• Journal of the Korea Computer Graphics Society
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• v.4 no.1
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• pp.47-54
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• 1998

The multi-user VR system can more enhance the sense of reality than existing single user VR system, but it also cause a significant problem about network structure and protocol, since the current Internet using TCP/IP can not afford to deliver such a massive information required to the real-time constraint of multi-user VR system. In this paper, we introduce new network structure and protocol for multiple user's virtual world navigation and interaction through their avatars. The virtual worlds are based on virtual building and managed by distributed servers. The avatars have 9 behaviors and recognize the state of each other by pre-defined network protocol.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.682-690
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• 2002

This paper presents an output feedback controller design method for uncertain linear systems with sinusoidal disturbance of uncertain frequencies. The controller needs to compensate for the performance deterioration due to the uncertain frequencies of sinusoidal disturbance. To this end, we introduce a virtual system including the dynamics corresponding to the uncertain frequencies and design a controller which minimizes the output difference between the virtual system and the closed-loop system. In other words, the controller is designed so that the closed-loop system approximates the virtual system. The feedback controller is achieved by solving an LMI optimization problem involving a robust $H_{\infty}$ constraint. The advantages of the proposed design method are examined by comparing it with a design method that only minimizes the $H_{\infty}$ norm of the transfer function between the sinusoidal disturbance and the output. The proposed design method is applied to the track-following system of rewritable optical disk drives and is evaluated through an experiment.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.6
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• pp.535-544
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• 2013

This paper considers an uplink power control scheme for a virtual multi-input multi-output (MIMO) multi-cell system where multiple mobile stations with single transmit antenna form a virtual MIMO link. Unlike the conventional approach of the game theoretic formulation to add a power penalty term to improve the performance, a constraint on the total effective interference power is introduced to the maximization of the utility function of the transmission rate with linear receive beamforming. Introducing inertia, we show that the proposed power control is guaranteed to converge. The simulation results verify that the proposed power allocation can significantly improve the performance in an interference limited multi-cell system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.8
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• pp.3841-3861
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• 2017

Virtualized small cell network is a promising architecture which can realize efficient utilization of the network resource. However, conventional full duplex self-backhauls lead to residual self-interference, which limits the network performance. To handle this issue, this paper proposes a virtual resource allocation, in which the residual self-interference is fully exploited by employing a physical-layer network coding (PNC) aided self-backhaul scheme. We formulate the features of PNC as time slot and information rate constraints, and based on that, the virtual resource allocation is formulated as a mixed combinatorial optimization problem. To solve the problem efficiently, it is decomposed into two sub problems, and a two-phase iteration algorithm is developed accordingly. In the algorithm, the first sub problem is approximated and transferred into a convex problem by utilizing the upper bound of the PNC rate constraint. On the basis of that, the convexity of the second sub problem is also proved. Simulation results show the advantages of the proposed scheme over conventional solution in both the profits of self-backhauls and utility of the network resource.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.9
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• pp.1544-1572
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• 2011

Task placement and scheduling are traditionally studied in following aspects: resource utilization, application throughput, application execution latency and starvation, and recently, the studies are more on application scalability and application performance. A methodology for task placement and scheduling centered on tasks based on virtual machines is studied in this paper to improve the performances of systems and dynamic adaptability in applications development and deployment oriented parallel computing. For parallel applications with no real-time constraints, we describe a thought of feature model and make a formal description for four layers of task placement and scheduling. To place the tasks to different layers of virtual computing systems, we take the performances of four layers as the goal function in the model of task placement and scheduling. Furthermore, we take the personal preference, the application scalability for a designer in his (her) development and deployment, as the constraint of this model. The workflow of task placement and scheduling based on virtual machines has been discussed. Then, an algorithm TPVM is designed to work out the optimal scheme of the model, and an algorithm TEVM completes the execution of tasks in four layers. The experiments have been performed to validate the effectiveness of time estimated method and the feasibility and rationality of algorithms. It is seen from the experiments that our algorithms are better than other four algorithms in performance. The results show that the methodology presented in this paper has guiding significance to improve the efficiency of virtual computing systems.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.42-47
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• 2014

This paper investigates an adaptive approximation design problem for the tracking control of output-constrained non-affine pure-feedback systems. To satisfy the desired performance without constraint violation, we employ a barrier Lyapunov function which grows to infinity whenever its argument approaches some limits. The main difficulty in dealing with pure-feedback systems considering output constraints is that the system has a non-affine appearance of the constrained variable to be used as a virtual control. To overcome this difficulty, the implicit function theorem and mean value theorem are exploited to assert the existence of the desired virtual and actual controls. The function approximation technique based on adaptive neural networks is used to estimate the desired control inputs. It is shown that all signals in the closed-loop system are uniformly ultimately bounded.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2002.11a
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• pp.59-65
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• 2002

보다 현실감 있는 가상환경을 제공하기 위하여 시각정보 외에 힘의 정보를 사용자에게 제공할 필요가 있으며, 이러한 힘 반영은 햅틱장치에 의해서 수행된다. 일반적으로 영상 제시기에 의한 영상정보는 낮은 갱신율을 갖는 반면에, 햅틱장치는 상대적으로 높은 갱신율로 인간에게 힘정보를 제공하게 되므로, 이들 정보 간의 동기화가 중요하다. 본 논문에서는 가시모델의 원형을 일반화시켜서 햅틱장치에 전달하고, 영상 제시기의 갱신율과는 상관 없이 햅틱장치 내에서 임의의 구속공간을 만들어서 힘피드백을 수행하는 방법에 대해서 논의하고자 한다.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.827-828
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• 2006

This paper presents a vehicle control algorithm for Personal Rapid Transit (PRT) system. PRT system is a one-way direction network system which is composed of guideway branches, merging/diverging points. Vehicle control algorithm can be divided into two kinds. Those are merging control algorithm and the other. We emphasized on the merging control algorithm. For that, we first devised a front/virtual front vehicle finding strategies. Properly determined front/virtual front vehicle is the starting point of vehicle control. The objects of merging control are to avoid collision and to pass the merging point fluently. Which implies that jerk constraint and limits of acceleration and deceleration etc. are should be considered. To verify the validation of the vehicle algorithm, we executed simulations and presented test results.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.105-111
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• 1995

The inverse dynamic equations for 5 link robot including a closed chain have been derived. The closed chain is virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints by the Jacobian matrix which represents the configuration of the closed chain. The topology of tree structrued open chain robot is described by a FATHER array. The FATHER array of a link indicates the link tha tis connected in the direction of base link. Based on the inverse dynamic equations, the torque sensitivity models of the 5 link robot have been developed. The sensitivity models characterize the sensitivity of the driving torque with respect to the link parameters. All the procedures are illustrated through the 2 link robot.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.11 no.2
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• pp.57-62
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• 2011

Recently, various interaction was demanded from rapid development and use of portable device. So, operation of touch interface in tablet and smart phone needs many requirements and proactivity. In this paper, for variety of users and convenient interaction, It is aimed to realize virtual reality mouse of portable device. It reflected similar interaction of an existing mouse and it used infrared image without intensity of illumination. Also, It analyzed finger point information of middle and index finger of users and it designed virtual mouse without proactivity and constraint of space.