• 로봇학회논문지
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• 제9권1호
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

• Journal of Communications and Networks
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• 제17권6호
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• pp.647-655
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• 2015

Low-power and lossy networks (LLNs) comprised of thousands of embedded networking devices can be used in a variety of applications, such as smart grid automated metering infrastructures (AMIs) and wireless sensor networks. Connecting these LLNs to the Internet has even greater potential, leading to the emerging concept of the Internet of Things (IoT). With the goal of integrating LLNs into IoT, the IETF has recently standardized RPL and 6LoWPAN to allow the use of IPv6 on LLNs. Although there already exist several studies on the the performance of RPL and embedded IPv6 stack in LLN, performance measurement and characterization of TCP over RPL in multihop LLNs is yet to be studied. In this article, we present a comprehensive experimental study on the performance of TCP over RPL in an embedded IPv6-based LLN running over a 30-node multihop IEEE 802.15.4 testbed network. Our results and findings are aimed at investigating how embedded TCP interoperates with common Linux TCP and underlying RPL (and vice versa), which furthers our understanding of the performance trade-offs when choosing TCP over RPL in IPv6-based LLNs.

• International Journal of Precision Engineering and Manufacturing
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• 제8권2호
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• pp.59-63
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• 2007

We propose a controller design analysis for a cross-coupling control system, which is essential for achieving high contouring accuracy in multi-axis CNC systems. The proposed analysis combines three axial controllers for each individual feed drive system together with a cross-coupling controller at the beginning of the design stage in an integrated manner. These two types of controllers used to be separately designed and analyzed since they have different control objectives. The proposed scheme is based on a mathematical formulation of a three-dimensional contour error model and includes a stability analysis for the overall control system and a performance analysis in terms of contouring and tracking accuracy at steady state. A computer simulation was used to demonstrate the validity of the proposed methodology. The performance variation was investigated under different operating conditions and controller gains, and a design range was elicited that met the given performance specifications. The results provide basic guidelines in systematic and comprehensive controller designs for multi-axis CNC systems. A cross-coupling control system was also implemented on a PC-based three-axis CNC testbed, and the experimental results confirmed the usefulness of the proposed control system in terms of contouring accuracy.

• 한국통신학회논문지
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• 제28권10B호
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• pp.876-890
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• 2003

This paper proposes a protocol for the reliableand QoS-aware multicast transport, which is called the Enhanced Communications Transport Protocol (ECTP). The ECTP has so far been developed and standardized in ITU-T SG17 and ISO/IEC JTC 1/SC 6. Differently from the conventional reliable multicast, as shownin the IETF RMT WG, the ECTP additionally provides several distinct features such as tight control of multicast session, tree-based error control, and QoS management. For the tight control of multicast connections, the sender is at the heart of one-to-many group communications, and it is responsible for overall connection management such as connection creation/termination, pause/resumption, and the join and leave operations. for tree-based reliability control, ECTP configures a hierarchical tree during connection creation. Error control is performed within each local group defined by a control tree, which was partly designed like the IETF TRACK approach. Each parent retransmits lost data in response to retransmission requests from its children. For QoS management, ECTP supports QoS negotiation for resource reservation, and it also provides QoS monitoring and maintenance operations. ECTP has been implemented and tested on Linux machine, along with Application Programming Interfaces based on Berkeley sockets. For basic testing of the ECTP functionality, we give some preliminary experimental results for performance comparison of ECTP and TCP unicast transports. In conclusion, we describe the status of ECTP experimentations over APAN/KOREN testbed networks

• Journal of Communications and Networks
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• 제15권2호
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• pp.198-206
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• 2013

Recent advances in forward error correction (FEC) coding techniques were focused on addressing the challenges of multicast and broadcast delivery. However, FEC approaches can also be used for unicast content delivery in order to solve transmission control protocol issues found in wireless networks. In this paper, we exploit the error resilient properties of Raptor codes by proposing Raptor-based content delivery protocol (RCDP) - a novel solution for reliable and bidirectional unicast communication in lossy links that can improve content delivery in situations where the wireless network is the bottleneck. RCDP has been designed, validated, optimized, and its performance has been analyzed in terms of throughput and resource efficiency. Experimental results show that RCDP is a highly efficient solution for environments characterized by high delays and packet losses making it very suitable for intelligent transport system oriented applications since it achieves significant performance improvements when compared to traditional transport layer protocols.

