• Proceedings of the KSME Conference
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• 2007.05a
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• pp.849-854
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• 2007

This paper describes design and tuning of a full-range Adaptive Cruise Control (ACC) with collision avoidance. The control scheme is designed to control the vehicle so that it would feel natural to the human driver and passengers during normal safe driving situations and to avoid rear-end collision in vehicle following situations. In this study, driving situations are determined using a non-dimensional warning index and time-to-collision (TTC). A confusion matrix method based on natural driving data sets was used to tune control parameters in the proposed ACC System. An ECU-Brake Hardware-in-the-loop Simulation (HiLS) was developed and used for an evaluation of ACC System. The ECU-Brake HiLS results for alternative driving situation are compared to manual driving data measured on actual traffic way. The ACC/CA control logic implemented in an ECU was tested using the ECU-Brake HiLS in a real vehicle environment.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.6
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• pp.31-37
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• 2002

This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.

• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.2
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• pp.65-71
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• 2018

In order to make the underwater vehicle carry out the mission in a submarine environment, it is needed to plan a safe and efficient route to a given destination and prevent the autonomous submersible from colliding with obstacles while moving along the planned route. The function of collision avoidance makes the travel distance of the autonomous submersible longer. Moreover, it should move slowly near to obstacles against their moving disturbance. As a result, this invokes the degradation of the navigation efficiency in the process of collision avoidance. The side effect of the collision avoidance is not ignorable in the case of high congested environments such as the coast with many obstacles. In this paper, we suggest a path planning method which provides the route with minimum travel time considering collision avoidance in congested environment. For the purpose, we define environmental congestion map related to geometric information and obstacles. And we propose a method to consider the moving cost in the RRT scheme that provides the existing minimum distance path. We verified that the efficiency of our algorithm with simulation experiments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.5A
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• pp.460-466
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• 2007

There are two coordination functions in IEEE 802.11 standard. One is PCF, polling based function, and the other is DCF, contention based function. DCF is simpler than PCF but the performance is similar with the latter. That's the reason why DCF is more popular than PCF. However, DCF has a risk of collision with other nodes in the network because the function is a distributed contention based one. CSMA/CA of DCF has collision avoidance algorithm in it, but the performance of avoidance algorithm has limitations. In this paper we proposed a new scheme called TAR(Tone-based Access scheme with Repetitive conention). In TAR, there is narrow contention-only channel other than original data transmitting channel, so that both a data transmission and the contention can be performed simultaneously. The TAR uses the same contention concept with the CSMA/CA, but it has the originality for the narrow contention channel and the repetitive contention scheme which greatly reduce the collision probability. We proved the performance of TAR by some simulations, and it showed good results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.12B
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• pp.1996-2002
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• 2000

This paper investigates a priority scheme for IEEE 802.11 Carrier Sense Multiple Access/Collision Avoidance (CSMA/CA) protocol in order to provide short access times for priority frames (e.g. time-deadline traffic) even when the overall traffic on the wireless channel is heavy. Under the compatibility constraint for the IEEE 802.11 wireless LANs, two priority systems are simulated: no priority (current IEEE 802.11 standard) for time-deadline traffics and dynamic time-deadline priority. We evaluate algorithms to improve the time-deadline traffic performance using discrete event simulation (DES)

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.2
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• pp.628-646
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• 2016

This paper proposes a novel channel assignment scheme that is based on finite projective plane (FPP) theory. The proposed scheme involves using a Markov chain model to allocate N channels to N users through intermixed channel group arrangements, particularly when channel resources are idle because of inefficient use. The intermixed FPP-based channel group arrangements successfully related Markov chain modeling to punch through ratio formulations proposed in this study, ensuring fair resource use among users. The simulation results for the proposed FPP scheme clearly revealed that the defined throughput increased, particularly under light traffic load conditions. Nevertheless, if the proposed scheme is combined with successive interference cancellation techniques, considerably higher throughput is predicted, even under heavy traffic load conditions.

• Journal of Navigation and Port Research
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• v.29 no.8 s.104
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• pp.723-733
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• 2005

This paper presents a deadlock avoidance method for AGVs in automated container terminals. For a more efficient use of AGV traveling area, we divided the area into small-sized grids not enough to cover a whole AGV. Our deadlock avoidance method controls AGVs by identifying strongly connected components(SCCs) in a graph derived from the paths of AGVs on the grids. Also in this paper we suggest a route selection scheme which selects a route by predicting and comparing travel times of candidate routes by using a regression formula. Simulation experiments have shown that the proposed method can control AGVs for 48 hours without deadlocks and the count of AGV visits per QC is increased by $2\~10$ an hour.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.5
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• pp.1733-1751
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• 2015

The IEEE 802.15.4 standard not only provides a maximum of seven guaranteed time slots (GTSs) for allocation within a superframe to support time-critical traffic, but also achieves ultralow complexity, cost, and power in low-rate and short-distance wireless personal area networks (WPANs). Real-time wireless body area sensor networks (WBASNs), as a special purpose WPAN, can perfectly use the IEEE 802. 15. 4 standard for its wireless connection. In this paper, we propose an adaptive GTS allocation scheme for real-time WBASN data transmissions with different priorities in consideration of low latency, fairness, and bandwidth utilization. The proposed GTS allocation scheme combines a weight-based priority assignment algorithm with an innovative starvation avoidance scheme. Simulation results show that the proposed method significantly outperforms the existing GTS implementation for the traditional IEEE 802.15.4 in terms of average delay, contention free period bandwidth utilization, and fairness.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.3
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• pp.941-955
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• 2015

In dual-channel networks (DCNs), all frequency hopping (FH) sequences used for data channels are chosen from the original FH sequence used for the control channel by shifting different initial phases. As the number of data channels increases, the hitting frequency point problem becomes considerably serious because DCNs is non-orthogonal synchronization network and FH sequences are non-orthogonal. The increasing severity of the hitting frequency point problem consequently reduces the resource utilization efficiency. To solve this problem, we propose a novel hitting frequency point collision avoidance method, which consists of a sequence-selection strategy called sliding correlation (SC) and a collision avoidance strategy called keeping silent on hitting frequency point (KSHF). SC is used to find the optimal phase-shifted FH sequence with the minimum number of hitting frequency points for a new data channel. The hitting frequency points and their locations in this optimal sequence are also derived for KSHF according to SC strategy. In KSHF, the transceivers transmit or receive symbol information not on the hitting frequency point, but on the next frequency point during the next FH period. Analytical and simulation results demonstrate that unlike the traditional method, the proposed method can effectively reduce the number of hitting frequency points and improve the efficiency of the code resource utilization.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.3
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• pp.1031-1046
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• 2018

Vehicular ad hoc network (VANET) is a dedicated network to connect vehicles without any centralized administration or infrastructure. The wireless access in vehicular environments (WAVE) protocol leveraging IEEE 1609/802.11p is widely implemented for VANETs. However, in congested traffic situation, the performance of the WAVE system degrades significantly due to serious collision, especially for safety related broadcast services on the control channel (CCH) interval due to the inherent drawback of its collision avoidance mechanisms called carrier sense multiple access with collision avoidance (CSMA/CA). In this paper, we propose a method that can decrease the number of frame collisions in CCH with a few modifications to the IEEE 802.11p protocol. In the paper, vehicles still employ CSMA/CA to compete for the channel access opportunity. However, by taking advantage of periodicity of synchronization interval, a two-state switching scheme introducing two new inter frame space (IFS) is proposed to reduce the number of competing vehicles substantially and as a result, the collision probability is significantly decreased. The simulation results demonstrate the superiority of the proposed method in packet collision rate.