• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.160-167
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• 2001

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.6
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• pp.1762-1772
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• 1996

The main objective of this study is to develop a gripper mechanixm that can be employed for assembly and removal tasks of a nozzle-dam of steam genetator in the process of the nuclear reactor maintenances. Brief description of the open-close thpe gripper mechanism, its position analysis, and its kinematic analysis are given. The optimal design of the gripper mechanism with and without slipping on its two gipping surfaces is considered. As an optimal design index, the ratio of the actuator force of prismatic cylinder to gripping load is proposed. Then, based on this index the oiptimal design is carried out to identify values of optimal design parameters for the gripper dechanism.

• Journal of Korea Multimedia Society
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• v.17 no.6
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• pp.681-686
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• 2014

In this paper, we propose a traffic adaptive mechanism that controls the receiver's wakeup periods based on the generated traffic amounts. The proposed control mechanism is designed for military, wild animal monitoring, and forest fire surveillance applications. In these environments, a low-rate data transmission is usually required between sensor nodes. However, continuous data is generated when events occur. Therefore, legacy mechanisms are ineffective for these applications. Our control mechanism showed a better performance in energy efficiency compared to the RI-MAC owing to the elimination of the sender node's idle listening.

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.168-177
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• 2007

In a number of fields, robots are being used for two purposes: efficiency and safety. Most robots, however, have single-actuator mechanism for each joint, where the tasks are performed with high stiffness. High stiffness causes undesired problems to the environment and robots. This study proposes redundant actuator mechanism as an alternative idea to cope with these problems. In this paper, Double-Actuator Unit (DAU) is implemented at each joint for applications of multi-link manipulators. The DAU is composed of two motors: the positioning actuator and the stiffness modulator, which enables independent control of positioning and compliance. A three-link manipulator with DAUs enables adaptive control of RCC. By modulating the joint stiffness of the manipulator and controlling the position of RCC, we can significantly reduce contact force during assembly tasks and surgical procedures.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.3
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• pp.675-683
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• 1996

CAC, UPC, NPC, cell level QoS and congestion control is required to assign efficiently channels's BW and to prevent networks from congestion. In the CAC algorithm, each user defines characteristics of input traffic when channels are set up and network based on this parameters determines the acception or rejection of the required BW. The CAC control mechanism is classified into the centralized BW allocation mechanism and the distributed BW Allocation mechanism according to the function and position of CAC processor allocating BW. In this paper, in contrast with esisted the distributed BW allocation mechanism which assumes the required BW of input traffic as constant, we assume input traffic & serices as bulk probability distribution in order to analyze performance more precisely.

• 한국정보통신설비학회:학술대회논문집
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• 2005.08a
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• pp.67-73
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• 2005

For power constrained applications, IEEE 802.15.4 networks may be operated in beacon enabled mode with inactive period. In this paper, we propose the Virtual Arrival Mechanism (VAM) to avoid the congestion at the beginning of each contention access period (CAP). Virtual Arrival Mechanism (VAM) is a kind of traffic shaping that spread the traffics congested at the beginning of CAP into the whole CAP. By using VAM, collisions and energy consumption can be reduced. Finally, we evaluate the performance enhancement of VAM using NS-2 simulator.

• International Journal of Internet, Broadcasting and Communication
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• v.16 no.1
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• pp.29-35
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• 2024

TCP is considered as one of the major candidate transport protocols even for constrained IoT networks..In our previous work, we investigated the congestion control mechanism of the uIP TCP. Since the uIP TCP sets the window size to one segment by default, managing the retransmission timer is the primary approach to congestion control. However, the original uIP TCP sets the retransmission timer based on the fixed RTO, it performs poorly when a radio duty cycling mechanism is enabled and the hidden terminal problem is severe. In our previous work, we proposed a TCP retransmission timer adjustment scheme for uIP TCP which adopts the notion of weak RTT estimation of CoCoA, exponential backoffs with variable limits, and dithering. Although our previous work showed that the proposed retransmission timer adjustment scheme can improve performance, we observe that the scheme often causes a node to set the retransmission timer for an excessively too long time period. In this work, we show that slightly modifying the dithering mechanism of the previous scheme is effective for improving TCP fairness.

• Journal of Advanced Navigation Technology
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• v.17 no.2
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• pp.218-224
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• 2013

Uplink overflow in WMSN (Wireless Multimedia Sensor Networks) aggravates the resource consumption, delay, and traffic congestion. This paper proposes a new traffic congestion control mechanism using popularity. The proposed mechanism controls congestions by dispersing the media traffic, and it control fairly packets according to priority. This paper proposes PQS (Packet Queue Scheduler) to control fairly packets, and the proposed mechanism provides a fair opportunity to all sensor nodes without a specific location. The simulation results show that the proposed mechanism achieves improved performance in throughput, delay ratio, link quality, and buffer queue control ratio compared with those of other existing methods.

• Earthquakes and Structures
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• v.3 no.5
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• pp.749-766
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• 2012

Structural control through integration of passive damping devices within the building structure has been increasingly implemented internationally in the last years and has proven to be a most promising strategy for earthquake safety. In the present paper an alternative configuration of an innovative energy dissipation mechanism that consists of slender tension only bracing members with closed loop and a hysteretic damper is investigated in its dynamic behavior. The implementation of the adaptable dual control system, ADCS, in frame structures enables a dual function of the component members, leading to two practically uncoupled systems, i.e., the primary frame, responsible for the normal vertical and horizontal forces and the closed bracing-damper mechanism, for the earthquake forces and the necessary energy dissipation. Three representative international earthquake motions of differing frequency contents, duration and peak ground acceleration have been considered for the numerical verification of the effectiveness and properties of the SDOF systems with the proposed ADCS-configuration. The control mechanism may result in significant energy dissipation, when the geometrical and mechanical properties, i.e., stiffness and yield force of the integrated damper, are predefined. An optimum damper ratio, DR, defined as the ratio of the stiffness to the yield force of the hysteretic damper, is proposed to be used along with the stiffness factor of the damper's- to the primary frame's stiffness, in order for the control mechanism to achieve high energy dissipation and at the same time to prevent any increase of the system's maximum base shear and relative displacements. The results are summarized in a preliminary design methodology for ADCS.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.54-60
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• 2011

The flight control law designed for prototype aircraft often leads to degraded stability and performance, although developed control law verify by non-real time simulation and pilot based evaluations. Therefore, the proper evaluation methods should be applied such that flight control law designed can be verified in real flight environment. The one proposed in this paper is IFS (In-Flight Simulator). Currently, this system has been implemented into the F-18 HARV (High Angle of Attack Research Vehicle), SU-27 and F-16 VISTA (Variable stability In flight Simulation Test Aircraft) programs. The IFS necessary switching control law such as fader logic and integrator stand-by mode to reduce abrupt transient and minimize the integrator effect for each flight control laws switching. This paper addresses the concept of switching mechanism with fader logic of "TFS (Transient Free Switch)" and stand-by mode of "feedback type" based on SSWM (Software Switching Mechanism). And the result of real-time pilot evaluation reveals that the aircraft is stable for inter-conversion of flight control laws and transient response is minimized.