• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.40-50
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• 1996

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.

• Physical Therapy Korea
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• v.3 no.3
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• pp.82-91
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• 1996

Normal balance is defined as state in which the body is equlilibrium. It is complex motor control task, requring integration of sensory information, neural processing, and biomechanical factors. There are major two factors contribute to balance control, the neurological and the musculoskeletal. The neurological factor provides the sensory processing and motor output mechanisms that are the neurophysiological basis for response. The musculoskeletal factor provides the mechanical structure for response. When all components of two factors are operating effectively, the postural response should be appropriate and effective for good balance control. Therfore, balance can be influenced by above all factors. In addition, balance can be also influenced by muscle tone, hearing, physiological factors, and environmental factors. Physical therapists must understand factors of balance control so that we can accurately assess balance. Therefore, physical therapists have to develop useful balance measurement tools to evaluate balance.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.32.5-32
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• 2001

There has been many teleoperation systems handling the micro object. However, the stability problem for these systems has not been mentioned yet. Historically, Lawrence[1] proposed the Transparency-Optimized Architecture and passivity theorem for stability analysis of bilateral teleoperation. He claimed that unless the task(or environment) impedance contains significance inertial behavior, Passivity condition for Transparency-optimized architecture is not satisfied. In this paper we propose one method which satisfies passivity condition for the micro-teleoperation system handling a insignificant inertial object and is based on the structure of Lawrence and Hashtrudi-Zaad[2] and velocity-force scaling.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.442-449
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• 2013

In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.4 no.5
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• pp.956-967
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• 2010

Rapid growth of internet applications has increased the importance of intrusion detection system (IDS) performance. String matching is the most computation-consuming task in IDS. In this paper, a new algorithm for multiple string matching is proposed. This proposed algorithm is based on the canonical Aho-Corasick algorithm and it utilizes a bidirectional and parallel processing structure to accelerate the matching speed. The proposed string matching algorithm was implemented and patched into Snort for experimental evaluation. Comparing with the canonical Aho-Corasick algorithm, the proposed algorithm has gained much improvement on the matching speed, especially in detecting multiple keywords within a long input text string.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.1033-1034
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• 2015

A message transmission method in Push fashions over the Internet has a limit repidly to manage task and support system in a remote control site that has received a risk information. This paper proposes a push notification structure based on the quality of service(QoS) in order to send the diversity disaster informations toward the remote site. As the proposed structure accommodated the previous heterogeneous system, it provides internet services.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.05a
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• pp.45-48
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• 2013

In this paper, we proposed an Indexing Structure System (ISS) based on Apache Hadoop in Wireless Sensor Network (WSN). Nowadays sensors data continuously keep growing that need to control. Data constantly update in order to provide the newest information to users. While data keep growing, data retrieving and storing are face some challenges. So by using the ISS, we can maximize processing quality and minimize data retrieving time. In order to design ISS, Indexing Types have to be defined depend on each sensor type. After identifying, each sensor goes through the Indexing Structure Processing (ISP) in order to be indexed. After ISP, indexed data are streaming and storing in Hadoop Distributed File System (HDFS) across a number of separate machines. Indexed data are split and run by MapReduce tasks. Data are sorted and grouped depend on sensor data object categories. Thus, while users send the requests, all the queries will be filter from sensor data object and managing the task by MapReduce processing framework.

• Proceedings of the KIPE Conference
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• 2014.11a
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• pp.66-67
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• 2014

Stabilization of the DC bus voltage is an important task in DC-AC microgrid system with renewable energy source such as solar system. A battery energy storage system (BESS) has become a general solution to stabilize the DC-bus voltage in DC-AC microgrid. This paper develops the analog BESS controller which requires neither computation nor dc-bus voltage measurement, so that the system can be implemented simply and easily. Even though others methods can stabilize and control the DC-bus voltage, it has complicated structure in control and low adaptive capability. The proposed topology is simple but is able to compensate the solar source variation and stabilize the DC-bus voltage under any loads and distributed generation (DG) conditions. In addition, the design of analog controller is presented to obtain a robust system. In order to verify the effectiveness of the proposed control strategy, simulation is carried out by using PSIM software.

• Journal of Communications and Networks
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• v.14 no.4
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• pp.461-466
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• 2012

Any future heterogeneous overlay network system must be able to support ubiquitous access across multiple wireless networks. To coordinate these diverse network environments, one challenging task is a call admission decision among different types of network. In this paper, we propose a new call admission control scheme to provide quality of service (QoS) while ensuring system efficiency. Based on the interplay between network structure and dynamics, we estimate the network's QoS level and adjust the service price adaptively with the aim of maximizing the network performance. A simulation shows that the proposed scheme can approximate an optimized solution while ensuring a well-balanced network performance in widely different network environments.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.36.6-36
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• 2001

The problem of robot navigation and control is a complex task. Its complexity and characteristics depends on the characteristics of the environment robot inhabits, robot construction (mechanical abilities to move, sense) and the job the robot is supposed to do. In this paper we propose a hybrid programming approach to mobile robot navigation and control in an indoor environment. In our approach we used declarative, procedural, and object oriented programming paradigms and we utilized some advantages of our distributed computing architecture. The programming languages corresponding to the paradigms we used were C, C++ and Prolog. In the paper we present some details of our mobile robot hardware and software structure, focusing on the software design and implementation.