• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.912-915
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• 1996

The computed-torque method (CTM) shows good trajectory tracking performance in controlling robot manipulator if there is no disturbance or modelling errors. But with the increase of a payload or the disturbance of a manipulator, the tracking errors become large. So there have been many researches to reduce the tracking error. In this paper, we propose a new control algorithm based on the CTM that decreases a tracking error by generating new reference trajectory to the controller. In this algorithm we used the concept of sliding mode theory and fuzzy system to reduce chattering in control input. For the numerical simulation, we used a 2-link robot manipulator. To simulate the disturbance due to a modelling uncertainty, we added errors to each elements of the inertia matrix and the nonlinear terms and assumed a payload to the end-effector. In this simulation, proposed method showed better trajectory tracking performance compared with the CTM.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.7
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• pp.952-965
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• 1995

In the hypercube multiprocessor system. repeated allocations and deallocations of subcubes generate a fragmented hypercube from which. even if sufficient free processors are available, a subcube that is large enough to accomodate a new task cannot be formed. To eliminate the fragmentation, we need a processor relocation to move a task-occupied subcube to a free subcube, and gather dispersed small subcubes. In this paper, we propose a routing algorithm for task migration in circuit- switched hypercube to relocate processors. In the circuit-switched hypercube, we have to find a set of dedicated link-disjoint routing paths for each node to move a task from a busy subcube to a free subcube in fragmentation. The proposed algorithm is based on the PGC(packed Gray code) which detects all kinds of subcubes.

• Journal of Korea Society of Digital Industry and Information Management
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• v.8 no.1
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• pp.47-53
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• 2012

Sensor networks and car networks that have different structure from that of conventional TCP/IP network require extreme network environment due to frequent change of connectivity. Because such extreme network environment has characteristics like unreliable link connectivity, long delay time, asymmetrical data transfer rate, and high error rate, etc., it is difficult to perform normally with the conventional TCP/P-based routing. DTNs (delay and disruption tolerant network) was designed to support data transfer in extreme network environment with long delay time and no guarantee for continuous connectivity between terminals. This study suggests an algorithm that limits the maximum number of copying transferred message to L by improving the spray and wait routing protocol, which is one of the conventional DTNs routing protocols, and using the azimuth and density data of the mobile nods. The suggested algorithm was examined by using ONE, a DTNs simulator. As a result, it could reduce the delay time and overhead of unnecessary packets compared to the conventional spray and wait routing protocol.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.3
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• pp.194-197
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• 2002

This paper considers the problem of routing connections in a optical multi tree networks using WDM (Wavelength Division Multiplexing), where each connection between a pair of nodes in the network is assigned a path through the network and a wavelength on that path, so that connections whose paths share a common link in the network are assigned different wavelengths. The problem of optimal coloring of the paths on the optical multi-networks is NP-hard[1], but if that is the coloring of all paths, then there exists efficient polynomial time algorithm. In this paper, using a "divide & conquer" method, we give efficient algorithm to assign wavelengths to all the paths of a tree network based on the theory of [7]. Here, our time complexity is 0(n4log n).

• Journal of the Korea Institute of Information Security & Cryptology
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• v.11 no.2
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• pp.59-65
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• 2001

3GPP proposed a variant CBC-MAC based on the block cipher KASUMI to provide the data integrity over a radio access link. We have studied deeply the Knudsen and Mitchell\`s attack. In this paper we proposed a definite performing algorithm of the Knudsen and Mitchell\`s alack and compute the success probability and complexity of that algorithm. Moreover We also analyze a security of 3GPP-MAC comparing with the original CBC-MAC.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.3
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• pp.117-123
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• 2017

In this paper, we propose a performance index that can compare the position estimation performance according to the time slot allocation order, which is superior in the position estimation performance in the operation of the Link-16 based relative navigation system. In order to verify the validity of the performance index, a software-based Link-16 relative navigation system performance analysis platform composed of a signal generator, a signal reception and navigation algorithm execution unit, and a performance analysis unit was designed. Using the designed software platform, we analyzed the relationship between proposed performance index and position estimation performance according to time slot allocation order in the same position reference (PR) arrangement. The performance index of the proposed time slot allocation is expected to be utilized not only for the Link-16 system, but also for the Time Division Multiple Access (TDMA)-based navigation system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.8A
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• pp.898-908
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• 2004

In this paper, we propose a high speed preamble searcher feasible for RACH(Random Access Channel) preamble structure in WCDMA reverse link receiver. Unlike IS-95, WCDMA system uses AISMA(Acquisition Indication Sense Multiple Access) process. Because of the time limit between RACH preamble transmission and AI(Acquisition Indicators), and the restriction on the number of RACH signatures assigned to RACH preamble, fast acquisition indication is required for efficient operation. The preamble searcher proposed in this paper is based on 2-antenna system and has adopted FHT algorithm that has the radix-2 16 point FFT structure. The acquisition speed using FHT is 64 times faster than the conventional method that correlates each signature. Based on their fast aquisition scheme, we improved the acquisition performance by calculating the correlation up to the 4096 chips of the total preamble length. The performance is analyzed by using Neyman-pearson method. The proposed algorithm has been applied for the implementation of WCDMA reverse link receiver modem successfully.

• Journal of Power Electronics
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• v.12 no.4
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• pp.664-676
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• 2012

A phase shift algorithm based on the closed-loop control of dc-link voltage implemented on a series active voltage quality regulator (AVQR) is proposed in this paper. To avoid pumping-up the dc-link voltage, a general phase shift compensation strategy is applied. The relationships among the operation variables are discussed in detail, which is very important for guiding the design of both the main circuit and the control system. Then on the basis of an investigation of the dc-link voltage pumping-up from viewpoint of the active power flow, a novel phase shift control method based on the closed-loop of the dc-link voltage is proposed. This method can adjust the phase of the output voltage gradually and automatically according to the dc-link voltage variation without introducing a phase jump. The effectiveness of the proposed strategy is verified through simulations of a single-phase 5kVA prototype and laboratory experiments on both a single-phase 5kVA and a three-phase 15kVA prototype.

• Journal of KIISE:Computer Systems and Theory
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• v.35 no.3
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• pp.120-132
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• 2008

Networks-on-Chip (NoC) is emerging as a practical development platform for future systems-on-chip products. We propose an energy-efficient static algorithm which optimizes the energy consumption of task communications in NoCs with voltage scalable links. In order to find optimal link speeds, the proposed algorithm (based on a genetic formulation) globally explores the design space of NoC-based systems, including network topology, task assignment, tile mapping, routing path allocation, task scheduling and link speed assignment. Experimental results show that the proposed design technique can reduce energy consumption by 28% on average compared with existing techniques.

• Journal of Internet Computing and Services
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• v.14 no.4
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• pp.53-62
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• 2013

In cloud robotics, the model to share information efficiently is still a research challenge. This paper presents an information sharing model for cloud-enabled robots to collaborate and share intelligence. To provide the efficient message dissemination, an adaptive group communication based on multi-agent is proposed. The proposed algorithm uses a weight function for the link nodes to determine the significant links. The performance evaluation showed that the proposed algorithm produced minimal message overhead and was faster to answer queries because of the significant links compared to traditional group communication methods.