• Journal of the Korea Institute of Military Science and Technology
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• v.23 no.4
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• pp.371-380
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• 2020

Video is principal information that facilitates commander's immediate command decision. Due to fading characteristics of radio link, however, it is difficult to stably transmit video in a multi-hop wireless environment. In this paper, we propose a MANET structure composed of a link adaptive routing protocol and a TDMA MAC protocol to stably transmit video traffic in a ultra-narrowband video streaming network. The routing protocol can adapt to link state change and select a stable route. The TDMA protocol enables collision-free video transmission to a destination using multi-hop dynamic resource allocation. As a result of simulation, the proposed MANET structure shows better video transmission performance than proposed MANET structure without link quality adaption, AODV with CSMA/CA, and OLSR with CSMA/CA structures.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.5 no.1 s.9
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• pp.1-12
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• 2006

In order to estimate a dynamic origin and destination demand between on and off-ramps in the freeways, a traffic flow theory can be used to calculate a link distribution proportion of traffics moving between them. We have developed a dynamic traffic estimation model based on the three-phase traffic theory (Kerner, 2004), which explains the complexity of traffic phenomena based on phase transitions among free-flow, synchronized flow and moving jam phases, and on their complex nonlinear spatiotemporal features. The developed model explains and estimates traffic congestion in terms of speed breakdown, phase transition and queue propagation. We have estimated the link, on and off-ramp volumes at every time interval by using traffic data collected from vehicle detection systems in Korea freeway sections. The analyzed results show that the developed model describes traffic flows adequately.

• Proceedings of the IEEK Conference
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• 2000.11a
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• pp.477-480
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• 2000

Open Shortest Path First(OSPF) is a dynamic, hierarchical routing protocol designed to support routing in TCP/IP networks. Currently, OSPF is used as Interior Gateway Protocol(IGP) in many routers. In this paper, we analyze the variation of number of OSPF routing packets in case of changing the network configuration. The results show that the number of packets in case of adding new link increase five times than one in case of normal operation.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.11
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• pp.31-35
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• 1992

This paper presents a decentralized adaptive controller design for a robot manipulator to track the given desired trajectory in the joint space. The controller is of distributed structure and does not require the complex manipulator dynamic model, thereby it is computationally very efficient. Each joint is independently controlled by a PID feedback part and a velocity-acceleration feedforward part. Simulation results for a two-link direct drive manipulator conform that the proposed decentralized scheme is feasible.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.3
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• pp.34-40
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• 2001

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a decentralized adaptive fuzzy sliding mode scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for decentralized control of a 3-axis PUMA arm will also be included.

• Proceedings of the Korean Information Science Society Conference
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• 2004.04a
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• pp.556-558
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• 2004

현재 제안된 MANET에서의 유니캐스트 라우팅[3][4]들은 신뢰성 있는 데이터 전송을 위한 응용에는 적합하지 않다. 신뢰성 있는 데이터 전송을 위하여 제안된 다중 경로 라우팅 메커니즘[5][6]은 추가적인 오버헤드와 비효율적인 자원의 이용이라는 문제점을 발생시킨다. 본 논문에서는 노드의 링크 단절 빈도와 데이터 전송시의 배터리 소모를 기반으로 하는 신뢰성 있는 단일 경로 설정 메커니즘을 제안한다. 제안된 메커니즘의 경우 단절될 확률이 적은 노드들로 구성된 경로를 선택함으로써 기존의 라우팅 알고리즘보다 신뢰성 높은 경로를 설정할 수 있는 동시에 높은 동적 환경에서는 다중 경로를 설정하여 신뢰성을 향상시킬 수 있다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.227-231
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• 1995

This paper describes a basic programming and interfacing modele which can link DataBase form experiments and dynamic analysis program of chock absorber within the limit of adequate reliability. The system developed can provid a user specific Database of shock absorber within the required damping performance and endurable tolerance, thus show a good application possibilities in commercial vehicle design.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.3
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• pp.316-325
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• 1991

This paper presents the design of a new sliding mode controller to improve the rate of convergence by Lyapunov's stability analysis. The proposed controller shows that the elimination of the steady state position errors can be achieved by replacing the desired trajectory by the virtual reference trajectory. The proposed control scheme which consists of the upper bounded and estimated values of eac term of the manipulator dynamic equation does not require good knowledge of the parameters and the computation of matrix inversion. The performance of proposed controller is evaluated by the simulation for a two-link manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1455-1458
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• 1996

In this paper trajectory tracking control problems are described for a robot manipulator by using pneumatic actuator. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with input time-delay by the step response. Then, an optimal servo controller is designed by taking account of such a time-delay. The effectiveness of the proposed control method is illustrated through some simulations and experiments for the robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.547-551
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• 1996

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.