• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.439-444
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• 2012

In this study, we address the formation control problem of coupled unicycle-type mobile robots, each of which can interact with its neighboring robots by communicating their position outputs. Each communication link between two mobile robots is assumed to be established according to the given time-varying interconnection topology that switches within a finite set of connected fixed undirected networks and has a non-vanishing dwell time. Under this setup, we propose a distributed formation control algorithm by using the dynamics extension and feedback linearization methods, and by employing a consensus algorithm for linear multi-agent systems which provides arbitrary fast convergence rate to the agreement of the multi-agent system. Finally, the proposed result is demonstrated through a computer simulation.

• Journal of Advanced Marine Engineering and Technology
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• v.30 no.8
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• pp.934-940
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• 2006

The aims of this study is to develop working robot for a installed trolley cable of an electric train and objective of this paper is to implement mobile control of working robot. In this paper an approach to method for scheme of a mobile control system is presented in a dynamic hybrid velocity/tension control of working robot. The working robot is composed the velocity and tension controllers using the concept of two-degrees-of-freedom servo-controller. This robot moved at same time a certain distance to constrain a constant tension and installed a trolley cable of an electric train. To move the robot the velocity control system have design and implemented. Simulation and experimental results are presented to illustrate the validity of designed mobil scheme.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.3
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• pp.401-406
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• 2013

The mobile robot is one of the widely-used systems in service industry. We propose a gain-scheduling feedback controller for the tracking control of the mobile robot. The benefit of our proposed controller is that it avoids the singularity issue occurs with the controllers suggested in [4], [10]. Moreover, we show the stability analysis of the controlled system via a Lyapunov stability approach such that the exponential convergence of tracking error to zero is analytically provided. The simulation results show the validity of the proposed controller and improved control performance over the conventional controller.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.900-901
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• 2007

In this paper, an approach to designing controllers for dynamic hybrid Tension/Mobile control of a installed robot for a troy wire cable is presented. Mobile control system of robot is designed based on equation of dc motor and tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a wire cable. Dynamic hybrid control system is proposed by feedforward controller with acceleration and tension at start of robot to the case where the tow task of robot dynamics is suppressed a mutual interference. The proposed system is simulated and experimented, results is verified the utilities.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.7C
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• pp.696-703
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• 2002

In traditional approaches to IN load control, there has been a focus on the protection of individual SCPs. On the other hand, the load control of network level can be achieved by using a mobile agent technology, which is a software element responsible for moving from one system to another and performing their task. In this thesis, we propose an mobile agent mechanism and two mobile agent migration procedures and analyze the performance of the Call Gapping mechanism and the mobile agent mechanism. The mobile agent mechanism showed that the SCP load control rate and attempt the number of attempted call failure were better than those of Call Gapping mechanism. Also, the amount of SS NO.7 traffics was reduced in the case of an overload condition.

• Journal of KIISE:Databases
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• v.33 no.1
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• pp.69-85
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• 2006

Broadcast has been often used to disseminate the frequently requested data efficiently to a large volume of mobile clients over a single or multiple channels. Conventional concurrency control protocols for mobile transactions are not suitable for the wireless broadcast environments due to the limited bandwidth of the up-link communication channel. In wireless broadcast environments, the server often broadcast different data items with different frequency to incorporate the data access patterns of mobile transactions. The previously proposed concurrency control protocols for mobile transactions in wireless broadcast environments are focused on the mobile transactions with uniform data access patterns. However, these protocols perform poorly when the data access pattern of update mobile transaction are not uniform but skewed. The update mobile transactions with skewed data access patterns will be frequently aborted and restarted due 4o the update conflict of the same data items with a high access frequency. In this paper, we propose an energy-efficient concurrence control protocol for mobile transactions with skewed data access as well as uniform data access patterns. Our protocol use a random back-off technique to avoid the frequent abort and restart of update mobile transactions. We present in-depth experimental analysis of our method by comparing it with existing concurrency control protocols. Our performance analysis show that it significantly decrease the average response time, the amount of upstream and downstream bandwidth usage over existing protocols.

• Journal of Korea Multimedia Society
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• v.18 no.11
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• pp.1342-1350
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• 2015

Due to rapid development of mobile device technologies, the mobile banking through Internet has become a major service of banking information systems as a security-critical information systems. Recently, lots of mobile banking information systems which handle personal and transaction information have been exposed to security threats in vulnerable security control and management processes, mainly software systems. Therefore, in this paper, we propose a process model for software security improvements in mobile banking information system by application of fault tree analysis(FTA) and failure modes and effects analysis(FMEA) on the most important activities such as 'user authentication' and 'access control' and 'virus detection and control' processes which security control and management of mobile banking information systems are very weak.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.223-228
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• 2001

We have been developed an intelligent mobile robot with an artificial olfactory function to recognize odours and to track odour source location. This mobile robot also has ben installed an engine for speech recognition and synthesis and is controlled by wireless communication. An artificial olfactory system based on array of 7 gas sensors has been installed in the mobile robot for odour recognition, and 11 gas sensors also are located in the obttom of robot to track odour sources. 3 optical sensors are also in cluded in the intelligent mobile robot, which is driven by 2 D. C. motors, for clash avoidance in a way of direction toward an odour source. Throughout the experimental trails, it is confirmed that the intelligent mobile robot is capable of not only the odour recognition using artificial neural network algorithm, but also the tracking odour source using the step-by-step approach method. The preliminary results are promising that intelligent mobile robot, which has been developed, is applicable to service robot system for environmental monitoring, localization of odour source, odour tracking of hazardous areas etc.

• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.86-100
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• 2008

Most of the previously employed dynamic modeling approaches, including Natural Orthogonal Complement Algorithm, have limitations on their application to the mobile robot, specifically at singular configurations. Also, in their dynamic modeling of mobile robots, wheel dynamics is usually ignored assuming that its dynamic effect is negligibly small. As a remedy for this, a singularity-free operational space dynamic modeling approach based on Lagrange's form of the D' Alembert principle is proposed, and the singularity-free characteristic of the proposed dynamic modeling is discussed in the process of analytical derivation of the proposed dynamic model. Then an accurate dynamic model taking into account the wheel dynamics of the omni-directional mobile robot is derived, and through simulation it is manifested that the effect of the wheel dynamics on the whole dynamic model of the mobile robot may not be negligible, but rather in some cases it is significantly large, possibly affecting the operational performances of dynamic model-based control algorithms. Lastly, the importance of its accurate dynamic model is further illustrated through impulse analysis and its simulation for the mobile robot.

• Journal of Drive and Control
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• v.15 no.4
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• pp.17-22
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• 2018

Mobile hydraulics require higher energy efficiency, and a simpler as well as robust design, than general industrial hydraulics. The 6/3-way directional control valve is widely used as a mobile hydraulic control valve. However, since the 6/3-way directional control valve is a spool type valve, it is difficult to maintain the load. A counterbalance valve is typically used, to maintain the load, and lift down. However, in an industrial field using a mobile hydraulics device, a pilot controlled check valve may be used to implement holding and lifting operation of the self-weight load, and a relief valve may be used simply to exert back pressure. But no comparative analysis of advantages and disadvantages of each method was revealed. In this study, various methods of holding and unloading load with self-weight in mobile hydraulics are investigated, and compared through simulation using AMESim software. This is experimentally verified by using Festo's mobile hydraulic test rig TP800.