• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.7-12
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• 1990

In this paper, we propose a new manipulator control scheme based on the CMAG neural network. The proposed control consists of two components. The feedforward component is an output of trained CMAC neural network and the feedback component is a modified sliding mode control. The CMAC accepts the position, velocity and acceleration of manipulator as input and outputs two values for the controller : One is the nominal torque used for feedforward compensation(M1 network) and the other is the inertia matrix related information used for the feedback component(M2 network). Since the used control algorithm guarantees the robust trajectory tracking in spite of modeling errors, the CMAC mapping errors due to the memory limitation are little worth consideration.

• 한국통신학회논문지
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• 제23권9A호
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• pp.2211-2220
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• 1998

This paper presetns an adaptive critic self-learning control system with cerebellar model articulation controller (CMAC)-based decoder integrated with the associative search element (ASE) and adatpive critic element(ACE)- based scheme. The tast of the system is to balance a pole that is hinged to a movable cart by applying forces to the cart's base. The problem is that error feedback information is limited. This problem can be sloved when some adaptive control devices are involved. The ASE incorporates prediction information for reinforrcement from a critic to produce evaluative information for the plant. The CMAC-based decoder interprets one state to a set of patways into the ASE/ACE. These signals correspond to te current state and its possible preceding action states. The CMAC's information interpolation improves the learning speed. And design inverted pendulum hardware system to show control capability with neural network.

• Computational Structural Engineering : An International Journal
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• 제3권1호
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• pp.39-47
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• 2003

Generalized CMAC (GCMAC) is a type of neural network known to be fast in learning. The network may be useful in structural engineering applications such as the identification and the control of structures. The derivatives of a trained GCMAC is relatively poor in accuracy. Therefore to improve the accuracy, a new algorithm is proposed. If GCMAC is directly differentiated, the accuracy of the derivative is not satisfactory. This is due to the quantization of input space and the shape of basis function used. Using the periodicity of the predicted output by GCMAC, the derivative can be improved to the extent of having almost no error. Numerical examples are considered to show the accuracy of the proposed algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권11호
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• pp.2980-2991
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• 2012

Since wireless sensor networks are broadly used in various areas, there have been a number of protocols developed to satisfy specific constraints of each application. The most important and common requirements regardless of application types are to provide a long network lifetime and small end-to-end delay. In this paper, we propose Early Preamble MAC (EP-MAC) with improved energy conservation and low latency. It is based on CMAC but adopts a new preamble type called 'early preamble'. In EP-MAC, a transmitting node can find quickly when a next receiving node wakes up, so EP-MAC enables direct data forwarding in the next phase. From numerical analysis, we show that EP-MAC improves energy consumption and latency greatly compared to CMAC. We also implemented EP-MAC with NS-2, and through extensive simulation, we confirmed that EP-MAC outperforms CMAC.

• Journal of Communications and Networks
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• 제13권5호
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• pp.463-471
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• 2011

Cooperative communications using relays in wireless networks have similar effects of multiple-input and multiple-output without the need of multiple antennas at each node. To implement cooperation into a system, efficient protocols are desired. In IEEE 802.11 families such as a/b/g, mobile stations can automatically adjust transmission rates according to channel conditions. However throughput performance degradation is observed by low-rate stations in multi-rate circumstances resulting in so-called performance anomaly. In this paper, we propose active relay-based cooperative medium access control (AR-CMAC) protocol, in which active relays desiring to transmit their own data for cooperation participate in relaying, and it is designed to increase throughput as a solution to performance anomaly. We have analyzed the performance of the simplified AR-CMAC using an embedded Markov chain model to demonstrate the gain of AR-CMAC and to verify it with our simulations. Simulations in an infrastructure network with an IEEE 802.11b/g access point show noticeable improvement than the legacy schemes.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제7권11호
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• pp.2636-2656
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• 2013

To improve the cooperative efficiency of node cooperation and multiple access performance for multihop wireless networks, a priority-differentiated cooperative medium access control protocol with contention resolution (CRP-CMAC) is proposed. In the protocol, the helper selection process is divided into the priority differentiation phase and the contention resolution phase for the helpers with the same priority. A higher priority helper can choose an earlier minislot in the priority differentiation phase to send a busy tone. As a result, the protocol promptly selects all the highest priority helpers. The contention resolution phase of the same priority helpers consists of k round contention resolution procedures. The helpers that had sent the first busy tone and are now sending the longest busy tone can continue to the next round, and then the other helpers that sense the busy tone withdraw from the contention. Therefore, it can select the unique best helper from the highest priority helpers with high probability. A packet piggyback mechanism is also adopted to make the high data rate helper with packet to send transmit its data packets to its recipient without reservation. It can significantly decrease the reservation overhead and effectively improve the cooperation efficiency and channel utilization. Simulation results show that the maximum throughput of CRP-CMAC is 74%, 36.1% and 15% higher than those of the 802.11 DCF, CoopMACA and 2rcMAC protocols in a wireless local area network (WLAN) environment, and 82.6%, 37.6% and 46.3% higher in an ad hoc network environment, respectively.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2433-2435
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• 2002

