• 디지털콘텐츠학회 논문지
• /
• 제12권1호
• /
• pp.133-139
• /
• 2011

구조화된 P2P (Structured Peer-to-peer) 네트워크는 지금까지 많은 관심을 받아왔다. 중앙 서버가 없는 분산 환경에서 구조화된 P2P 네트워크를 사용하면 원하는 자료를 로그 스케일의 검색 시간 안에 찾을 수 있다. 구조화된 P2P 네트워크의 이러한 특성을 유지하려면 그것의 링크 구조를 유지해야 한다. 네트워크에 노드가 빈번하게 참여, 이탈하는 상황에서 구조화된 P2P 네트워크를 운용하면 유효하지 않은 (unavailable) 링크가 발생하게 되고, 이러한 링크가 많아지면 검색 성능이 점차 떨어지게 된다. 구조화된 P2P 네트워크의 특성을 유지하기 위해 주로 사용 되어온 방법은 주기적으로 링크를 복구하는 것이다. 그러나 이 방법은 노드의 참여, 이탈 속도가 빈번하게 변하는 환경에서 충분히 링크를 복구하지 못하거나, 필요 이상의 메시지를 사용할 수 있는 단점을 가지고 있다. 본 논문은 노드의 참여, 이탈 속도에 대응하여 링크 복구 주기를 결정함으로써 노드가 참여, 이탈하는 속도가 동적으로 변화하는 환경에서 구조화된 P2P 네트워크의 특성을 유지할 수 있는 알고리듬을 제시한다. 시뮬레이션 결과 제시한 알고리듬은 다양한 노드의 이탈 속도에 대해 적절한 QoS를 유지함을 확인할 수 있었다.

• 제어로봇시스템학회논문지
• /
• 제16권4호
• /
• pp.403-410
• /
• 2010

The switched Ethernet has many features for real-time communications such as providing traffic isolation, large bandwidth, and full-duplex links, and so on. The switched Ethernet, however, cannot guarantee the timely delivery of a real-time message because message delay increases when collisions occurs at the output ports and message loss can even occur due to the overflow at the output buffer. Recently, many research efforts have been done to use the switched Ethernet as an industrial control network. In the industrial control network, sensors periodically sense the physical environment and transmit the sensed data to an actuator, and the periodic messages from sensors to actuators have typically real-time requirements such that those messages must be transmitted within their deadlines. This paper first suggests a feasible condition for EDF (Earliest Deadline First)-based scheduling of periodic messages on a synchronized switched Ethernet and a message scheduling algorithm which satisfies the proposed feasible condition. Pedreiras, et al. [10] suggested a feasible condition for message scheduling on the Ethernet (shared media Ethernet), but there has been no research result on the scheduling condition on the switched Ethernet until now. We compared the real-time message scheduling capacity between the Ethernet and the switched Ethernet by simulation. The simulation result shows that the message scheduling capacity of the Ethernet has almost remained constant as the number of nodes on the network increases, but, in the case of the switched Ethernet, the message scheduling capacity has increased linearly according to the number of nodes on the network.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.215-219
• /
• 2003

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

• 대한인간공학회지
• /
• 제22권4호
• /
• pp.15-25
• /
• 2003

Recent studies indicate potential links between various psychosocial factors and work-related musculoskeletal disorders (WMSDs). In this research, the effects of job stressors on the WMSDs symptoms were investigated using questionnaire in the largest automotive company in Korea. It was found that perception of workload, over time and shift work, and working using powered hand tools were significant factors for the symptoms of WMSDs, along with smoking habit, periodic exercise, and interpersonal relationship. Practical applications of this research include practitioners taking into account psychosocial work factors and job stress in their efforts to reduce and control WMSDs.

