• 한국정보통신학회논문지
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• 제17권2호
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• pp.287-293
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• 2013

인지무선통신(Cognitive radio, CR)은 사용하지 않는 대역을 동적으로 활용할 수 있는 통신 방식이다. 여기서 CR 사용자는 주사용자와 동일한 스펙트럼을 공유하면서 주사용자에 대한 간섭을 최대한 배제해야한다. 일반적으로 각 CR 사용자는 자신이 속한 지역을 센싱하는 것으로 스펙트럼 사용 가능 여부를 판단한다. 하지만 CR 사용자가 다중 경로 페이딩이나 섀도잉와 같은 불확실한 무선 환경에 있을 경우 신호를 정확하게 감지하지 못할 확률이 높아진다. 이때 협력 센싱 기법을 활용할 경우 이러한 무선환경을 극복할 수 있게 된다. 본 연구에서는 협력 센싱 판정을 위해 연판정 기법을 활용할 때 주어진 시스템 요구치를 만족하면서 detection 확률을 향상시킬 수 있는 협력 노드 선택 알고리즘을 제안하였다. 여기서 SNR이 상대적으로 높은 협력 노드에 가중치를 주는 maximum ratio combining(MRC) 방식으로 최적의 협력 노드를 찾았다. 실험 결과, 제안한 알고리즘으로 시스템 요구치에 부합하는 최적의 센싱 노드를 선택할 수 있었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.391-393
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• 2005

Automatic guided vehicle(AGV) in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of proposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also. the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권6호
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• pp.261-263
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• 2006

Automatic guided vehicle(AGV) in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of p reposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also, the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 추계학술대회
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• pp.1046-1048
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• 2009

협업통신은 다중경로페이딩의 문제를 해결하고 전송전력소모를 감소시키기위한 효과적인 기술이다. 릴레이선택과 전력할당은 협업통신의 성능을 결정하는 중요한 요소이다. 본 논문에서는 센서네트워크에서 네트워크수명 극대화를 위해 새로운 형태의 다중 릴레이선택 방법과 전력할당 알고리즘을 제안한다. 제안하는 릴레이 선택 알고리즘은 채널상태 뿐아니라 각 노드의 잔여전력을 함께 고려함으로써 전송전력을 극소화하고 네트워크의 수명을 증가시킨다. 시뮬레이션결과는 제안된 알고리즘이 기존의 방식에비해 더 긴 네트워크 수명을 갖을 수 있음을 보여준다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제2권3호
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• pp.185-190
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• 2002

In distributed autonomous robotic systems (DARS), each robot must behave by itself according to its states ad environments, and if necessary, must cooperate with other robots in order to carry out their given tasks. Its most significant merit is that they determine their behavior independently, and cooperate with other robots in order to perform the given tasks. Especially, in DARS, it is essential for each robot to have evolution ability in order to increase the performance of system. In this paper, a schema co-evolutionary algorithm is proposed for the evolution of collective autonomous mobile robots. Each robot exchanges the information, chromosome used in this algorithm, through communication with other robots. Each robot diffuses its chromosome to two or more robots, receives other robot's chromosome and creates new species. Therefore if one robot receives another robot's chromosome, the robot creates new chromosome. We verify the effectiveness of the proposed algorithm by applying it to cooperative search problem.

• Journal of electromagnetic engineering and science
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• 제12권2호
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• pp.148-154
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• 2012

In this paper, we propose an algorithm to conserve resources of the common control channel in a cognitive radio network by rejecting the redundant users using cooperative spectrum sensing. The proposed scheme is investigated under the paradigm of active spectrum sensing and a sequential detection technique. The algorithm is based on the J-divergence between the hypotheses of non primary user operation and the otherwise case. We select the most significant eigenvalues, which primarily affect the global statistical test. For the case where interference is from a secondary system transmission, a match filter is first employed to remove the degradation, and then the proposed algorithm is employed to remove the cooperative sensing nodes. Numerical results are provided and compared with conventional cases in order to validate the performance of the proposed algorithm.

• 자동차안전학회지
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• 제11권3호
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• pp.19-29
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• 2019

Recently, autonomous vehicles have been studied actively. Autonomous vehicles can detect objects around them using their on board sensors, estimate collision probability and maneuver to avoid colliding with objects. Many algorithms are suggested to prevent collision avoidance. However there are limitations of complex and diverse environments because algorithm uses only the information of attached environmental sensors and mainly depends on TTC (time-to-Collision) parameter. In this paper, autonomous driving algorithm using I2V communication-based cooperative sensing information is developed to cope with complex and diverse environments through sensor fusion of objects information from infrastructure camera and object information from equipped sensors. The cooperative sensing based autonomous driving algorithm is implemented in autonomous shuttle bus and the proposed algorithm proved to be able to improve the autonomous navigation technology effectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.556-559
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• 1997

In this paper, we propose a cooperative multi-robot control algorithm. Specifically, the cooperative task is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce the master-slave concept for two mobile robots, which have the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. In case that the robots can't move further, the role of the robot is interchanged. The effectiveness of this decentralized algorithm is proved by computer simulations.

• 로봇학회논문지
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• 제10권3호
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• pp.133-138
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• 2015

This paper presents a modified task structure of coupled-constraints consensus based bundle algorithm especially to resolve the cooperative transportation problem. The cooperative transportation mission has various types of constraints. A modified framework to generate activities and subtasks to solve time and task constraints of the transportation mission by using coupled-constraints consensus based bundle algorithm is suggested. In this paper modifications on task structure, reward function and arrival time calculation are suggested to handle the constraints of cooperative transportation mission.

• Journal of Communications and Networks
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• 제10권2호
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• pp.156-162
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• 2008

Cooperative relays can provide spatial diversity and improve performance of wireless communications. In this paper, we study subcarrier power allocation at the relays for orthogonal frequency division multiplexing (OFDM)-based wireless systems. For cooperative relay with amplify-and-forward (AF) and decode-and-forward (DF) algorithms, we investigate the impact of power allocation to the mutual information between the source and destination. From our simulation results on word~error-rate (WER) performance, we find that the DF algorithm with power allocation provides better performance than that of AF algorithm in a single path relay network because the former is able to eliminate channel noise at each relay. For the multiple path relay network, however, the network structure is already resistant to noise and channel distortion, and AF approach is a more attractive choice due to its lower complexity.