• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.50-52
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• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has slip state. First of all, this paper models adhesion characteristics and slip in wheeled robot. Secondly, the paper proposes estimation method of adhesion force coefficient according to slip velocity. In oder to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. The paper proposes an anti-slip control system based on an ordinary disturbance observer, that is, the anti-slip control is achieved by reducing the driving torque enough to give maximum adhesion force coefficient. These procedure is implemented using a Pioneer 2-DXE parameter.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.190-197
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• 2010

The ACR (Access Control Router) of WiBro processes location registration of the Correspondent Node and Home Agent as the Correspondent Node moves between ACRs. Therefore, the location update cost is low compared with MIPv6. However, all packets which are sent and received are sent through the ACR, so as the number of mobile nodes that are managed by the ACR increases, the cost of packet delivery also increases. Therefore, the communication state of the ACR domain remains smooth when the ACR which manages the mobile node in the ACR domain has good performance. However, network delays occur unless the ACR performs well, so the role of the ACR is important. In this paper, we analysis performance of the ACR for efficient realization of the WiBro standard. By using the Deny Probability and the Total Profit of ACR performance and apply it to the Random Walk Mobility model as the mobility model.

• Journal of KIISE:Information Networking
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• v.41 no.4
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• pp.167-176
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• 2014

In this paper, we discuss the implementation and experimentations of a new future Internet architecture for mobile-oriented environments, named Mobile Oriented Future Internet (MOFI). The MOFI architecture is featured by the host identifier and local locator for identifier-locator separation, Query-First Data Delivery (QFDD), and Distributed Mapping System (DMS) for identifier-locator mapping control. In the existing study on MOFI, we examined the intra-domain mobility control, the implementation of MOFI over Linux platform, and the performance analysis over the small-scale testbed. In this paper, we describe how to implement the MOFI architecture for inter-domain mobility control by using the OpenFlow and Click Modular Router platform. From the experimentations over the KOREN testbed, we can see that the MOFI scheme can give better performance than the existing Proxy Mobile IP scheme.

• The Journal of the Korea Contents Association
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• v.10 no.4
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• pp.55-65
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• 2010

We present a method for increasing network lifetime without link failure due to lack of battery capacity of nodes in wireless ad-hoc networks with low mobility. In general, a node with larger remaining battery capacity represents the one with lesser traffic load. Thus, a modified AODV routing protocol is proposed to determine a possible route by considering a remaining battery capacity of a node. Besides, the total energy consumption of all nodes increase rapidly due to the huge amount of control packets which should be flooded into the network. To reduce such control packets efficiently, a source node can store information about alternative routes to the destination node into its routing table. When a link failure happens, the source node should retrieve the route first with the largest amount of the total remaining battery capacity from its table entries before initiating the route rediscovery process. To do so, the possibility of generating unnecessary AODV control packets should be reduced. The method proposed in this paper increases the network lifetime by 40% at most compared with the legacy AODV and MMBCR.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.199-199
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• 2011

Recently, Thin film transistors (TFTs) with amorphous oxide semiconductors (AOSs) can offer an important aspect for next generation displays with high mobility. Several oxide semiconductor such as ZnO, $SnO_2$ and InGaZnO have been extensively researched. Especially, as a well-known binary metal oxide, tin oxide ($SnO_2$), usually acts as n-type semiconductor with a wide band gap of 3.6eV. Over the past several decades intensive research activities have been conducted on $SnO_2$ in the bulk, thin film and nanostructure forms due to its interesting electrical properties making it a promising material for applications in solar cells, flat panel displays, and light emitting devices. But, its application to the active channel of TFTs have been limited due to the difficulties in controlling the electron density and n-type of operation with depletion mode. In this study, we fabricated staggered bottom-gate structure $SnO_2$-TFTs and patterned channel layer used a shadow mask. Then we compare to the performance intrinsic $SnO_2$-TFTs and doping hafnium $SnO_2$-TFTs. As a result, we suggest that can be control the defect formation of $SnO_2$-TFTs by doping hafnium. The hafnium element into the $SnO_2$ thin-films maybe acts to control the carrier concentration by suppressing carrier generation via oxygen vacancy formation. Furthermore, it can be also control the mobility. And bias stability of $SnO_2$-TFTs is improvement using doping hafnium. Enhancement of device stability was attributed to the reduced defect in channel layer or interface. In order to verify this effect, we employed to measure activation energy that can be explained by the thermal activation process of the subthreshold drain current.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.692-697
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• 2011

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid mobile robot that can dock with the other robot and transforms between wheeled robot and legged robot is proposed. The hybrid mobile robot platform has docking device with a peg and a cup module. In addition, the robot is possible to walk and drive according to condition of the road. A navigation algorithm of the hybrid mobile robot is proposed to improve the mobility of robots using docking algorithm based on image processing on the broken road and uneven terrain. The proposed method recognizes road condition through PSD sensor attached in front and bottom of the robot and selects an appropriate navigation method according to terrain surface. The proposed docking and navigation methods are verified through experiments using hybrid mobile robots.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2004.05b
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• pp.399-403
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• 2004

