• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.100-106
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• 2020

In the agricultural field, interests in research using robots for fruit harvesting are continuously increasing. Dual arm manipulators are promising because of its abilities like task-distribution and role-sharing. To operate it efficiently, the task sequence must be planned adequately. In our previous study, a collision-free path planning method based on a genetic algorithm is proposed for dual arm manipulators doing tasks cooperatively. However, in order to simplify the complicated collision-check problem, the movement between tasks of two robots should be synchronized, and thus there is a problem that the robots must wait and resume their movement. In this paper, we propose a heuristic algorithm that can reduce the total time of the optimal solution obtained by using the previously proposed genetic algorithm. It iteratively desynchronizes the task sequence of two robots and reduces the waiting time. For evaluation, the proposed algorithm is applied to the same work as the previous study. As a result, we can obtain a faster solution having 22.57 s than that of the previous study having 24.081 s. It will be further studied to apply the proposed algorithm to the fruit harvesting.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.7
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• pp.2354-2370
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• 2015

The advantages of employing SCTP-based Concurrent Multipath Transfer (CMT) have been demonstrated to be very useful for data delivery over multi-homed wireless networks. However, there is still significant ongoing work addressing some remaining limitations and challenges. The most important concern when applying CMT to data delivery is related to handling packet reordering and buffer blocking. Another concern on this topic is that current sender-based CMT solutions seldom consider balancing the overhead and sharing the load between the sender and receiver. This paper proposes a novel Receiver-driven Cooperation-based Concurrent Multipath Transfer solution (CMT-Rev) with the following aims: (i) to balance overhead and share load between the sender and receiver, by moving some functions including congestion and flow control from the sender onto receiver; (ii) to mitigate the data reordering and buffer blocking problems, by using an adaptive receiver-cooperative path aggregation model, (iii) to adaptively transmit packets over multiple paths according to their receiver-inspired sending rate values, by employing a new receiver-aware data distribution scheduler. Simulation results show that CMT-Rev outperforms the existing CMT solutions in terms of data delivery performance.

• Journal of KIISE:Computing Practices and Letters
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• v.14 no.8
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• pp.798-802
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• 2008

In this paper, we consider mobile ad hoc network routing protocols with respect to content sharing applications. We show that by utilizing social relations among participants, our routing protocols can improve its performance and efficiency of caching. Moreover, in certain situation which we can anticipate pattern of user's content consumption, our scheme can help such applications be more efficient in terms of access time and network overhead. Using NS2 simulator, we compare our scheme to DSDV and routing protocol using shortest path algorithm.

• Journal of information and communication convergence engineering
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• v.13 no.3
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• pp.172-179
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• 2015

Face-to-face (F2F) bonding in three-dimensional integrated circuits (3D ICs), compared with other bonding styles, is closer to commercialization because of its benefits in terms of density, yield, and cost. However, despite the benefits that F2F bonding expect to provide, it's physical nature has not been studied thoroughly. In this study, we, for the first time, extract cross-die (inter-die) parasitic elements from F2F bonds on the full-chip scale and compare them with the intra-die elements. This allows us to demonstrate the significant impact of field sharing across dies in F2F bonding on full-chip noise and critical path delay values. The baseline method used is the die-by-die method, where the parasitic elements of individual dies are extracted separately and the cross-die parasitic elements are ignored. Compared with this inaccurate method, which was the only method available until now, our first-of-its-kind holistic method corrects the delay error by 25.48% and the noise error by 175%.

• Journal of Industrial Technology
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• v.21 no.A
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• pp.189-198
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• 2001

In recent years, the predominant part in telecommunications is mobile communications. The next generation network is extending today's voice-only mobile networks to multi-service networks. ATM Network is possible to carry such multi-media traffic and it will be expect to use wireless ATM for the future mobile access network. One of manly important aspects for the performance of wireless ATM is the Medium Access Control (MAC) protocol. The MAC protocol must be able to satisfyingly handle the different ATM services (CBR, VBR, ABR and UBR) with their radically different performance requirements. Additionally, the MAC protocol must be able to cope with the complex radio environment where fading, multi-path propagation interference and burst-errors further complicate the situation. In this paper, a dynamic slot allocation algorithm in wireless ATM is proposed for an efficient channel sharing/media access at the MAC layer. We use equivalent capacity in the allocation of slots for VBR traffic which is variable along the time. It is simple and effective slot allocation method for VBR service. In particular, we consider the slot allocation of a session consisted of several connections for requirement of multimedia traffic. Simulation shows that the cell loss ratio is reduced by re-allocation of extra slots in Mobile Terminal (MT).

