• Journal of KIISE:Information Networking
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• v.31 no.5
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• pp.482-489
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• 2004

Paging extensions for Mobile IP was proposed to avoid unnecessary registration signaling overhead of Mobile IP. In order to support the paging function in Mobile IP, the slates of a mobile node arc divided into active on, active off, idle. The active on state means when any incoming or outgoing data session arrives to a mobile node. After data session is completed, the state of the motile node is changed into active off from active on. At this moment, the active timer starts to be operated. If the active timer expires, the mobile node moves to idle state. If a mobile node has very frequently data sessions at the same cell, the mobile node is better to move slowly into idle state. The other way, if the mobile node very frequently moves into new cell area and receives or sends little data, the mobile node is better to move earlier into idle state. In this raper, the active timer is adaptively set by the mobile nodes traffic and mobility characteristics and the paging scheme using this active timer is proposed to reduce the location registration cost.

• The Transactions of the Korea Information Processing Society
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• v.7 no.11
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• pp.3490-3499
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• 2000

There are two approaches, HA(Home Agent)-based and FA(Froegn Agent)-based mulicasting in mobile computing environments based on mobile IP. If we consider efficiency of routing and bandwidth the FA-based model is better than the HA-based model. But in the case of a MH(Mobile Host) moves frequently it shows bad connection durability because of join and graph delays. To overcome this and to support effective mobile multicasting we propose an extended FA-based multicast routing. In our model previous FA for wards multicast packets to MH. while new FA processes a jion request from MH. That is in general case our model supports FA-based multicasting for efficiency but it provides unicast-based mulicasting for connection durability when MH moves to new FN(Roreign Network). To evaluate our model, we analyze connecction durability, bandwidth, overheads and routing sosts in many situations and compare with previous works.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.800-808
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• 2008

This paper presents a localization algorithm of the outdoor wheeled mobile robot using the sensor fusion method based on indirect Kalman filter(IKF). The wheeled mobile robot considered with in this paper is approximated to the two wheeled mobile robot. The mobile robot has the IMU and encoder sensor for inertia positioning system and GPS. Because the IMU and encoder sensor have bias errors, divergence of the estimated position from the measured data can occur when the mobile robot moves for a long time. Because of many natural and artificial conditions (i.e. atmosphere or GPS body itself), GPS has the maximum error about $10{\sim}20m$ when the mobile robot moves for a short time. Thus, the fusion algorithm of IMU, encoder sensor and GPS is needed. For the sensor fusion algorithm, we use IKF that estimates the errors of the position of the mobile robot. IKF proposed in this paper can be used other autonomous agents (i.e. UAV, UGV) because IKF in this paper use the position errors of the mobile robot. We can show the stability of the proposed sensor fusion method, using the fact that the covariance of error state of the IKF is bounded. To evaluate the performance of proposed algorithm, simulation and experimental results of IKF for the position(x-axis position, y-axis position, and yaw angle) of the outdoor wheeled mobile robot are presented.

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.2
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• pp.296-303
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• 2011

This paper describes a game called the "robot hopscotch game" which uses mobile robots. In this game, a mobile robot moves on a board which consists of a number of square cells. This is similar to the usual hopscotch game in which a human player hops through a course on the ground. In the robot hopscotch game, each cell has a visual light communication unit. The unit sends identification signal and the robot which moves over the cell receives the signal for location recognition. In the game, a human player or a human operator competes with a robot or other human player on how accurately and fast they move to a goal location passing through the given way point cells. People played the game at the RoboWorld 2008 which was held at COEX Seoul, on 16th to 20th of October 2008. The replies to the questionnaire to the users show that users have interests on the game and expect further expansion of robot use though they are not in favor of the robot's outlook and they feel inconvenience on manipulation of the robot.

• Journal of Korea Game Society
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• v.9 no.1
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• pp.105-114
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• 2009

In the game of Go, the life-and-death problem is a fundamental problem to be definitely overcome when implementing a computer Go program. To solve local Go problems such as life-and-death problems, an important consideration is how to tackle the game tree's huge branching factor and its depth. The basic idea of the experiment conducted in this article is that we modelled the human behavior to get the recognized first moves to kill the surrounded group. In the game of Go, similar life-and-death problems(patterns) often have similar solutions. To categorize similar patterns, we implemented Kohonen Neural Network(KNN) based clustering and found that the experimental result is promising and thus can compete with a pattern matching method, that uses supervised learning with a neural network, for solving life-and-death problems.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.7A
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• pp.688-696
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• 2010

