• Journal of the Institute of Electronics Engineers of Korea TC
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• v.39 no.5
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• pp.225-231
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• 2002

This paper proposes a discriminative collision resolution scheme for the wireless Medium Access Control (MAC) protocols to support the Quality of Service (QoS) requirements of real-time applications. Our scheme deals with access requests in different ways depending on their delay requirements. In our scheme, a Collision Resolution Period (CRP) is used to quickly resolve collisions for the delay sensitive traffic in order to support their delay requirements. Performance analysis and simulation results show that our algorithm may successfully meet the delay requirements of real time applications by reducing access delays and collisions.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.32-39
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• 2022

Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the studies on collision avoidance of mobile manipulators cannot be applied to differential drive type mobile platforms or the end-effector tends to deviate from the desired trajectory for collision avoidance. In this study, a collision avoidance algorithm based on null space projection (CANS) that solves these two problems is proposed. To this end, a modified repulsive force that overcomes the non-holonomic constraints of a mobile platform is generated by adding a virtual repulsive force in the direction of its instantaneous velocity. And by converting this repulsive force into a repulsive velocity and applying it to the null space, the end-effector of the robot avoids a collision while moving along its original trajectory. The proposed CANS algorithm showed excellent performance through self-collision avoidance tests and door opening tests.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.179-182
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• 2005

The Home Phoneline Networking Alliance (HomePNA) 2.0 technology can establish a home network using existing in-home phone lines, which provides a channel rate of 4 - 32 Mbps. HomePNA 2.0 Medium Access Control (MAC) protocol adopts an IEEE 802.3 Carrier Sense Multiple Access with Collision Detection (CSMA/CD) access method, a Quality of Service (QoS) algorithm, and a Distributed Fair Priority Queuing (DFPQ) collision resolution algorithm. In this paper, we analyze the HomePNA 2.0 MAC protocol and propose the architecture of HomePNA 2.0 MAC controller circuit. Then, we present the simulation result of each block included in the HomePNA 2.0 MAC controller.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.8A
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• pp.847-857
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• 2007

For the implementation of a RFID system, an anti-collision algorithm is required to identify multiple tags within the range of a RFID Reader. A Bit-by-Bit algorithm is defined by Auto ID Class 0. In this paper, we propose a SBBB(Stack Bit-by-Bit) algorithm. The SBBB algorithm save the collision position and makes a query using the saved data. SBBB improve the efficiency of collision resolution. We show the performance of the SBBB algorithm by simulation. The performance of the proposed algorithm is higher than that of BBB algorithm. Especially, the more each tag bit streams are the duplicate, the higher performance is.

• The KIPS Transactions:PartC
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• v.16C no.2
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• pp.267-274
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• 2009

For the implementation of a RFID system, an anti-collision algorithm is required to identify multiple tags within the range of a RFID Reader. There are two methods of anti-collision algorithms for the identification of multiple tags, conclusive algorithms based on tree and stochastic algorithms based on slotted ALOHA. In this paper, we propose a Dynamic Framed Slotted ALOHA-Slot Congestion(DFSA-SC) Algorithm. The proposed algorithm improves the efficiency of collision resolution. The performance of the proposed DFSA-SC algorithm is showed by simulation. The identification time of the proposed algorithm is shorter than that of the existing DFSA algorithm. Furthermore, when the bit duplication of the tagID is higher, the proposed algorithm is more efficient than Query Tree algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.690-693
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• 2004

This paper proposes a multi-resolution electrostatic potential field (MREPF) based solution to the mobile robot path planning and collision avoidance problem in 2D dynamic environment. The MREPF is an environment method in calculation time and updating field map. The large scale resolution map is added to EPF and this resolution map interacts with the small scale resolution map to find an optimal solution in real time. This approach can be interpreted with Atlantis model. The simulation studies show the efficiency of the proposed algorithm.

• Proceedings of the IEEK Conference
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• summer
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• pp.310-312
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• 2004

Binary Exponential Back-off (BEB) scheme is widely adopted in both wire and wireless networks for collision resolution. The BEB suffers from several performance drawbacks including long packet delay and low utilization since it doubles the back-off size after each collision. In addition, operation of the BEB algorithm may lead to the last-come-first-serve result among competing users and the BEB is further unstable for every arrival rate greater than 0 due to its random access property[1,2]. In this paper, we propose a deterministic back-off algorithm to reduce contention interval as much as possible for accessing the channel without collision in the back-off process. Simulation results show that our scheme offers a higher throughput as well as a lower packet transfer delay than the BEB by taking advantage of its lower collision ratio in saturation state.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.155.4-155
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• 2001

This paper deals with the inertia property-based redundancy resolution in posture control of a mobile manipulator. As a measure for the redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation ...

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.6
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• pp.109-117
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• 2016

The most important mission of RFID reader is identify EPC (Electronic Product Code) of RFID tag of products that located within distinguishable range of RFID reader. RFID reader transmits query message to RFID tags through wireless channel and RFID tags send unique EPC to response its query message simultaneously. therefore tag collision occurred frequently. RFID tags collision resolution algorithm required to apply RFID technology to various industries. In this paper, we propose enhanced M-ary algorithm that collision bits location is used by not only RFID reader but also tags. the main feature of the proposed algorithm is that integrate multiple query message of M-ary QT algorithm to the single query message by analyze multiple response messages from tags. the simulation results show that the proposed algorithm give better performance than M-ary QT algorithm in terms of the number of query-response, identification efficiency and communication overhead.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.1B
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• pp.42-48
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• 2002

In broadband wireless networks, the effective meeting of the QoS guarantees may strongly depend on the Contention Resolution Algorithm used in the uplink contention period. The time it takes a station to transmit a successful request to the base station, or request delay, must be kept low even during periods of high contention. If a request suffers many collisions, it cannot rely on the preemptive scheduler to receive low access delays. However, the conventional collision resolution algorithm has a problem that all collided stations are treated equally regardless of their delay from previous contention periods. Some requests may have very long request delay caused by continuous collisions. In this paper, we propose an adaptive collision resolution algorithm for fast random access in broadband wireless networks. The design goal is to provide quick access to the request with a high number of collisions. To do this, the proposed algorithm separates the whole contention region into multiple sub regions and permits access through each sub region only to the requests with equal number of collisions. The sub region is adaptively created according to the feedback information of previous random access. By simulation, the proposed algorithm can improve the performance in terms of throughput, random delay and complementary distribution of random delay by its ability to isolate higher priorities from lower ones. We can notice the algorithm provides efficiency and random access delay in random access environment.