• ETRI Journal
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• v.44 no.6
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• pp.1020-1033
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• 2022

In this paper, we propose novel disaggregated memory module (dMM) architecture and memory access control schemes to solve the collision and contention problems of memory disaggregation, reducing the average memory access time to less than 1 ㎲. In the schemes, the distributed scheduler in each dMM determines the order of memory read/write access based on delay-sensitive priority requests in the disaggregated memory access frame (dMAF). We used the memory-intensive first (MIF) algorithm and priority-based MIF (p-MIF) algorithm that prioritize delay-sensitive and/or memory-intensive (MI) traffic over CPU-intensive (CI) traffic. We evaluated the performance of the proposed schemes through simulation using OPNET and hardware implementation. Our results showed that when the offered load was below 0.7 and the payload of dMAF was 256 bytes, the average round trip time (RTT) was the lowest, ~0.676 ㎲. The dMM scheduling algorithms, MIF and p-MIF, achieved delay less than 1 ㎲ for all MI traffic with less than 10% of transmission overhead.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.51-56
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• 2003

The main goal of existing mobile robot system was a complete autonomous navigation and the vision information was just used as an assistant way such as monitoring For this reason, the researches have been going towards sophistication of autonomousness gradually and the production costs also has been risen. However, it is also important to control remotely an inexpensive mobile robot system which has no intelligence at all. Such systems may be much more effective than fully autonomous systems in practice. Visual information from a simple camera and distance information from ultrasonic sensors are used for this system. Collision avoidance becomes the most important problem for this system. In this paper, we developed a force feedback joystick to control the robot system remotely with collision avoiding capability. Fuzzy logic is used for the algorithm in order to implement the expert s knowledge intelligently. Some experimental results show the force feedback joystick werks very well.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.9
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• pp.1767-1775
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• 2015

There are various kinds of applications for wireless sensor network, and each application has difference requirements such as throughput. Topology control is the key issue to minimize energy consumption by solving communication collision and radio interference. However, existing topology control algorithms cannot support application requirement because communication efficiency and network connectivity are the main issues of topology control. In this paper, we propose a topology control algorithm that support throughput requirement of an application.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.7
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• pp.622-628
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• 2016

The prosperity of IT technologies and the removal of restrictions regarding Unmanned Aerial Vehicles (UAVs), also known as drones, have driven growth in their popularity. However, without a proper solution to the problem of accident avoidance for UAVs, this popularity increases the potential for collisions between UAVs and between UAV and terrain features. These collisions can occur because UAVs to date have flown using radio control or image recognition based autonomous navigation. Therefore, we propose efficient UAV routing schemes to tackle the collision problem using vehicular communication systems. Performance evaluation by computer simulation shows that the proposed methods effectively reduce the collision probability and improve the routing efficiency of the UAV. Furthermore, the proposed algorithms are compatible and can be directly applied with small overhead to the commercial vehicular communication system implementation.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.444-450
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• 2013

For intelligent vehicle technology, it is very important to recognize the states of around vehicles and assess the collision risk for safety driving of the vehicle. Specifically, it is very fatal the collision with the vehicle coming from opposite direction. In this paper, a centerlane violation prediction method is proposed. Only radar signal based prediction makes lots of false alarm cause of measurement noise and the false alarm can make more danger situation than the non-prediction situation. We proposed the novel prediction method using IMM algorithm and fuzzy logic to increase accuracy and get rid of false positive. Fuzzy logic adjusts the radar signal and the IMM algorithm appropriately. It is verified by the computer simulation that shows stable prediction result and fewer number of false alarm.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Journal of information and communication convergence engineering
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• v.4 no.2
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• pp.71-74
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• 2006

A basic access method about IEEE 802.11 MAC layer protocol using IEEE 802.11 wireless LANs is the DCF thatis based on the CSMA/CA. But, cause of IEEE 802.11 MAC layer uses original backoff algorithm (exponential backoff method), when collision occurred, the size of contention windows increases the double size Also, a time of packet transmission delay increases and efficienty is decreased by original backoff scheme. In this paper, we have analyzed TCP packet transmission time of IEEE 802.11 MAC DCF protocol for wireless LANs a proposed enhanced backoff algorithm. It is considered the transmission time of transmission control protocol (TCP) packet on the orthogonal frequency division multiplexing (OFDM) in additive white gaussian noise (A WGN) and Rician fading channel. From the results, a proposed enhanced backoff algorithm produces a better performance improvement than an original backoff in wireless LAN environment. Also, in OFDM/quadrature phase shift keying channel (QPSK), we can achieve that the transmission time in wireless channel decreases as the TCP packet size increases and based on the data collected, we can infer the correlation between packet size and the transmission time, allowing for an inference of the optimal packet size in the TCP layer.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2006.05a
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• pp.530-533
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• 2006

Recently, a basic access method about IEEE 802.11 MAC layer protocol using IEEE 802.11 wireless LANs is the DCF thatis based on the CSMA/CA. But, cause of IEEE 802.11 MAC layer uses original backoff algorithm (exponential backoff method), when collision occurred, the size of contention windows increases the double size. Also, a time of packet transmission delay increases and efficiency is decreased by original backoff scheme. In this paper, we have analyzed TCP packet transmission time of IEEE 802.11 MAC DCF protocol for wireless LANs a proposed enhanced backoff algorithm. It is considered the transmission time of transmission control protocol (TCP) packet on the orthogonal frequency division multiplexing (OFDM) in additive white gaussian noise (AWGN) and Rician fading channel. From the results, a proposed enhanced backoff algorithm produces a better performance improvement than an original backoff in wireless LAN environment. Also, in OFDM/quadrature phase shift keying channel (QPSK), we can achieve that the transmission time in wireless channel decreases as the TCP packet size increases and based on the data collected, we can infer the correlation between packet size and the transmission time, allowing for an inference of the optimal packet size in the TCP layer.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.426-432
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• 2012

The positions of vessels in JTIDS where each vessel broadcasts its position, can be found using the relative navigation method. Besides positioning, the relative navigation could be adopted for identification friend or foe, tracking targets, monitoring battle field and etc. In this paper, we have explained the fundamental operation and technical structure for the relative navigation and implemented the simulation platform to evaluate the basic function and performance of the system in arbitrary environment. Using platform, the availability of relative navigation within the group network and the characteristic of the algorithm for position prediction was verified. Based on the simulation result, it was verified that EKF based navigation algorithm could produce great initial error and need quite convergence time. To improve the performance, we proposed a new navigation algorithm which uses the minimum norm estimation algorithm until the EKF converges. The simulation results reveal the relative navigation can be effectively used in the formation flight and collision avoidance system.