• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.1
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• pp.183-190
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• 2014

In this paper, we propose a transmission scheme to reduce energy consumption on wireless multi-channel sensor networks. This proposed scheme differentiates the number of usable channels based on a priority. Sensor nodes consume the most energy to transmit data. Also, as transmission distance is far, they consume the more energy. Therefore retransmission due to transmission failure of sensor nodes that are long transmission distance is required more energy consumption. In this paper, we provide a stable transmission environment by allocating a high priority for data that is sent far away. The received data with a high priority is more allocated the number of usable channels. In the experiment results, the receiving failure probability and the restransmission energy consumption of proposed scheme is superior to ones of comparison scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• The Journal of Engineering Research
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• v.6 no.2
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• pp.11-22
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• 2004

A distributed constraint satisfaction problem (distributed CSP) is a constraint satisfaction problem(CSP) in which variables and constraints are distributed among multiple automated agents. ACSP is a problem to find a consistent assignment of values to variables. Even though the definition of a CSP is very simple, a surprisingly wide variety of AI problems can be formalized as CSPs. Similarly, various application problems in DAI (Distributed AI) that are concerned with finding a consistent combination of agent actions can be formalized as distributed CAPs. In recent years, many new backtracking algorithms for solving distributed CSPs have been proposed. But most of all, they have common drawbacks that the algorithm assumes the priority of agents is static. In this thesis, we establish a basic algorithm for solving distributed CSPs called dynamic priority search algorithm that is more efficient than common backtracking algorithms in which the priority order is static. In this algorithm, agents act asynchronously and concurrently based on their local knowledge without any global control, and have a flexible organization, in which the hierarchical order is changed dynamically, while the completeness of the algorithm is guaranteed. And we showed that the dynamic priority search algorithm can solve various problems, such as the distributed 200-queens problem, the distributed graph-coloring problem that common backtracking algorithm fails to solve within a reasonable amount of time. The experimental results on example problems show that this algorithm is by far more efficient than the backtracking algorithm, in which the priority order is static. The priority order represents a hierarchy of agent authority, i.e., the priority of decision-making. Therefore, these results imply that a flexible agent organization, in which the hierarchical order is changed dynamically, actually performs better than an organization in which the hierarchical order is static and rigid. Furthermore, we describe that the agent can be available to hold multiple variables in the searching scheme.

• Journal of the Korea Society for Simulation
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• v.27 no.2
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• pp.71-81
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• 2018

Forklifts in a shipyard lift and transport heavy objects. Tasks occur dynamically and the rate of the task occurrence changes over time. Especially, the rate of the task occurrence is high immediately after morning and afternoon business hours. The weight of objects varies according to task characteristic, and a forklift also has the workable or allowable weight limit. In this study, we propose an online forklift dispatching algorithm based on nearest-neighbor dispatching rule using minimal cost assignment approach in order to attain the efficient operations. The proposed algorithm considers various types of forklift and multiple jobs at the same time to determine the dispatch plan. We generate dummy forklifts and dummy tasks to handle unbalance in the numbers of forklifts and tasks by taking their capacity limits and weights. In addition, a method of systematic forklift selection is also devised considering the condition of the forklift. The performance indicator is the total travel distance and the average task waiting time. We validate our approach against the priority rule-based method of the previous study by discrete-event simulation.

• Journal of the Korea Society for Simulation
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• v.28 no.1
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• pp.1-9
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• 2019

Recently, as the importance of warehouses has increased, much efforts are being made to improve the picking process in order to cope with a small amount of high frequency and fast delivery. This study proposes an algorithm to assign orders to pickers in the situation where Single Order Picking policy is used. This algorithm utilizes five attributes related to picking such as picking processing time, elapsed time after receipt of order, inspection/packing workstation situation, picker error, customer importance. A measure of urgency is introduced so that the units of measure for each attribute are the same. The higher the urgency, the higher the allocation priority. In the proposed algorithm, the allocation policy can be flexibly adjusted according to the operational goal of the picking system by changing the weight of each attribute. Simulation experiments were performed on a hypothetical small logistics warehouse. The results showed excellent performance in terms of system throughput and flow time.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.37 no.1
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• pp.32-43
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• 2000

In this paper, we investigate the existing medium access control (MAC) protocols to integrate the voice and data services in packet-based CDMA networks and furthermore, propose a new approach to circumvent the operational limits inherent in them. We propose the $P^2R$-CDMA (Prioritized Packet Reservation Code Division Multiple Access) protocol for the uplink in the synchronous multi-code CDMA system, which employs the centralized frame-based slot reservation along with the dynamic slot assignment in the base station using the QoS-oriented dynamic priority of individual terminal. The simulation results show that, as compared with the existing scheme based on the adaptive permission probability control (APC), the proposed approach can significantly improve the system capacity while guaranteeing the real-time requirement of voice service.

