• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2004년도 봄 학술발표논문집 Vol.31 No.1 (A)
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• pp.592-594
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• 2004

Bluetooth 칩셋의 생산량을 보면, 보이지 않는 곳에서 Bluetooth의 성장은 계속 되고 있다. [1] 그리고 Bluetooth는 Scatternet을 구성하여 Personal Area Network의 영역을 넘어 Senssor network에 적용하는 것이 가능하다. 그러나 Bluetooth specification[2]에서는 Scatternet Formation 방법에 대해 제안하지 않는다. 이를 개선하기 위해 BTCP (Bleutooth Topology Construction Protocol)[3], Bluetree[4], Bluenet[5], TPSF(Two-Phase Scatternet Formation) protocol[6]이 제안되었다. 본 논문에서는 이러한 protocol들을 개략적으로 설명하고 그에 대한 장단점을 알아보겠다.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.526-532
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• 2014

In this paper, we present and analyze a LQ (Linear Quadratic) inverse optimal state-consensus protocol for continuous-time multi-agent systems with undirected graph topology. By Lyapunov analysis of the state-consensus error dynamics, we show the sufficient conditions on the algebraic connectivity of the graph to guarantee LQ inverse optimality and closed-loop stability. A more relaxed stability condition is also provided in terms of the algebraic connectivity. Finally, a formation control protocol for multiple mobile robots is proposed based on the target LQ inverse optimal consensus protocol, and the simulation results are provided to verify the performance of the proposed LQ inverse formation control method.

• 한국통신학회논문지
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• 제33권4A호
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• pp.411-417
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• 2008

본 논문에서는 multi-hop 블루투스 스캐터넷을 형성하는 BSFP (Bluetooth Scatternet Formation Protocol)을 제안한다. BSFP는 각각의 블루투스 기기에서 독립적으로 수행되고, 초기단계에서 주변 기기들에 대한 정보를 요구하지 않으며, 모든 기기들이 블루투스의 통신 가능 범위 안에 위치하지 않아도 스캐터넷을 형성할 수 있다. BSFP는 1) 자신의 주위에 어떤 노드들이 있는지를 찾는 Init 단계, 2) 각각의 노드가 국부적 정보만을 가지고 스캐터넷을 형성하는 Ready 단계, 3) 연결된 링크를 이용하여 통신을 하는 Complete 단계로 구성된다. BSFP에서는 스캐터넷 형성을 완료할 때까지 걸리는 실행시간이 기기들의 수가 늘어나도 크게 변하지 않으며, 인접 기기들 간의 통신 링크의 수가 많은 스캐터넷을 형성하여 신뢰도 높은 mobile ad hoc network을 구성할 수 있도록 해 준다.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.434-441
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• 2015

In this paper, we propose an inverse optimal distributed protocol for the formation and velocity consensus of nonholonomic mobile robots. The communication among mobile robots is described by a simple undirected graph, and the mobile robots' kinematics are considered. The group of mobile robots driven by the proposed protocols asymptotically achieves the desired formation and group velocity in an inverse optimal fashion. The design of the protocols is based on dynamic feedback linearization and the proposed linear quadratic (LQ) inverse optimal second-order consensus protocol. A numerical simulation is given to verify the effectiveness of the proposed scheme.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1225-1230
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• 2014

This paper investigates the group average-consensus and group formation-consensus problems for first-order multi-agent systems. The control protocol for group consensus is designed by considering the positive adjacency elements. Since each intra-group Laplacian matrix cannot be satisfied with the in-degree balance because of the positive adjacency elements between groups, we decompose the Laplacian matrix into an intra-group Laplacian matrix and an inter-group Laplacian matrix. Moreover, average matrices are used in the control protocol to analyze the stability of multi-agent systems with a fixed and undirected communication topology. Using the graph theory and the Lyapunov functional, stability analysis is performed for group average-consensus and group formation-consensus, respectively. Finally, some simulation results are presented to validate the effectiveness of the proposed control protocol for group consensus.

• 한국정보과학회논문지:정보통신
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• 제31권3호
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• pp.314-326
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• 2004