The purpose of this paper is to introduce a case study of developing a miniature biped robot. The biped robot has a total of twenty-one degrees of freedom(DOF) ; There are two legs which have six DOF each, two arms which have three DOF each and a waist which has three DOF. RC servo-motors were used as actuators. We have developed motor controller, sensor controller and ISA-interface card. Motor controller, PWM generator, can control eight motors Sensor controller is connected to eight FSR(Force Sensing Resistors). For high level controller communicate with low level controller, ISA-interface card has developed. For the stable walking, CMAC(Cerebellar Model Articulation Controller) neural network algorithm is applied to our system CMAC is robust at noise.

• 대한전자공학회논문지TC
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• 제47권1호
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• pp.25-34
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• 2010

IEEE 802.16-2004 표준은 MAC 계층 안에 PKM(Privacy Key Management)라 불리는 보안 부계층을 가지고 있다. 하지만, 몇몇 연구에서 IEEE 802.16-2004 표준의 취약성이 대두되었으며 IEEE 802.16 WG은 로밍과 핸드오프 기능을 가진 Mobile WiMAX라고 불리는 IEEE 802.16 개정 표준안을 발표하였다. 보안기능으로서 Mobile WiMAX는 PKMv2를 가지며 EAP 인증, AES 기반 암호화, CMAC/HMAC을 사용한 메시지 인증 등을 제공한다. 그러나 Mobile WiMAX 표준안의 보안 기능은 SS와 BS간 통신 보안에 초점을 맞추어서 네트워크 도메인간의 보안 문제나 핸드오버시 보안과 같은 네트워크 구조적 취약성을 여전히 가지고 있다. 따라서 본 논문에서는 현재 Mobile WiMAX 네트워크 환경의 보안 취약성을 네트워크 엔트리 과정, 네트워크 도메인간 통신 과정, 그리고 핸드 오프 과정으로 나누어 분석하였고, 이렇게 분석된 내용을 바탕으로 본 논문에서는 RObust and Secure MobilE WiMAX (ROSMEX)라 불리는 새로운 Mobile WiMAX 보안 구조를 제시하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.14-19
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• 1993

In this paper, we proposed an indirect learning and direct adaptive control schemes using neural networks, i.e., composite adaptive neural control, for a class of continuous nonlinear systems. With the indirect learning method, the neural network learns the nonlinear basis of the system inverse dynamics by a modified backpropagation learning rule. The basis spans the local vector space of inverse dynamics with the direct adaptation method when the indirect learning result is within a prescribed error tolerance, as such this method is closely related to the adaptive control methods. Also hash addressing technique, similar to the CMAC functional architecture, is introduced for partitioning network hidden nodes according to the system states, so global neuro control properties can be organized by the local ones. For uniform stability, the sliding mode control is introduced when the neural network has not sufficiently learned the system dynamics. With proper assumptions on the controlled system, global stability and tracking error convergence proof can be given. The performance of the proposed control scheme is demonstrated with the simulation results of a nonlinear system.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2012년도 제46차 하계학술발표논문집 20권2호
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• pp.379-380
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• 2012

수중 음향 센서 네트워크(Underwater Acoustic Sensor Network, UW-ASN) 환경에서 센서노드간 데이터를 안전하게 전송하기 위해 우선적으로 암호화 알고리즘을 사용하지만, 암호화 알고리즘만으로는 충분한 안전성을 제공하지 못한다. 암호화 알고리즘은 기밀성을 제공하지만 무결성은 제공하지 못하기 때문이다. 그렇기 때문에 수중 통신 환경에서도 암호화 기술 이외에, 전송된 데이터가 변경되지 않고 안전하게 전송되었다는 무결성을 보장할 수 있는 암호화 기술이 적용되어야 한다. 이에 본 논문에서는 무결성 보장을 위한 메시지 인증 기술에 대한 연구를 진행하며, 수중 환경에 가장 적합한 메시지 인증코드(MAC)의 도출을 위한 분석 절차를 제안한다.