• 대한산업공학회지
• /
• 제23권1호
• /
• pp.1-22
• /
• 1997

Learning control refers to controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented a theory of indirect decentralized learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper extends these results to apply to the indirect repetitive control problem in which a periodic (i.e., repetitive) command is given to a control system. Decentralized indirect repetitive control algorithms are presented that have guaranteed convergence to zero tracking error under very general conditions. The original motivation of the repetitive control and learning control fields was learning in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the desired trajectory. Decentralized repetitive control is natural for this application because the feedback control for link rotations is normally implemented in a decentralized manner, treating each link as if it is independent of the other links.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2003년도 통신소사이어티 추계학술대회논문집
• /
• pp.223-226
• /
• 2003

In this paper, we propose new agent discovery and route discovery schemes to support Mobile IP (MIP) in Ad Hoc networks with wireless backbone. The wireless backbone consisting of stationary wireless routers and Internet gateways (IGs) is a kind of wireless access network of IP-based core network. The proposed scheme utilizes favorable features of wireless backbone such as stable links and no energy constraints. In the agent discovery scheme, backbone-limited periodic Agent Advertisement (AA) and proxy-AA messages are used, which reduce network-wide broadcasting overhead caused by AA and Agent Solicitation messages and decentralize MIP processing overhead in IGs. In order to reduce delay time and control message overhead during route discovery far the destination outside Ad Hoc network, we propose a cache-based scheme which can be easily added to the conventional on-demand routing protocols. The proposed schemes can reduce control overhead during agent discovery and route discovery, and efficiently support MIP in Ad Hoc network with wireless backbone.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
• /
• 제16권12호
• /
• pp.1229-1233
• /
• 2010

이벤트 기반 무선 센서 네트워크에서 주기적인 센싱 데이터에 비해 높은 전송률과 우선순위를 갖는 이벤트 데이터가 병목 구간에 집중되면 네트워크 혼잡이 발생한다. 혼잡이 지속되면 대부분의 데이터가 손실되는 네트워크 붕괴 현상이 나타난다. 전송률 조절 기법은 이러한 네트워크 붕괴 현상을 막기 위한 해결책 중 하나이다. 본 논문에서는 무선 센서 네트워크에서의 혼잡 제어를 위해 각 노드에서 혼잡 패턴에 따라 자식 노드의 전송률을 조절하는 기법을 제안한다. 실험을 통해 제안하는 기법이 효과적으로 혼잡을 제어하고, 기존의 전송률 조절 기법들보다 더 많은 이벤트 데이터를 전송함을 확인하였다.

• 한국초전도ㆍ저온공학회논문지
• /
• 제18권4호
• /
• pp.5-8
• /
• 2016

We report on the fabrication and measurement results of the electrical transport properties of superconductor-normal metal-superconductor (SNS) weak links, made of PbIn superconductor and Au metal. The maximum supercurrent reaches up to ${\sim}6{\mu}A$ at T = 2.3 K and the supercurrent persists even at T = 4.7 K. Magnetic field dependence of the critical current is consistent with a theoretical fit using the narrow junction model. The superconducting quantum interference device (SQUID) was also fabricated using two PbIn-Au-PbIn junctions connected in parallel. Under perpendicular magnetic field, we clearly observed periodic oscillations of dV/dI with a period of magnetic flux quantum threading into the supercurrent loop of the SQUID. Our fabrication methods would provide an easy and simple way to explore the superconducting proximity effects without ultra-low-temperature cryostats.

• 대한전기학회논문지:전력기술부문A
• /
• 제48권9호
• /
• pp.1147-1153
• /
• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• 마이크로전자및패키징학회지
• /
• 제20권4호
• /
• pp.69-74
• /
• 2013

In this paper, the impact of integrating large number of I/O (Input-Output) and Core power Delivery Network (PDN) on a 6 layers Flip-Chip Ball Grid Array (FCBGA) package is investigated. The impact of core induced supply noise on high-speed I/O interfaces, and high-speed I/O interface's supply noise coupling to adjacent high-speed I/O interfaces' jitter impact are studied. Concurrent stress validation software is used to induce SSO noise on each individual I/O interfaces; and at the same time; periodic noise is introduced from Core PDN into the I/O PDN domain. In order to have the maximum coupling impact, a prototype package is designed to merge the I/O and Core PDN as one while impact on jitter on each I/O interfaces are investigated. In order to understand the impact of the Core to I/O and I/O to I/O noise, the on-die noise measurements were measured and results were compared with the original PDN where each I/O and Core PDN are standalone and isolated are used as a benchmark.