• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.936-940
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• 2013

As the ageing population grows around the world, the demand for electric wheelchairs, an important mobility assistance device for the disabled and elderly, is gradually increasing. Therefore, a number of studies related to intelligent wheelchairs are actively underway to improve safety and comfort for wheelchair users. However, previous collision avoidance studies for intelligent wheelchairs have concentrated on collision avoidance methods with the shortest distance and by only changing either velocity or heading angle, rather than considering the forces exerted on the user. If a collision avoidance algorithm that does not consider these forces is applied to an intelligent wheelchair, there is a possibility of an accident due to falling as wheelchair users are generally disabled and elderly people. In this paper, we propose a collision avoidance algorithm which minimizes the forces exerted on a wheelchair user by minimizing the variation of the wheelchair's velocity and heading angle when the sizes, positions, velocities, and heading angles of a wheelchair and a moving obstacle are known.

• 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.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.1
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• pp.39-46
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• 2011

This paper presents the implementation and control of a mobile manipulator robot for indoor service. The robot has two arms for tasks and a mobile base for mobility. The robot is designed to have several characteristics. Firstly, the robot has the capability of changing the height of the robot. Secondly, the robot can be changed into a balancing mode of two contact points from mobile mode of four contact points. The robot has a balancing mode like an inverted pendulum robot as well as mobile robot mode. Lastly, as a novel concept, the robot is designed to have the capability of separating into two systems, the robot ann and the mobile robot as well. The mobile base can be separately used for a cleaning service.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.27 no.2
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• pp.131-139
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• 2005

The therapeutic goal of implant dentistry is not merely tooth replacement but total oral rehabilitation. Considering dental implants as a treatment option can be provided patients with positive, long-term results. Implant dentistry has gone through many phases over the years. Modern technology and design allows us to predictably place our dental implants often load the implants at the time of placement. The purpose of this study is to evaluate the implant stability after immediate loading in dogs. The control group was performed delay loading and experimental group was immediate loading. Each group was measured periotest value(PTV) to evaluate clinical mobility and performed radiographic examination to evaluate marginal bone loss. Statistically significant difference was not founded in control group between experimental group in PTV(P>0.05) and marginal bone loss(P>0.05). Finally, implant stability after immediate loading was similar to delay loading implant.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.594-599
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• 2006

In this paper an anthropomorphic robot hand called SKKU Hand IIl is presented, which has a miniaturized fingertip tactile sensor. The thumb is designed as one part of the palm and multiplies the mobility of the palm. The fingertip tactile sensor, based on polyvinylidene fluoride (PVDF) and pressure variable resistor ink, is physically flexible enough to be deformed into any three-dimensional geometry. In order to detect incipient slip, a PVDF strip is arranged along the direction normal to the surface of the finger of the robot hand. Also, a thin flexible sensor to sense the static force as well as the contact location is fabricated into an arrayed type using pressure variable resistor ink. The driving circuits and the tactile sensing systems for the SKKU Hand II are embedded in the hand. Each driving circuit communicates with others using CAN protocol. SKKU Hand II is manufactured and its feasibility is validated through preliminary experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.758-767
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• 2012

In the ad-hoc wireless network environment, that the fixed sensor nodes and the sensor nodes to move are mixed, as the number of the sensor nodes with mobility are getting more, the costs to recover and maintain the whole network will increase more and more. This paper proposed the CDSR (Cost based Dynamic Source Routing) algorithm being motivated from the typical DSR algorithm, that is one of the reactive routing protocol. The cost function is defined through measuring the cost which any sensor node pays to participate in the whole network for communication. It is also showed in this paper that the proposed routing algorithm will increase the efficiency and life of whole sensor network through a series of experiments.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.42 no.12
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• pp.85-94
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• 2005

In this thesis, we propose a Speed Accommodation Priority Algorithm Scheme(SPAS) and Traffic Control Model Scheme (TCMS) to satisfy a desired handoff dropping probability and to reduce the blocking probability of new calls using mobility characteristics and handoff rate in mobile communication networks. The guard channels below threshold can guarantee the Quality of Service(QoS) in terms of the request handoff dropping probability and the guard channels above the threshold can be used to handle high priority new calls and high priority handoff calls. When the ratio of the handoff call arrival rate is less then the ratio of the new call arrival rate, the proposed method can guarantee the new call better than the previous guard channel scheme.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.12A
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• pp.975-982
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• 2003

A connection admission control scheme is proposed that can seamlessly support QoS in face of handoff in mobile packet networks. The proposed scheme is based on the adaptive time-selective bandwidth reservation with the reduced signaling and computational overhead. The reservation parameters are adjusted dynamically to cope with user mobility. Throughout the computer simulations, the performance of the proposed scheme is evaluated. As a result, it is shown that the proposed scheme reduces handoff call blocking probability remarkably, while other parameters (new call blocking probability and bandwidth utilization efficiency) are slightly deteriorated.

• Journal of information and communication convergence engineering
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• v.11 no.2
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• pp.69-81
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• 2013

Maintaining connectivity is essential in multi-hop wireless networks since the network topology cannot be pre-determined due to mobility and environmental effects. To maintain the connectivity, a critical point in the network topology should be identified where the critical point is the link or node that partitions the network when it fails. In this paper, we propose a new critical point identification algorithm and also present numerical results that compare the critical points of the network and H-hop sub-network illustrating how effectively sub-network information can detect the network-wide critical points. Then, we propose two localized topological control resilient schemes that can be applied to both global and local H-hop sub-network critical points to improve the network connectivity and the network resilience. Numerical studies to evaluate the proposed schemes under node and link failure network conditions show that our proposed resilient schemes increase the probability of the network being connected in variety of link and node failure conditions.

• Journal of Information Processing Systems
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• v.16 no.3
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• pp.541-556
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• 2020

Wireless networks have become integral to society as they provide mobility and scalability advantages. However, their disadvantage is that they cannot control the media, which makes them vulnerable to various types of attacks. One example of such attacks is the evil twin access point (AP) attack, in which an authorized AP is impersonated by mimicking its service set identifier (SSID) and media access control (MAC) address. Evil twin APs are a major source of deception in wireless networks, facilitating message forgery and eavesdropping. Hence, it is necessary to detect them rapidly. To this end, numerous methods using clock skew have been proposed for evil twin AP detection. However, clock skew is difficult to calculate precisely because wireless networks are vulnerable to noise. This paper proposes an evil twin AP detection method that uses a multiple-feature-based machine learning classification algorithm. The features used in the proposed method are clock skew, channel, received signal strength, and duration. The results of experiments conducted indicate that the proposed method has an evil twin AP detection accuracy of 100% using the random forest algorithm.