• The Journal of Engineering Research
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• v.7 no.1
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• pp.17-28
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• 2005

A distributed constraint satisfaction problem (distributed CSP) is a constraint satisfaction problem (CSP) in which variables and constraints are distributed among multiple automated agents. A CSP is a problem to find a consistent assignment of values to variables. Even though the definition of a CSP is very simple, a surprisingly wide variety of AI problems can be formalized as CSPs. Similarly, various application problems in DAI (Distributed AI) that are concerned with finding a consistent combination of agent actions can be formalized as distributed CPSs. The experimental results on example problems show that this algorithm is by far more efficient than the backtracking algorithm, in which the priority order is static. The priority order represents a hierarchy of agent authority, i.e., the priority of decision-marking. Therefore, these results imply that a flexible agent organization, in which the hierarchical order is changed dynamically, actually performs better than an organization in which the hierarchical order is static and rigid. Furthermore, we describe that the agent can be available to hold multiple variables in the searching scheme.

• Journal of Practical Engineering Education
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• v.13 no.3
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• pp.443-451
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• 2021

Most universities are attempting educational innovation through multidisciplinary approaches, such as interdisciplinary programs and convergent majors, to nurture convergent talents in the era of the 4th Industrial Revolution. The purpose of this study is to identify the priorities of the educational needs of students who complete the interdisciplinary program and to find its effective operation plan. For this purpose, research was conducted to search for the university-level support required to vitalize the interdisciplinary program by doing focus group interviews with students who have participated in the interdisciplinary program. And the final priority was derived by applying the t-test, Borich's need assessment model, and The Locus for Focus Model, using online research. As a result of the analysis, 'formation and operation of dedicated organizations' and 'dedicated classrooms and practice rooms' were deduced as factors to be considered as a top priority, 'curriculum specialization,' 'interdisciplinary program scholarship support,' 'interdisciplinary program promotion,' and 'assignment of dedicated teaching assistants' were derived as secondary consideration factors. Based on these research results, a plan of vitalizing the educational needs for the interdisciplinary program at university and its implications were suggested.

• Journal of information and communication convergence engineering
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• v.8 no.2
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• pp.212-218
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• 2010

In wireless sensor networks (WSNs), both efficient energy management and Quality of Service (QoS) are important issues for some applications. For creating robust networks, real-time services are usually employed to satisfy the QoS requirements. In this paper, we proposed a hierarchical real-time MAC (medium access control) protocol for (m,k)-firm constraint in wireless sensor networks shortly called HRTS-MAC. The proposed HRTS-MAC protocol is based on a dynamic priority assignment by (m,k)-firm constraint. In a tree structure topology, the scheduling algorithm assigns uniform transmitting opportunities to each node. The paper also provides experimental results and comparison of the proposed protocol with E_DBP scheduling algorithm.

• Proceedings of the Korean Information Science Society Conference
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• 2004.10b
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• pp.577-579
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• 2004

사이버 공간 활용을 위한 여러 연구 분야 중 아바타 활용 기술 분야 역시 나날이 발전을 하고 있다. 본 논문에서는 이러한 아바타의 행위 표현 및 제어를 효율적으로 하기 위해 다양한 도메인 환경에서 적용할 수 있는 아바타 행위 표현의 계층적인 방식에 대한 간단한 소개, 기존의 연구들을 비교 분석함으로써 이전 연구에서 제시하고 있는 행위 표현 방식에서 제공되지 않고 있는 동시진행 가능한 모션들 간의 우선순위 분야와 모션 간 동기화 문제를 해결할 수 있는 방법에 대해 제안한다. 기존 연구에서 사용되었던 XML 기반의 스크립트 언어를 재사용 함으로써 효용성을 높일 수 있다. 아바타 동작에 대한 행위 우선순위 지정 및 동기화를 통하여 하위레벨에서 정의된 동작들을 조합하여 상위레벨에서 재사용 가능하게 되므로 좀 더 효율적으로 동작의 생성이 가능친지고 하위레벨 스크립트의 재사용성을 높일 수 있다.