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.177-180
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• 1999

Nowadays, one of the major technical issues in manufacturing is to create an environment to promote collaboration among diverse engineering activities. Collaborative engineering is an innovative approach integrating widely distributed engineering activities through promoting information sharing and actual collaboration. It requires close interactions among developers, suppliers and customers, and consideration of entire product life cycle from concept to disposal. A carefully-designed operating system is crucial for successful collaboration of many different activities in a Networked Virtual Manufacturing System(NVMS). High extensibility, flexibility and efficiency ale the key characteristics requested of an operating system to handle the complexity of the NVMSs. In this paper, we propose a model of the operating system for collaborative engineering using concurrent quasi-procedural method(QPM). QPM is a goal-driven data management technique for distributed and parallel computing environments. It is to be applied to the evaluation of activities to be executed, validities of input data, execution path of activities for a needed output, and expected to greatly improve the productivity of operations by preventing redundant evaluations. Collaboration among many different engineering activities in NVMSs is to be performed by the network of agents that encapsulate the capabilities of both users and their tools.

• Hwankyungkyoyuk
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• v.14 no.1
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• pp.92-106
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• 2001

The main goal of this paper is to suggest a new path to new ecological paradigm in social environmental education. The old paradigm of environmental education consists of two elements. The first element is emphasis on the seriousness and urgency of environmental problems while the second one is the presentation of concrete action programs as solutions of environmental problems. The missing point of this paradigm is the internal process of meaning construction of actors. Any kind of social action must be based on the meaning which the actors gives to their own action. Becoming an environmentally conscious actor, therefore, actor himself needs to interpret the world from the new perspective. In this paper, we call the change of worldview in the deepest sense 'conversion'. Ecological conversion means shift from anthropocentrism to ecocentrism. In the following sections, main characteristics of ecological world view are specified and some examples of ecological confessions which reveal ecological world view are presented. In this last section, 7 ways of lifestyle change which can facilitate ecological conversion are suggested: 1) trying to be alone for a while everyday; 2) making peaceful state of mind; 3) sharpening the 'green sensitivity'; 4) creating slow way of life; 5) choosing voluntary simplicity; 6)raising spirituality; 7) practicing sharing and caring. Social environmental education in the new ecological paradigm could be considered as a starting point towards a civilizational shift from the dominant materialist civilization to the post-material ecological civilization.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.68-79
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• 1999

This paper describes an approach to collaborative design which focuses on the effects of individual activities on the overall design process. We utilize a new process modeling tool to define the process and then analyze and refine the process based on critical paths. This information is then shared over the Internet with all participants. The goal of this system is to detect critical errors at initial design stage and guide the designers to make better decisions based on the knowledge of the overall process. This system enables participating designers to publish his local process through an Internet bulletin board. Other members of the team can then provide feedback based on how the proposed process impacts their activities. The system provides a context-rich, persistent forum for collecting, preserving, and refining corporate expertise of the team. For example, designers can select any process from the bulletin board and use it as a template for his current project and then use it to maintain his own design history. This paper is based on the process modeling concepts of Design Roadamap and describe several key extensions in the area of CPM calculations and collaborative interfaces.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.5
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• pp.1606-1623
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• 2015

Optical switching will be applied in datacenter networks because electronic switching is costly and power-consuming. In this paper, considering the ring-based interconnection using optical switching in the core of a datacenter, we study the home circuit (HC) construction for the labeled optical burst switching with home circuit (LOBS-HC), a new paradigm trying to share wavelengths among the HCs from the same source. In particular, aiming to construct HCs dynamically and properly, a scheme named optimal path matching and symmetric HC matching (OPM-SHM) is proposed. The main idea of OPM-SHM is to dynamically construct HCs by sharing wavelength(s) not only among the same-source HCs but also with symmetric HCs which have different sources other than the original LOBS-HC features. The simulation results demonstrate that OPM-SHM achieves better performance than some other methods in terms of burst loss rate and wavelength utilization of physical links. More specially, it maintains good load balancing for the datacenter network using an LOBS-HC ring. In addition, due to the symmetric feature of SHM, the proposed scheme can decrease the upper bound of the average hop count of the routing paths to half of the ring size.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2005.05a
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• pp.477-482
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• 2005

Recently, client computing trend has been changed from server oriented information application to network based P2P(Peer to Peer) services. The conventional client/server method has the merit of accessing abundant information, on the other side P2P has the merit of synchronized community support and information exchange. P2P has four meaning of point to point, peer to peer, person to person and path to profitability. In manufacturing system field, the second meaning is interested. P2P is classified to three type such as conventional client/server, hybrid P2P and pure P2P. The third is really peer to peer concept. The related technologies with P2P are P2P searching, XML, cooperation, IPv6, computing sharing and P2P communication. This paper describes the scheme of P2P and related contents. And through the P2P based technology, a P2P-based collaborative machine and a vertical portal machine are introduced in this paper. The scheme of the machines mentioned above is suggested for cooperation in manufacturing system and u-Manufacturing.