• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.26 no.10
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• pp.89-94
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• 2012

This research is to apply the control of neuron networks for the real-time walking control of Multi-articulated robot. Multi-articulated robot is expressed with a complicated mathematical model on account of the mechanic, electric non-linearity which each articulation of mechanism has, and includes an unstable factor in time of walking control. If such a complex expression is included in control operation, it leads to the disadvantage that operation time is lengthened. Thus, if the rapid change of the load or the disturbance is given, it is difficult to fulfill the control of desired performance. This paper proposes a new mode to implement a neural network controller by installing a real object for controlling and an algorithm for this, which can replace the existing method of implementing a neural network controller by utilizing activation function at the output node. The proposed control algorithm generated control signs corresponding to the non-linearity of Multi-articulated robot, which could generate desired motion in real time.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1545-1548
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• 1997

A Force-refecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. This thesis presents the desgn and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The goal of this thesis is to construct a superior hand controller that can provide large workspace and good force-reflecting ability. The forward kinematics of the fivebar paprallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to comput the Jacobin. To analyze the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The force-reflecting hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.288-296
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• 1999

A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.11
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• pp.5512-5517
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• 2012

In this paper we suggest multimedia synchronization model that is based on the Petri-net and services desirable quality of service requirement. Proposed model applies variable buffer which can be allowed, and then it presents high quality of service and real time characteristics. This paper decreases the data loss resulted from variation of delay time and from loss time of media-data by means of applying delay jitter in order to deal with synchronization interval adjustment. Plus, the mechanism adaptively manages the waiting time of smoothing buffer, which leads to minimize the gap from the variation of delay time. The proposed paper is suitable to the system which requires the guarantee of high quality of service and mechanism improves quality of services such as decrease of loss rate, increase of playout rate.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2806-2808
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• 2005

The Controller Area Network (CAN) is being widely used for real-time control application and small-scale distributed computer controller systems. When the stuff bits are generated by bit-stuffing mechanism in the CAN network, it causes jitter including variations in response time and delay. In order to eliminate this jitter, stuff bit must be controlled to minimize the response time and reduce the variation of data transmission time. At first, this paper shows that conventional CAN protocol causes the transmission time delay. Secondly, this paper proposes the method to reduce the stuff bits by restriction of available identifier. Finally, data manipulation method can be reduced the number of stuff-bits in the data field. The proposed restriction method of ID and manipulating data field are pretty useful to the real-time control strategy with respect to performance. These procedures are implemented in local controllers of the ISHURO (Inha Semyung Humanoid Robot).

• The KIPS Transactions:PartA
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• v.9A no.2
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• pp.181-190
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• 2002

IEEE1394 is a de facto standard for the home network interfaces of digital multimedia home devices including digital A/V systems, digital camcorders, and PCs. Recently, it has been used in applications to guarantee the real-time characteristics such as home automation system and IICP (Instrument and Industrial Control Protocol). In order to guarantee real-time requirements in these IEEE1394-based real-time applications, this thesis proposes the software architecture of an IEEE1394 based home network that supports the guarantee for service's react-time characteristics. The proposed architecture has a real-time IEEE1394 device driver and event service architecture for guarantee real-time characteristics. The real-time device driver supports priority-based queueing of packets and mechanism to reduce the interrupt latency time in ISR. The event service architecture supports a real-time events delivery based on home network service using real-time event channel. This architecture can accommodate the real-time requirements of various applications and services such as digital multimedia services with QoS guarantees. home automation system required real-tine characteristics.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.8
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• pp.2253-2280
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• 2024

