• The KIPS Transactions:PartC
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• v.8C no.5
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• pp.677-682
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• 2001

In a microcell environment having frequent inter-cell movement of a subscriber, the amount of signalling traffic rapidly increases due to the treatment of location update and other necessary actions. As a way to reduce such an overhead, this paper presents an algorithm that dynamically allocates subscribers paging and location areas each of which has a different size and shape, depending on the characteristics of subscriber mobility. Mathematical analysis results show that this algorithm allows reduced area management cost, compared to conventional algorithms.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.3
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• pp.465-474
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• 2001

In the network with small cell radius, a mobile terminal which has large mobility should perform frequent handover. This requires that handover mechanism must be done fastly. The currently existing method for handover uses an algorithm in which the bandwidth corresponding to the adjacent cells is supposed to be allocated. However, this method leads to the problem of requiring bandwidth allocation for many-unknown cells, due to the lack of information toward moving direction in mobile terminal. In this paper, we propose an efficient dynamic bandwidth allocation algorithm for solving those problem above, based on both path rerouting handover and soft handover mechanism with wireless ATM. As for the QoS, it has been shown that proposed algorithm shows better performance than that with static bandwidth allocation algorithm.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.11
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• pp.2033-2048
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• 1992

This paper presents the theoretical development and qualitative evaluation of a new concept in the mathematical modeling of dynamic structures. We use both test data and analytical approximations to identify the parameters of an incomplete model. The model has the capability of predicting the response of the points of interest on the structure over the frequency range of interest and can be used to predict the changes in natural frequencies and normal modes due to structural changes. The theory was tested by running simulated tests on a relatively simple structure, identifying the parameters of the incomplete model, and using this model to predict the effects on frequency and mode shapes of several mass and stiffness changes. The conditions of the tests were varied by selecting different numbers of points of measurement, varying the frequency range, and by including assumed measurement error. It is recommended that the theoretical development be continued and that applications to more complex structures be carried out in order to develop a better understanding of the limitations and capabilities of the method. A successful, more definitive sevaluation could lead to immediate practical applications.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.920-926
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• 2007

Establishing a fixed path for the message delivery through a wireless network is impossible due to the mobility. Among the number of routing protocols that have been proposed for wireless ad-hoc networks, the AODV(Ad-hoc On-demand Distance Vector) algorithm is suitable in the case of highly dynamic topology changes, along with ZigBee Routing(ZBR), with the exception of route maintenance. Accordingly, this paper introduces a routing scheme focusing on the energy efficiency and route discovery time for wireless alarm systems using IEEE 802.15.4-based ZigBee. Essentially, the proposed routing algorithm utilizes a cluster structure and applies ZBR within a cluster and DSR (Dynamic Source Routing) between clusters. The proposed algorithm does not require a routing table for the cluster heads, as the inter-cluster routing is performed using DSR. The performance of the proposed algorithm is evaluated and compared with ZBR using an NS2 simulator. The results confirm that the proposed Cluster-based AODV (CAODV) algorithm is more efficient than ZBR in terms of the route discovery time and energy consumption.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.386-391
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• 2015

The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle’s driving force. In this paper, the modeling of a working tool such as a trenching cutter and a tracked vehicle that is the lower frame of a track-based operating robot was performed. In addition, a numerical simulation was executed to verify the performance of the design objectives and the motion characteristics of the combined system.

• Journal of the Korea Computer Industry Society
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• v.2 no.9
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• pp.1219-1224
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• 2001

There can exist unidirectional links due to asymmetric property of mobile terminals or current wireless environments on practical mobile ad hoc networks. However, at present, the existing mobile ad hoc routing protocols are implemented to support only bidirectional links. Thus, in this paper, we extend the existing dynamic source routing protocol in order to implement a new routing protocol, which is fit to mobile ad hoc networks containing unidirectional links. For performance evaluation, we use combinations of mobility scenario files and connection pattern files from Carnegimelon Univ. We consider received data rate and average route discovery time as evaluation items, which are compared and evaluated for three suggested route discovery methods.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.10
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• pp.1166-1173
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• 2011

There have been many researches about SUGV (Small Unmanned Ground Vehicle) mechanism regarding off-road mobility and obstacle negotiation. This paper introduces an analysis of geometry parameters to enhance the vertical obstacle negotiation ability for the SUGV. Moreover, this paper proposes an anti-shock structure analysis of wheels to protect the main body of the SUGV when it falls off a vertical obstacle. Major system geometry parameters will be determined under certain constraints. The constraints and optimization problem for maximizing the ability of vertical obstacle negotiation will be presented and discussed. Dynamic simulation results and experiments with manufactured platform will also be presented to validate the analysis. Several types of wheel materials and structures will be compared to determine the best anti-shock wheel design through FEM (Finite Element Method) simulations.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.68-74
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• 1998

Performance and efficiency of deep seabed collector is a primary factor for feasibility of commercial deep ocean mining. The efficiency of manganese nodules collector depends on vehicle mobility relative to undulating seafloor and is attributed pickup head to keep altitude and elevation of it against seafloor. For this reason, motion control of pickup head relative to the changing deep-sea topography and other disturbances is of particular importance in design of pickup device. The concept of design axiom is applied to a pickup device of hybrid type in order to evaluate the concept design. Kinematic analysis conducted in absolute Cartesian coordinates gives position, velocity, and acceleration of the hydraulic cylinders which enable the pickup head to keep the preset optimal distance from seafloor. Inverse dynamic analysis provides the driving forces of hydraulic cylinders and the reaction forces at each joint. Design sensitivity analysis is performed in order to investigate the effects of possible design variables on the change of the maximum strokes of hydraulic cylinders. The direct differentiation method is used to obtain the design sensitivity coefficients.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2002.06a
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• pp.57-61
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• 2002

Recently, mobility and accessibility occurs for the elder and the handicapped in the aging problem. In this paper, we analyze the dynamics of motor-scooter lifter, which helps to move the scooter in the automobile when we enjoy trip with the families including the elder and handicapped. We check the trajectories of lifter inside car to protect its corrosion and the stress at the joints of mechanical structure. Those can be helped to keep the safety and accuracy of the multiple dynamic systems for precision quality assurance in mass production.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.904-911
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• 2016

This paper presents a novel driving system by the humanoid robot to drive a vehicle in disaster response situations. To enhance robot's capability for substituting human activities in responding to natural and man-made disaster, the one of prerequisite skills for the rescue robot is the mounted mobility to maneuver a vehicle safely in disaster site. Therefore, our driving system for the humanoid is developed in order to steer a vehicle through unknown obstacles even under poor communication conditions such as time-delay and black-out. Especially, the proposed system includes a tele-manipulation interface and stable navigation strategies. First, we propose a new type of path estimation method to overcome limited communication. Second, we establish navigation strategies when the operator cannot recognize obstacles based on Dynamic Window Approach. The effectiveness of the proposed developments is verified through simulation and experiments, which demonstrate suitable system for driving a vehicle in disaster response.