• 한국정밀공학회지
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• 제33권12호
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• pp.1007-1013
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• 2016

This paper presents the development of a magneto-optical encoder for higher precision and smaller size. In general, optical encoders can have very high precision based on the position information of the slate, while their sizes tend to be larger due to the presence of complex and large components, such as an optical module. In contrast, magnetic encoders have exactly the opposite characteristics, i.e., small size and low precision. In order to achieve encoder features encompassing the advantages of both optical and magnetic encoders, i.e., high precision and small size, we designed a magneto-optical encoder and developed a method to detect absolute position, by compensating for the error of the hall sensor using the linear table compensation method. The performance of the magneto-optical encoder was evaluated through an experimental testbed.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권10호
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• pp.4787-4807
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• 2016

Although the dense interconnection datacenter networks (DCNs) (e.g. FatTree) provide multiple paths and high bisection bandwidth for each server pair, the single-path TCP (SPT) and ECMP which are widely used currently neither achieve high bandwidth utilization nor have good load balancing. Due to only one available transmission path, SPT cannot make full use of all available bandwidth, while ECMP's random hashing results in many collisions. In this paper, we present OFPT, an OpenFlow based Parallel Transport framework, which integrates precise routing and scheduling for better load balancing and higher network throughput. By adopting OpenFlow based centralized control mechanism, OFPT computes the optimal path and bandwidth provision for each flow according to the global network view. To guarantee high throughput, OFPT dynamically schedules flows with Seamless Flow Migration Mechanism (SFMM), which can avoid packet loss in flow rerouting. Finally, we test OFPT on Mininet and implement it in a real testbed. The experimental results show that the average network throughput in OFPT is up to 97.5% of bisection bandwidth, which is higher than ECMP by 36%. Besides, OFPT decreases the average flow completion time (AFCT) and achieves better scalability.

• 전자공학회논문지
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• 제52권11호
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• pp.79-84
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• 2015

스테가노그래피는 비밀 데이터가 숨겨져 있다는 그 자체를 숨기는 방법을 말한다. Emulab은 연구자가 언제든지 원하는 운영체제 시스템과 네트워크 토폴리지를 구성할 수 있도록 제공하는 프레임워크이다. 본 논문에서는 Emulab 환경에서 스테가노그래피 기법을 처음으로 적용하여 분산 처리가 가능함을 보이고자 한다. 칼라 비트맵 이미지를 사용하여 Emulab 환경에서 한대의 서버와 여러 대의 클라이언트별로 나누어 처리하게 함으로써 알고리즘의 성능을 평가한다. 커버 이미지로 사용하는 칼라 이미지는 RGB 영역으로 각각 나누어지고, 각각의 영역에 대해서 비밀 데이터를 각 클라이언트에서 분산처리하게 하고, 성능을 비교하게 된다. 실험결과에서는 커버 이미지의 크기가 증가함에 따라 클라이언트/서버 구조를 가진 Emulab 환경에서 실행 시간이 지속적으로 향상됨을 보여주고 있다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권8호
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• pp.3900-3916
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• 2019

The modern mobile devices are typically equipped with multiple network interfaces, e.g., 4G LTE, Wi-Fi, Bluetooth, but the current implementation of TCP can support only a single path at the same time. The Multipath TCP (MPTCP) leverages the multipath feature and provides (i) robust connection by utilizing another interface if the current connection is lost and (ii) higher throughput than single path TCP by simultaneously leveraging multiple network paths. However, if the performance between the multiple paths are significantly diverse, the receiver may have to wait for packets from the slower path, causing reordering and buffering problems. To solve this problem, previous MPTCP schedulers mainly focused on predicting the latency of the path beforehand. Recent studies, however, have shown that the path latency varies by a large margin over time, thus the MPTCP scheduler may wrongly predict the path latency, causing performance degradation. In this paper, we propose a new MPTCP scheduler called, choose fastest subflow (CFS) scheduler to solve this problem. Rather than predicting the path latency, CFS utilizes the characteristics of these paths to reduce the overall flow completion time by redundantly sending the last part of the flow to both paths. We compare the performance through real testbed experiments that implements CFS. The experimental results on both synthetic packet generation and actual Web page requests, show that CFS consistently outperforms the previous proposals in all cases.

• International Journal of Internet, Broadcasting and Communication
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• 제11권1호
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• pp.27-38
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• 2019

Sensors collect information for Internet of Things (IoT)-based services. However, indoor construction sites have a poor communication environment and many interfering elements that make it difficult to collect sensor information. In this study, a network was constructed between a Bluetooth Low Energy (BLE)-based IoT device based on a serverless IoT framework and a router. This experimental environment was applied to large- and small-scale indoor construction sites. Experiments were performed to test the communication performance of BLE-based IoT devices and routers at indoor construction sites. An analysis of the received signal strength indication (RSSI) graph patterns collected from the communication between the BLE-based IoT devices and routers for different testbed site situation revealed areas with good communication performance and poor communication performance due to interfering factors. The results confirmed that structural components of the building as well as the materials, equipment, and temporary facilities used in indoor construction interfere with the communication performance. Construction project managers will require improved technical knowledge of IoT, such as optimizing the router placement and matching communication between the router and workers, to improve the communication performance for large-scale indoor construction.