In the upcoming era of transportation, a groundbreaking technology, known as vehicle-to-everything (V2X) communication, is poised to redefine our driving experience and revolutionize traffic management. Real-time and secure communication plays a pivotal role in V2X networks, with the decision-making process being a key factor in establishing communication and determining malicious nodes. The proposed framework utilizes a directed acyclic graph (DAG) to facilitate real-time processing and expedite decision-making. This innovative approach ensures seamless connectivity among vehicles, the surrounding infrastructure, and various entities. To enhance communication efficiency, the entire roadside unit (RSU) region can be subdivided into various sub-regions, allowing RSUs to monitor and govern each sub-region. This strategic approach significantly reduces transaction approval time, thereby improving real-time communication. The framework incorporates a consensus mechanism to ensure robust security, even in the presence of malicious nodes. Recognizing the dynamic nature of V2X networks, the addition and removal of nodes are aligned. Communication latency is minimized through the deployment of computational resources near the data source and leveraging edge computing. This feature provides invaluable recommendations during critical situations that demand swift decision-making. The proposed architecture is further validated using the "veins" simulation tool. Simulation results demonstrate a remarkable success rate exceeding 95%, coupled with a significantly reduced consensus time compared to prevailing methodologies. This comprehensive approach not only addresses the evolving requirements of secure V2X communication but also substantiates practical success through simulation, laying the foundation for a transformative era in transportation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.7
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• pp.2977-2997
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• 2018

In big data era, fresh data grows rapidly every day. More than 30,000 gigabytes of data are created every second and the rate is accelerating. Many organizations rely heavily on real time streaming, while big data stream computing helps them spot opportunities and risks from real time big data. Storm, one of the most common online stream computing platforms, has been used for big data stream computing, with response time ranging from milliseconds to sub-seconds. The performance of Storm plays a crucial role in different application scenarios, however, few studies were conducted to evaluate the performance of Storm. In this paper, we investigate the performance of Storm under different application scenarios. Our experimental results show that throughput and latency of Storm are greatly affected by the number of instances of each vertex in task topology, and the number of available resources in data center. The fault-tolerant mechanism of Storm works well in most big data stream computing environments. As a result, it is suggested that a dynamic topology, an elastic scheduling framework, and a memory based fault-tolerant mechanism are necessary for providing high throughput and low latency services on Storm platform.

• Bulletin of the Society of Naval Architects of Korea
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• v.38 no.3
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• pp.88-92
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• 2001

H. Kim, B.K. Lee and C.K. Rheem have been experimentally studied to clarified the mechanism of thrust force generated by sculling motion for the propulsion of Korean small boats. The experimental investigations have been conducted under the bollard condition by installing a scull at the end of a trimming tank of towing tank. The sculling motion produced by the skilful fisherman and the resultant venerated forces have been measured in respect to the Cartesian coordinate fitted to the pivot point of the scull. ("An Experimental Study on the Propulsive Characteristics of Sculls". J. of the Soc. of Naval Arch. of Korea, Vol. 26, No. 3, 1989, pp.13-24) Through these experiments the trajectory of the blade tip and the angular displacement of the blade section have been measured as shown in Fig. 1 and 2 of this paper. And at the same time the resultant hydrodynamic force components are expressed in Fig. 3 and 4. These three dimensional data of sculling motion and generated real time force components are the unique experimental information which could clarify the thrust force generating mechanism of sculling motion. The experimental results have been reanalyzed by focusing the relation between instantaneous attack angle of blade section and the resultants real time force components. Through these investigation it is found out that the conventional imagination that the 7cull motion should be effective in generating lift force must be reconsidered because the attack angle of scull blade are too great to free from stall phenomena during the sculling operation.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.9
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• pp.105-111
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• 1999

The paper presents development of a Hardware-In-the-Loop simulation (HILS) system for the purpose of testing performance, stability, and reliability of an electronic power steering system(EPS). In order to realistically test an EPS by the proposed HILS apparatus, a simulated uniaxial dynamic rack force is applied physically to the EPS hardware by a pnumatic actuator. An EPS hardware is composed of steering wheel &column, a rack & pinion mechanism, andas motor-driven power steering system. A command signal for a pneumatic rack-force actuator is generated from the vehicle handling lumped parameter dynamic model 9software) that is simulated in real time by using a very fast digital signal processor. The inputs to the real-time vehicle dynamic simulation model are a constant vehicle forward speed and from wheel steering angles driven through a steering system by a driver. The output from a real-time simulation model is an electric signal that is proportional to the uniaxial rack force. The vehicle handling lumped parameter dynamic model is validated by a fully nonlinear constrained multibody vehicle dynamic model. The HILS system simulation results sow that the proposed HILS system may be used to realistically test the performance stability , and reliability of an electronic power steering system is a repeated way.