• Journal of Communications and Networks
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• 제14권1호
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• pp.63-74
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• 2012

Multicast data communication is an efficient communication scheme, especially inmulti-hop ad hoc networks where the media access control (MAC) layer is based on one-hop broadcast from one source to multiple receivers. Compared to unicast, multicast over a wireless channel should be able to deal with varying channel conditions of multiple users and user mobility to provide good quality to all users. IEEE 802.11 does not support reliable multicast owing to its inability to exchange request-to-send/clear-to-send and acknowledgement packets with multiple recipients. Thus, several MAC layer protocols have been proposed to provide reliable multicast. However, additional overhead is introduced, as a result, which degrades the system performance. In this paper, we propose an efficient wireless multicast MAC protocol with small control overhead required for reliable multicast in multi-hop wireless ad hoc networks. We present analytical formulations of the system throughput and delay associated with the overhead.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 추계학술대회논문집
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• pp.449-454
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• 2000

A new fuzzy logic control design algorithm suitable for multi-objective control problems is proposed based on the orthogonal array which is widely used for design of experiments in statistics and industrial engineering. The essence of the algorithm is to introduce Nth-certainty factor defined from the F-value of the ANOVA(analysis of variance) table, in order to effectively exclude the less confident rules. The proposed algorithm with multi-objective decision table(MODT) is found to be capable of the detection of inconsistency and the rule classification, reduction and modification. It is also shown that the algorithm can be successfully applied to the fuzzy controller design of an active magnetic bearing system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 하계종합학술대회 논문집
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• pp.693-697
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• 1989

In this paper, force control for a multi-legged walking robot is investigated. For stable but relatively rapid walking, a simple force control algorithm is proposed in conjunction with the position control system. The proposed control method is tested on an experimental one leg system of two degree of freedom with a force controller using a position controller and a monoboard microcomputer to implement the proposed control algorithm. The experimental results shows that the control algorithm can be applied for walking in a terrain with wide range variation.

• 항공우주시스템공학회지
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• 제3권1호
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• pp.1-5
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• 2009

The flight control of the T-50 advanced trainer is conducted by the digital FBW (Flight-by-Wire) control system. The system input data consist of flight conditions such as altitude, airspeed, and angle of attack. And the flight conditions of the aircraft are obtained from IMFP (Integrated Multi-Function Probe). The T-50 aircraft equip three IMFP sensors. To ensure reliability in flight condition data obtained from each IMFP sensor, the mean value of flight conditions is used as the input of the control system. In this study, the effect of an installation angle of IMFP sensors on estimation of flight altitude was investigated by flight test results in the supersonic region.

• 대한전자공학회논문지TE
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• 제39권3호
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• pp.90-96
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• 2002

역할기반 접근통제(RBAC：Role-Based Access Control)는 사용자의 역할에 기반을 둔 접근통제 방법으로 다양한 컴퓨터, 네트워크 보안 분야에 있어서 유연성을 제공한다. 그러나 역할기반 접근통제는 역할이나 허가 등을 적용하는 대상으로 사용자만을 고려하고 있으므로 실제의 응용 시스템 상에서 정확한 접근통제를 위해서는 사용자뿐만 아니라 주체 및 객체를 추가로 고려할 필요성이 있다. 본 논문에서는 다단계 보안시스템을 위하여 역할기반 접근통제 모델에 사용자, 주체, 객체, 역할에 대한 보안등급을 추가로 고려하여 확장된 역할기반 접근통제 모델 $ERBAC_3$를 제안한다.

• 로봇학회논문지
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• 제12권3호
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• pp.339-349
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• 2017

In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2010년도 춘계학술대회
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• pp.699-701
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• 2010

해상 감시용 Multi Sensor 및 IFOG 개발을 위하여 주 야간 겸용 감시카메라의 통합 개발과 시스템 Control Unit 설계 및 항해 장비 연동 시스템 제작하였다. 선박 통합 시스템의 Control Unit의 분석은 Control Unit에 연결 가능한 항해 장비 리스트를 선별하는 것으로 시작 하였다. 항해 장비 리스트를 선별한 후 각 항해 장비의 용도와 특성, 연결 방법, 통신 방법, 데이터 종류에 따라 Control Unit와 항해 장비간의 데이터 방향성, 데이터 종류들을 선별하여 그 성능을 보여주었다.

• 한국항해항만학회지
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• 제42권2호
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• pp.87-96
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• 2018

A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship's speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship's trajectory and applied the proposed control scheme to ship's trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.608-611
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• 1997

The soccer robot system consists of multi agents, with highly coordinated operation and movements so as to fulfill specific objectives, even under adverse situation. The coordination of the multi-agents is associated with a lot of supplementary work in advance. The associated issues are the position correction, prevention of communication congestion, local information sensing in addition to the need for imitating the human-like decision making. A control structure for soccer robot is designed and several behaviors and actions for a soccer robot are proposed. Variable zone defense as a basic strategy and several special strategies for fouls are applied to SOTY2 team.

• 제어로봇시스템학회논문지
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• 제7권8호
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• pp.697-702
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• 2001

The ring laser gyro(RLG) has been used extensively in strapdown inertial navigation system(SDINS) because of the apparent of having wide dynamic range, digital output and high accuracy. The dithered RLG system has dynamic motion at sensor level, caused by the dithering motion to overcome the lock-in threshold. In this case, an attitude error is produced by not only the true coning of the vehicle motion but also the pseudo coning of the sensor motion. This paper describes the definition of the multi-frequency coning motion and its noncommutativity error to reject the pseudo coning error produced by the sensor motion such as the dithered RLG. The simulation results are presented to minimize the multi-frequency coning error.