In this paper, we have analyzed the TCP throughput of Portable Internet system in 2.3GHz wireless environment with considering user's mobility speed. As the Portable Internet uses large cells compared to wireless LAM and supports user's nobility, we have adapted different wireless channel model to derive the TCP throughput of the system. We have assumed wireless channel is Rayleigh fading channel and the channel is modeled as two-state Markov model with which user's nobility speed can be considered by varying transition matrix of the model. from the simulation results, we have known that higher TCP throughput under the slow fading than under the fast fading. Because the TCP throughput is closely related to the sender's congestion control, the more congestion control is done by the sender, the lower TCP throughput we have. The more congestion control is caused in the sender under the fast fading than the slow fading so the lower TCP throughput is resulted in the fast fading environment.

• Journal of the Korea Society for Simulation
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• v.28 no.2
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• pp.149-158
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• 2019

This paper introduces an integrated Modeling & Simulation framework for the efficient development of the rescue robot which rescues a wounded patients or soldiers and disposes a dangerous objects or explosive materials in the battlefields and disastrous environments. An integrated M&S(Modeling & Simulation) framework would have enabled us to perform the dynamic simulation program GAZEBO based Software-in-the-Loop Simulation(SILS) which is to replacing the robot platform hardware with a simulation software. An integrated M&S framework would help us to perform designing robot and performance validation of robot control results more efficiently. Furthermore, Tele-operation performance in the unstructured environments could be improved. We review a case study of applying an integrated M&S framework tool in validating performance of mobility stabilization control, one of the most important control strategy in the rescue robot.

• Physical Therapy Rehabilitation Science
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• v.11 no.1
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• pp.24-31
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• 2022

Objective: This study attempted to find out if it changes the child's ability to perform daily life activities when visiting the familiar environment and daily living space of children with cerebral palsy and conducting a home activity support program for children and parents. Design: Randomized Controlled Trial Methods: Among 22 children aged 3 to 12 years old, they were assigned to the intervention group and control group. Of these, 12 boys and 10 girls participated in the study. Gross motor function measure and upper extremity function evaluation were used to measure the physical function of children with cerebral palsy, and self-care skills, mobility and social functions were evaluated in the pediatric evaluation of disability inventory. In addition, a parenting sense of competence was used to find out the efficacy of parents in raising children. After the pre-evaluation, basic rehabilitation treatment and intervention programs were applied to the intervention group, and only basic rehabilitation treatment was performed to the control group, and post-evaluation was performed 8 weeks later. Results: As a result of the study, among the items that measured the gross motor function, upper limb function, and daily life performance ability of the intervention group in the difference between the intervention group and the control group, statistically improved in personal processing and movement (p<0.05). In addition, the parenting sense of competence children in the intervention group was statistically significant (p<0.05). Conclusions: The home activity support program will help strengthen the ability of cerebral palsy children to perform daily life as a way to set mutually agreed goals with their families or children and achieve them in a familiar environment.

• Physical Therapy Rehabilitation Science
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• v.12 no.2
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• pp.92-104
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• 2023

Objective: The purpose of this study was to investigate the effect of spinal mobilization with leg movement (SMWLM) and neural mobilization (NM) in patients with lumbar disc herniation (LDH) accompanied by radiating pain. Design: Three-group pre-test-post-test control group design. Methods: We enrolled 48 participants, whom we randomly assigned to three groups. The SMWLM group (n=16) underwent 20 min of conventional physical therapy (CT) and 20 min of SMWLM. The NM group (n=16) underwent 20 min of CT and 20 min of NM. The control group (n=16) underwent 20 min of CT. These interventions in all the groups were performed three times a week for 4 weeks. Numeric pain rating score (NPRS), body grid chart score (BGCS), passive straight leg raise (PSLR), active lumbar flexion range of motion (ALFROM), korean version oswestry disability index (KODI), and korean version fear avoidance beliefs questionnaire (KFABQ) were measured pre- and post-intervention. Results: In all three groups, the NPRS, PSLR, KODI, and KFABQ scores were significantly different pre- and post-intervention (p<0.05). Significant differences were observed in BGCS and ALFROM in the SMWLM and NM groups pre- and post-intervention (p<0.05). The SMWLM group showed more improvement in the NPRS of leg pain, ALFROM, and KFABQ score than that exhibited by the NM and control groups (p<0.05). Conclusions: Both SMWLM and NM were effective for improving back and leg pain, centralization of symptoms, mechanical sensitivity, lumbar mobility, lumbar functional disability, and psychosocial functioning in patients with LDH with radiating pain.