• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2435-2437
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• 2004

In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.

• Journal of Advanced Navigation Technology
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• v.19 no.1
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• pp.53-59
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• 2015

We consider the problems that consist of designing time, establishment cost, delay time and reliability in designing a mesh network when given link costs and traffic requirements between nodes. Designing time, establishment cost and delay time are less, reliability is higher in designing a mesh network. One of the problems designing time is solved by mesh network topology optimization and routing (MENTOR) algorithm that Aaron Kershenbaum propose, but the others remain. In this paper we propose a new mesh network design algorithm with small computational complexity that the others are solved. The result of the proposed algorithm is better than MENTOR's in total establishment cost, delay time and reliability.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.412-417
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• 2005

The Internet has been widely applied to the remote control system. The network-based control system, however, has a random time delay and an inherent weak point of the network, when the data ate transmitted. The network delay may result in performance degradation or even system instability in teleoperation. In this paper a prediction model of network delay using TSK (Takagi-Sugeno-Kang) fuzzy model is presented. An adaptive scheme is developed to update the prediction model according to the current network status. The prediction model is applied to the control of an Internet-based mobile robot to show its usefulness. In the computer simulation the TSK Prediction model of network delay is proven superior to the conventional algorithms.

• ETRI Journal
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• v.30 no.2
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• pp.282-289
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• 2008

We propose a new mini-slot transmission scheme for a passive optical network (PON) in which each customer can be switched either to access mode or to internetworking mode dynamically. In this paper, we present the system implementation (called LAN-PON) as well as the performance of the proposed transmission scheme to illustrate its feasibility and benefits. A mini-slot scheme can rapidly reduce the queuing delay, which increases due to the flooding of the deflected packets in a deflection scheme. We evaluate the impact of mode switching time on the bandwidth gain (throughput) and delay of local area network (LAN) traffic in the LAN-PON with a mini-slot scheme. We also analyze a theoretical delay model of the proposed scheme. The simulation results demonstrate that switching time has an impact on LAN performance, and the average packet delay of the proposed scheme is significantly improved compared to that of the deflection scheme.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1898-1899
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• 2011

In this paper, we propose an obstacle avoidance algorithm for a network-based autonomous mobile robot. The obstacle avoidance algorithm is based on the VFH (Vector Field Histogram) algorithm and delay-compensative methods with the VFH algorithm are proposed for the network-based robot that is a unified system composed of distributed environmental sensors, mobile actuators, and the VFH controller. Firstly, the compensated readings of the sensors are used for building the polar histogram of the VFH algorithm. Secondly, a sensory fusion using the Kalman filter is proposed for the localization of the robot to compensate both the delay of the readings of an odometry sensor and the delay of the readings of the environmental sensors. The performance enhancements of the proposed obstacle avoidance algorithm from the viewpoint of efficient path generation and accurate goal positioning are also shown in this paper through some simulation experiments by the Marilou Robotics Studio Simulator.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.05a
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• pp.1609-1615
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• 2006

Overlay multicast technique is an effective way as an alternative to IP multicast. Traditional IP multicast is not widely deployed because of the complexity of IP multicast technology and lack of application. But overlay multicast can be easily deployed by effectively reducing complexity of network routers. Because overlay multicast resides on top of densely connected IP network, In case of multimedia streaming service over overlay multicast tree, real-time data is sensitive to end-to-end delay. Therefore, moderate algorithm's development to this network environment is very important. In this paper, we are interested in minimizing maximum end-to-end delay in overlay multicast tree. The problem is formulated as a degree-bounded minimum delay spanning tree, which is a problem well-known as NP-hard. We develop tabu search heuristic with intensification and diversification strategies. Robust experimental results show that is comparable to the optimal solution and applicable in real time

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.133.3-133
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• 2001

This paper analyses the real-time performance of Ethernet based intranet whether it is applicable to the real-time network. Unpredictability of transmission delay by collision-delay-retransmission mechanism in CAMA/CD(Carrier Sense Multiple Access with Collision Detect) of Ethernet is the major reason making hard to apply to real-time system. Both retransmission mechanism of TCP(Transmission Control Protocol) for reliability and sliding windows algorithm for high utilization make hard to predict transmission delay. Because real-time control network require fast responsibility and bustle of short-periodic messages, global-clock for collision avoidance and UDP(User Datagram Protocol) for high utilization of network are used. The mathematical models for time-delay that can be occured between ...

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1055-1064
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• 2003

In many automated systems, such as manufacturing systems and process plants, a fieldbus is a very important component for the exchange of various and sometimes crucial information. Some of the information has a tendency to rapidly lose its value as time elapses after its creation. Such information or data is called real-time data that includes sensor values and control commands. In order to deliver these data in time, the fieldbus network should be tailored to have short delay with respect to the individual time limit of various data. Fine-tuning the network for a given traffic requires the knowledge on the relationship between the protocol parameters such as timer values and the performance measure such as network delay. This paper presents a mathematical performance model to calculate communication delays of the Profibus-FMS network when the timer value and the traffic characteristics are given.

• Journal of IKEEE
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• v.18 no.4
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• pp.517-522
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• 2014

This paper investigates the consensus problem for linear multi-agent systems with an arbitrary network delay. The sufficient conditions for a state consensus of linear multi-agent systems are provided by using linear matrix inequalities. Moreover, it is shown that under the proposed protocol, the consensus can be achieved even in the presence of an arbitrarily large network delay. Finally, an illustrative example is given in order to show the effectiveness of our design method.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.118.2-118
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• 2002

Uncertain time delay happens when the process reads the sensor data and sends the control input to the plant located at a remote site in distributed control system. As in the case of data network using TCP/IP, VDN that integrates both device network and data network has uncertain tim e delay. Uncertain time delay can cause degradation in stability of distributed control system based on VDN. This paper investigates the transmission characteristic of VDN and suggests a control scheme based on the Smith's predictor to minimize the effect of uncertain time delay. The validity of the proposed control scheme is demonstrated with tracking position control of experiments.