• 로봇학회논문지
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• 제3권4호
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• pp.315-322
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• 2008

A new soft finger mechanism using a spring as a backbone is proposed in this work. It is a 4 DOF mechanism that consists of a spring and 3 cylinders, which behave like joints with 3 up-and-down rotations and 1 left-and-right rotation. To control each joint, cylinders have small holes in their cross-sectional areas, and wires of different length are penetrated into these holes. We can control each joint by pulling the corresponding wire. The forward kinematics is solved by using the geometry of mechanism. And the relationship (Jacobian) between the linear velocity of the wires and the joint angular rate is obtained. A virtual simulator is developed to test the validity of the kinematic model. In the experiment, first, the position control is conducted by tracking a given trajectory. Second, to verify the flexibility and safety, we show that the soft finger deflects in a safe manner, in spite of the collision with environment.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권10호
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• pp.4774-4796
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• 2018

Wireless sensor networks are composed of a large number of inexpensive and tiny sensors used in different areas including military, industry, agriculture, space, and environment. Fault tolerance, which is considered a challenging task in these networks, is defined as the ability of the system to offer an appropriate level of functionality in the event of failures. The present study proposed an intelligent throughput descent and distributed energy-efficient mechanism in order to improve fault tolerance of the system against soft and permanent faults. This mechanism includes determining the intelligent neighborhood radius threshold, the intelligent neighborhood nodes number threshold, customizing the base paper algorithm for distributed systems, redefining the base paper scenarios for failure detection procedure to predict network behavior when running into soft and permanent faults, and some cases have been described for handling failure exception procedures. The experimental results from simulation indicate that the proposed mechanism was able to improve network throughput, fault detection accuracy, reliability, and network lifetime with respect to the base paper.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2004년도 춘계학술발표회
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• pp.227-234
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• 2004

Sand compaction pile (SCP) method is composed of compacted sand pile inserted into the soft clay deposit by displacement method. SCP-reinforced ground is composite soil which consists of the SCP and the surrounding soft soil. When a surcharge load is applied on composite ground, time-dependent behavior occurs in the soft soil due to consolidation according to radial flow toward SCP and stress transfer also takes place between the SCP and the soft soil. This paper presents the numerical results of cylindrical composite ground that was conducted to investigate consolidation characteristics and the stress transfer mechanism of SCP-reinforced composite ground. The results show that the consolidation of soft clay has a significant effect on the stress transfer mechanism and stress concentration ratio of composite ground

• 로봇학회논문지
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• 제7권2호
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• pp.65-75
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• 2012

This study deals with the design of a spring backboned soft arm, which will be employed for generation of human gesture as an effective means of Human Robot interaction. The special features of the proposed mechanism are the light weight and the flexibility of the whole mechanism by using a spring backbone. Thus, even in the case of collision with human, this device is able to absorb the impact structurally. The kinematics and the design for the soft arm are introduced. The performance of this mechanism was shown through experiment emulating several human gestures expressing human emotion and some service contents. Finally, this soft arm was implemented as the wing mechanism of a penguin robot.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.960-966
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• 2016

This paper proposes a new concept of a soft and wearable upper-limb exoskeleton. A novel actuation principle, called the twisted string actuation principle, is implemented to make it lightweight, soft, and therefore easily wearable. Its power transmission mechanism and harness are designed to be soft and wearable, yet have enough control accuracy for rehabilitation. In addition to force transmission optimization, a speed enlargement mechanism is newly introduced in order to increase the contraction speed of the twisted string actuation mechanism by sacrificing the unnecessarily large gear reduction ratio of the twisted string mechanism. A prototype has been tested for mirroring therapy, and the feasibility of the proposed mechanism has been shown through a sufficiently accurate tracking performance.

• 로봇학회논문지
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• 제14권4호
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• pp.326-332
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• 2019

In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.

• 한국통신학회논문지
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• 제28권12B호
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• pp.1135-1144
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• 2003

본 논문에서는 IEEE 802.11 무선 LAN의 불완전한 link mobility를 해결하기 위한 semi-soft 핸드오프 방안을 고찰하였다. 제안한 방법은 AP와 portal 부분에 버퍼와 MAC 라우팅 테이블을 추가하여 이동 단말이 핸드오프 시간동안 받지 못하는 프레임을 기존 AP의 버퍼에 저장하고 핸드오프 후에 갱신된 MAC 라우팅 테이블을 이용하여 프레임을 Portal에서 이동한 AP로 reroute 하였다. 이후 이동 단막은 이동 중에도 프레임의 손실 없이 지속적으로 프레임의 수신이 가능하게 되어 IEEE 802.11 무선 LAN 환경에 mobile IP나 voice over IP (VoIP) 같은 길시간 서비스의 구현을 가능하게 한다. 제안한 핸드오프 방법의 성능 측정을 위하여 시뮬레이션을 수행하였으며 프레임 손실 없이 실시간 서비스에 적합한 지연 시간안에 프레임이 이동 단말로 전달되는 것을 확인할 수 있었다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권7호
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• pp.2614-2632
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• 2015

A multiple symbol detection (MSD) algorithm is proposed relying on soft information for ultra-wideband systems, where differential space-time block code is employed. The proposed algorithm aims to calculate a posteriori probabilities (APP) of information symbols, where a forward and backward message passing mechanism is implemented based on the BCJR algorithm. Specifically, an MSD metric is analyzed and performed for serving the APP model. Furthermore, an autocorrelation sampling is employed to exploit signals dependencies among different symbols, where the observation window slides one symbol each time. With the aid of the bidirectional message passing mechanism and the proposed sampling approach, the proposed MSD algorithm achieves a better detection performance as compared with the existing MSD. In addition, when the proposed MSD is exploited in conjunction with channel decoding, an iterative soft-input soft-output MSD approach is obtained. Finally, simulations demonstrate that the proposed approaches improve detection performance significantly.

• ETRI Journal
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• 제30권2호
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• pp.216-226
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• 2008

This paper proposes a novel transport network architecture for the next generation network (NGN) based on the optical burst switching technology. The proposed architecture aims to provide efficient delivery of various types of network traffic by satisfying their quality-of-service constraints. To this end, we have developed a soft-state bandwidth reservation mechanism, which enables NGN transport nodes to dynamically reserve bandwidth needed for active data burst flows. The performance of the proposed mechanism is evaluated by means of numerical analysis and NS2 simulation. Our results show that the packet delay is kept within the constraint for each traffic flow and the burst loss rate is remarkably improved.

• 한국지반신소재학회논문집
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• 제9권4호
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• pp.47-55
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• 2010

일반적으로 초연약지반에서는 건설장비의 주행성 확보 등을 위하여 토목섬유와 같은 표층 보강재를 적용하게 된다. 그러나 최근 토목섬유로 표층 처리된 초연약지반의 거동에 관한 많은 고찰이 수행되어 왔지만 대부분의 연구에서 토목섬유와 지반의 경계조건을 적절히 표현하지 못하고 있는 실정이다. 따라서 본 연구에서는 토목섬유와 지반의 경계조건이 토목섬유로 표층처리된 초연약지반의 거동에 미치는 영향에 대하여 수치해석적 고찰을 수행하였다. 수치해석에서는 토목섬유와 지반의 마찰에 대한 경계조건을 다양하게 표현하기 위하여 조인트 요소를 적용하였다. 수치해석의 결과는 기존의 실내모형실험 결과와의 비교를 통하여 그 신뢰성을 검증하였으며 파라메트릭 스터디를 통하여 토목섬유와 지반의 경계조건에 따른 초연약지반의 거동을 규명하였다.