The Proxy Mobile IPv6 (PMIPv6) is a network localized mobility management protocol that is independent of global mobility management protocols. In a single mobility domain (LMD), the mobile node (MN) is not involved in any IP mobility-related signaling and uses only its PMIPv6 home address for all its communication. Subsequently, when the MN moves into another LMD, the MN must change its PMIPv6 home address. In such a circumstance, host-based mobility signaling is activated. Thus, the nature of the network-based mobility of the PMIPv6 cannot be retained. Additionally, if the MN does not support global mobility, it cannot maintain communication with its correspondent node (CN). In this paper, we propose a solution for global mobility support in PMIPv6 networks, called Global-PMIPv6 that allows current communication sessions of a MN without mobility protocol stacks to be maintained, even when the MN moves into another LMD. Thus, Global-PMIPv6 retains the advantages of the PMIPv6 for global mobility support. We then evaluate and compare network performance between our proposed solution and PMIPv6.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.3
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• pp.127-138
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• 2018

Spoofing attacks including meaconing can provide a bogus position to a victim GPS receiver, and those attacks are notably difficult to detect at the point of view on the receiver. Several countermeasure techniques have been studied to detect, classify, and cancel the spoofing signals. Based on the countermeasure techniques, we have developed an anti-spoofing equipment that detects and mitigates or eliminates the spoofing signal based on raw measurements. Although many anti-spoofing techniques have been studied in the literatures, the evaluation test system is not deeply studied to evaluate the anti-spoofing equipment, which includes detection, mitigation, and elimination of spoofing signals. Each study only has a specific test method to verify its anti-spoofing technique. In this paper, we propose the performance evaluation test system that includes both spoofing signal injection system and its injection scenario with the constraints of stand-alone anti-spoofing techniques. The spoofing signal injection scenario is designed to drive a victim GPS receiver that moves to a designed position, where the mitigation and elimination based anti-spoofing algorithms can be successively evaluated. We evaluate the developed anti-spoofing equipment and a commercial GPS receiver using our proposed performance evaluation test system. Although the commercial one is affected by the test system and moves to the designed position, the anti-spoofing equipment mitigates and eliminates the injected spoofing signals as planned. We evaluate the performance of anti-spoofing equipment on the position error of the circular error probability, while injecting spoofing signals.

• Journal of the Korea Computer Industry Society
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• v.2 no.6
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• pp.853-858
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• 2001

When an absolute elastic collision occurs between a motion body and the another body inside a closed space, according to the current physical law and thus a computer graphical expression, it is defined that the center of mass of the closed space is not moved. This paper defines a physical law which includes a minor facts of the center of mass of a closed space moves during an absolute elastic collision occurs between a motion body and another body inside a closed space. The law defined in this paper has been verified using approximate lab equipments, and using this, graphical expression models and mathematical expressions for an absolute elastic collision between two bodies inside a closed space are del ed. When the minor effects of the center of mass moves is applied to the multi-body dynamic simulation program or haptic program, more accurate motion could be expressed. This definition can also be applied to an animation movie or other graphical motion expression for more realistic expression.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.36 no.12
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• pp.1161-1169
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• 2012

A numerical study has been conducted to investigate the aerodynamic characteristics and behavior of a wing-tip vortex around a three-dimensional symmetric wing (NACA0015) in the vicinity of the ground. The aerodynamic characteristics and the wing-tip vortex change as a wing approaches the ground as a result of two different phenomena: the ground effect and the Venturi effect. The ground effect increases lift and decreases drag whereas the Venturi effect generates negative lift and increases drag suddenly. A symmetric airfoil experiences both phenomena with respect to changes in the angle of attack. In the case of a NACA0015 airfoil, the Venturi effect is dominant at small angles of attack but the ground effect is dominant at large angles of attack. Interestingly, both phenomena can be observed at the 4 degree of angle of attack. The vortex core moves inside a wing when the wing experiences the Venturi effect, whereas the vortex core moves outward when the wing experiences the ground effect.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.4
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• pp.500-509
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• 2015

The numerical simulation of two-dimensional moving blade row interactions is conducted by CFD means to investigate the interactions between the front and rear propeller in a stratospheric airship contra-rotating open propeller configuration caused by different rotational speeds. The rotational speed is a main factor to affect the propeller Reynolds number which impact the aerodynamic performance of blade rows significantly. This effect works until the Reynolds number reaches a high enough value beyond which the coefficients become independent. Additionally, the interference on the blade row has been revealed by the investigation. The front blade row moves in the induced-velocity field generated by the rear blade row and the aerodynamic coefficients are influenced when the rear blade row has fast RPMs. The rear blade row moving behind the front one is affected directly by the wake and eddies generated by the front blade row. The aerodynamic coefficients reduce when the front blade row has slow RPMs while increase when the front blade row moves faster than itself. But overall, the interference on the front blade row due to the rear blade row is slight and the interference on the rear blade row due to the front blade row is much more significant.