블루투스는 휴대폰을 비롯한 디지털 디바이스간의 탄력적이고 확장성 있는 무선 ad-hoc 네트워크를 제공할 수 있는 기술로 가능성을 인정받아왔다. 이러한 네트워크가 지원되기 위해서는 블루투스 스캐터넷(Scatternet)은 필수적인 요소이다. 그러므로 블루투스 스캐터넷과 관련되어서 현재까지 다양한 방법론이 제시되고 있다. 하지만 기존의 연구들은 시뮬레이션을 통한 방법론을 제시하는데 그치는 경우가 대부분이며, 스캐터넷의 탄력성과 확장성을 확보하지 못하고 그 복잡성으로 인해 하드웨어 구현에 제약이 있는 경우들이 많다. 본 논문에서는 실제 하드웨어 구현이 용이하고, 스캐터넷의 탄력성과 확장성을 확보할 수 있는 노드 링 스캐터넷(Node Ring Scatternet:NRS) 알고리즘을 제안하였다. 이 알고리즘은 초기 형성과 재형성 부분으로 구성이 되어 있다. 초기 형성과 관련되어 제한적 SEEK/SCAN 알고리즘을 제안하였고, 재형성과 관련되어서는 DIAC 알고리즘과 예약 복구 노드(Reserved Recovery Node) 알고리즘을 제안하였다. 또 실제 시스템 상에서 스캐터넷 알고리즘을 운용하기 위한 SFMP(Scatternet Formation & Management Protocol)을 설계하고, 상용 블루투스 하드웨어로 구현을 하여 20개의 디바이스까지의 스캐터넷 실험을 수행하였다. 실험 결과 기존의 유사 알고리즘에 비해 스캐터넷 형성 시간과 그 확률이 높은 결과를 얻었다.

• 한국철도학회논문집
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• 제6권2호
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• pp.135-141
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• 2003

According to the computerization of railway signaling systems, the interface link between these signaling equipment is also replaced by digital communication channel, expecially communication link for interface between EIS and LDTS, but there are some problems in the present state of railway signaling. First of all, different communication protocol is applied to interface between above two signaling equipment although they have same functions. The other is that the communication protocol currently used in railway field has some unreasonable points such as structure, formation of byte, error correction scheme and etc. To solve these problems, the standard communication protocol for railway signaling is designed. The structure of designed communication protocol and the results of performance analyses are represented in this paper. It will be expected the increase of safety, reliability and efficiency of maintenance of signaling system by using of the designed communication protocol for railway signaling.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권7호
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• pp.3494-3510
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• 2019

Wireless sensor networks encounter energy saving as a major issue as the sensor nodes having no rechargeable batteries and also the resources are limited. Clustering of sensors play a pivotal role in energy saving of the deployed sensor nodes. However, in the cluster based wireless sensor network, the cluster heads tend to consume more energy for additional functions such as reception of data, aggregation and transmission of the received data to the base station. So, careful selection of cluster head and formation of cluster plays vital role in energy conservation and enhancement of lifetime of the wireless sensor networks. This study proposes a new mutation chemical reaction optimization (MCRO) which is an algorithm based energy efficient clustering protocol termed as MCRO-ECP, for wireless sensor networks. The proposed protocol is extensively developed with effective methods such as potential energy function and molecular structure encoding for cluster head selection and cluster formation. While developing potential functions for energy conservation, the following parameters are taken into account: neighbor node distance, base station distance, ratio of energy, intra-cluster distance, and CH node degree to make the MCRO-ECP protocol to be potential energy conserver. The proposed protocol is studied extensively and tested elaborately on NS2.35 Simulator under various senarios like varying the number of sensor nodes and CHs. A comparative study between the simulation results derived from the proposed MCRO-ECP protocol and the results of the already existing protocol, shows that MCRO-ECP protocol produces significantly better results in energy conservation, increase network life time, packets received by the BS and the convergence rate.

• 대한임베디드공학회논문지
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• 제11권6호
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• pp.343-351
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• 2016

In this study, we implemented a formation flight control system using two drones. Ground control system communicates with drones by MAVLink protocol, does keep watch on drone's status and sends simultaneously formation flight instructions to drones in real time. Two drones have been able to fly by a formation flight algorithm without crashing while maintaining the same speed, and a constant distance and altitude.

• 한국지능정보시스템학회:학술대회논문집
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• 한국지능정보시스템학회 2005년도 공동추계학술대회
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• pp.461-470
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• 2005

A dynamic supply chain that is composed of many different companies with different rent roles and interests allows free joining and secession. Buyers place orders simultaneously and manufacturers should compete each other for the orders. The purpose of our paper is how to find the optimal formation of supply chain ill a global viewpoint while allowing each member company to pursue his local goal The dynamic nature of supply chain formation causes the variation of cost depending on how many orders a manufacturer would accept. We propose a multi-agent based negotiation protocol that efficiently leads to the formation of optimal supply chain without giving up maximization of the individual profit in multi-agent environment of the make-to-order industry. The goal of the negotiation is to form a supply chain to minimize the overall sum of manufacturers' manufacturing cost, and earliness cost and tardiness cost based on SET model. We compare the negotiation protocol with Branch & Bound method. Finally, the validity and performance of buyer's negotiation has been tested experimentally.