells, but also has a faster learning potential to find the optimized path to the goal. Additionally, this method also has a good ability to complete the goal-directed navigation task in large space and in the environments with obstacles.

• 정보과학회 컴퓨팅의 실제 논문지
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• 제23권8호
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• pp.466-472
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• 2017

하드웨어 트랜잭셔널 메모리(HTM)는 트랜잭션 처리를 위한 병렬 프로그래밍 패러다임을 크게 바꾸었으며, 최근 Intel에서 TSX를 제안함에 따라 HTM에 기반한 다수의 연구들이 수행되었다. 그러나 기존 연구들은 트랜잭션 처리에서 하나의 원인에 대한 충돌 예측만을 지원하며, 모든 워크로드에 대해 획일화된 TSX 환경을 제공한다. 이러한 문제점을 해결하기 위해, 본 논문에서는 멀티코어 인메모리 환경에서 트랜잭션을 처리하기 위한 효율적인 HTM 기법을 제안한다. 첫째, 제안하는 기법은 과거 트랜잭션 처리 정보를 수집한 매트릭스를 이용하여, HTM 실패시의 대비책 경로로써 STM 혹은 single lock을 선택한다. 둘째, 머신러닝 알고리즘 기반 재시도 정책을 제공함으로써, 워크로드 특성에 맞는 효율적인 트랜잭션 처리를 수행한다. 마지막으로 STAMP를 이용한 성능평가를 통해, 제안하는 기법이 기존 연구에 비해 10~20%의 성능 향상이 있음을 보인다.

• 한국정보기술학회 영문논문지
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• 제8권2호
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• pp.147-157
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• 2018

In this study, we analyzed an outdoor visible light communication system and implemented it through a simulation. We designed a Reed-Solomon encoder, a variable interleaver structure, and set it to the Institute of Electrical and Electronics Engineers (IEEE) 802.15.7 PHY I specification mode. We also analyzed the performance of an additive white gaussian noise (AWGN) channel environment using a root-raised-cosine (RRC) filter, implemented a MATLAB simulation and analyzed its performance. The results showed a requirement for an additional signal-to-noise ratio (SNR) of approximately 1.5 dB in a 3-ray multipath visible light channel environment than in an AWGN environment.

• 한국실내디자인학회논문집
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• 제16권6호
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• pp.144-151
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• 2007

The idea of shopping is changed from a purchase of merchandise to an experience of pleasure. This study is a space composition analysis for the introduction of theme in multi-plex shopping center design to reflect variable consumer trend and company marketing strategy, The study progressed through theoretical consideration and substance analysis about the shopping centers which had been designed by Jerd Partnership In Japan since 2000. The following is result. The path is a sole main street that is made of curve form, parallel and vertical circulating rout and movement of human being. It leads continuity. The node and landmarks have a circular court with typifier as powerful center, character of transition space and event for experience. It makes locational quality. The districts are composed of retail shops, restaurants and culture facilities and the edge is represented by closed vertical wall and parapet. It induces a domain. The characteristic of Jerde shopping center is an experience of theme environment through the path as betweenness with a story based on a main theme. It is mostly related nature or exotic element and is obviously represented at path and node. The node takes a round shape and bring about event as a court. The application of theme to the shopping center by Jerde has a significant meaning for place marketing.

• Journal of information and communication convergence engineering
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• 제2권2호
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• pp.71-75
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• 2004

In non-selective frequency environment, it is difficult to take the advantage of path diversity. In the literature, some methods have been proposed to solve the issue. This paper presents a new method to obtain the resolvable path in Indoor Multi-carrier Code Division Multiple Access (MC-CDMA) system by using downlink beam forming. With the aid of downlink beamforming, the most reliable path is found and chosen for the communication link. The new approach is evaluated in term of bit error rate (BER) and power consumption. The simulation results show that the new approach can get better BER performance. However, the cost of BER improvement is a small degradation in power reservation.

• 한국시뮬레이션학회논문지
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• 제18권4호
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• pp.175-184
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• 2009

해양센서네트워크에서 센서 노드간의 거리는 네트워크의 성능을 좌우하는 매우 중요한 요소 중 하나이다. 본 논문은 해양환경에 적합한 통신 경로를 설계하기 위하여 효율적인 거리를 설정하고 레벨(Level)을 나누는 기법을 제안한다. 제안한 기법으로 설정된 경로를 유지하고 에너지 효율을 극대화 하여 전체 네트워크의 수명을 연장하는 방안을 연구하는 것에 목적을 두었다. 설정된 경로는 내 외부적인 요소들에 의해 유동적으로 변경될 수 있으며 제안된 경로 강화 기법을 통해 더욱 견고한 해양센서 네트워크를 구축한다.