• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• Journal of KIISE:Computer Systems and Theory
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• v.27 no.6
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• pp.608-618
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• 2000

We consider the problem of placing resources in a distributed computing system so that certain performance requirements may be met while minimizing the number of required resource copies, irrespective of node or link failures. To meet the requirements for high performance and high availability, minimum number of resource copies should be placed in such a way that each node has at least two copies on the node or its neighbor nodes. This is called the fault-tolerant resource placement problem in this paper. The structure of a parallel or a distributed computing system is represented by a graph. The fault-tolerant placement problem is first transformed into the problem of finding the smallest fault-tolerant dominating set in a graph. The dominating set problem is known to be NP-complete. In this paper, searching for the smallest fault-tolerant dominating set is formulated as a state-space search problem, which is then solved optimally with the well-known A* algorithm. To speed up the search, we derive heuristic information by analyzing the properties of fault-tolerant dominating sets. Some experimental results on various regular and random graphs show that the search time can be reduced dramatically using the heuristic information.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.1-7
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• 2013

Body gesture Recognition has been one of the interested research field for Human-Robot Interaction(HRI). Most of the conventional body gesture recognition algorithms used Hidden Markov Model(HMM) for modeling gestures which have spatio-temporal variabilities. However, HMM-based algorithms have difficulties excluding meaningless gestures. Besides, it is necessary for conventional body gesture recognition algorithms to perform gesture segmentation first, then sends the extracted gesture to the HMM for gesture recognition. This separated system causes time delay between two continuing gestures to be recognized, and it makes the system inappropriate for continuous gesture recognition. To overcome these two limitations, this paper suggests primitive body model encoding, which performs spatio/temporal quantization of motions from human body model and encodes them into predefined primitive codes for each link of a body model, and Selective/Asynchronous Input-Parallel State machine(SAI-PSM) for multiple-simultaneous gesture recognition. The experimental results showed that the proposed gesture recognition system using primitive body model encoding and SAI-PSM can exclude meaningless gestures well from the continuous body model data, while performing multiple-simultaneous gesture recognition without losing recognition rates compared to the previous HMM-based work.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.23 no.4
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• pp.914-925
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• 1998

This paper considers the evaluation of the hybrid acquistion perdformance for the pilot signal in the direct sequence code division multiple access(DS/CDMA) forward link. the hybrid acquisition is introduced by the combination of two schemes, the parallel and serial acquisions. The mean acquisition time of the proposed scheme is derived to consider both the best case(the correct code-phase offsets are included i one subset) and the worst case(the correct code-phase offsets exist at the boundary of two subsets), which are cause by the distribution of the correct code-phase offsets in the subset. Expressions for the detection, false alarm, and miss probabilities are derived for the case of multiple correct code-phase offsets and multipath Rayleigh fading channel. Numerical results present the hybrid acquistion performance with repect to design parameters such as postdetectio integration length in the search and verification modes, subset size, and number of I/Q noncoherent correlators, and compare the hybrid acquistion with the parallel acquistion in terms of the minimum acquistion time under the same hardware complexity.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2006.05a
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• pp.522-525
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• 2006

Recently, mobile devices support multi-functions such as 3D game, wireless internet, moving pictures, DMB, GPS, and PMP. Bigger size of display device is indispensable to support these functions and higher speed of the interface is needed. However, conventional parallel interfaces between processor and display nodule are not competent enough for that high speed transfers. High-speed serial interface is beginning to appear as an alternative for parallel interface. The advantages of the serial interface are high bandwidth, small number of interconnections, low-power consumption, and good quality of electro-magnetic interference. In this paper, we implement serial interface and use it for a display module. LVDS is used for PHY layer and a defined packet is used for link layer. The feature of the implemented serial interface is the reduced number of interconnections with enough bandwidth.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.6
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• pp.1-6
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• 2020

Road movement pollutant air environment big data is a link between real-time traffic data such as vehicle type, speed, and load using AVC, VDS, WIM, and DTG, which are always traffic volume survey equipment, and road shape (uphill, downhill, turning section) data using GIS. It consists of traffic flow data. Also, unlike general data, a lot of data per unit time is generated and has various formats. In particular, since about 7.4 million cases/hour or more of large-scale real-time data collected as detailed traffic flow information are collected, stored and processed, a system that can efficiently process data is required. Therefore, in this study, an open source-based data parallel processing performance optimization study is conducted for the visualization of big data in the air environment of road transport pollution.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.3D
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• pp.329-334
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• 2009

The various behaviors of vehicular traffic flow are generated through both car-following and lane-changing behaviors of vehicles. Especially lane-usage varies by lane-changing behaviors. In the area of microscopic vehicle simulation, a lane-changing model connected to a car-following model parallel is essential to generate both various traffic flows relationships and laneusages. In Korea, some studies on car-following models have been reported, but few studies for lane-changing models stay in the beginning stage. In this paper, a two-lane changing model for the simulation modeling of large freeway network is introduced. The lane-changing model is developed based on CA (Cellular Automata) model. The developed model is parallel combined with an existing CA car-following model and tested on a closed link system. The results of simulation show that the developed model generates the various behaviors of lane usage, which existing CA lane-changing models could not generate. The presented model is expected to be used for the simulation of more various freeway traffic flows.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1396-1401
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• 2004

In recent years, robot has been used widely in industrial field and has been expanded as a result of continous research and development for high-speed and miniaturization. The goal of this paper is to design the special serial manipulator through the understanding of the structure, mobility, and analysis of serial manipulator. Thereafter we control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints. Typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily by AC servomotor that is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of 3D end-effector model made by OpenGL can be displayed on the monitor program simultaneously

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2000-2003
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• 2003

In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. The goal of this paper is to design the serial manipulator through kinematic analysis and to control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints, typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily. AC servo motor is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of end-effector can be displayed on the monitor of general personal computer through Opengl program.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.25 no.2
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• pp.53-60
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• 2011

The available power generated from the FC power plant may not be sufficient to meet sustained load demand, peak demand or transient events. An supercapacitor bank(SCB) can supply a large burst of power, but it cannot store a significant amount of energy. The combined use of FC and SCB has the potential for the better energy efficiency, reducing the cost of FC technology and improved dynamic response. In this paper, A single PEMFC and PEMFC operated in parallel with a SC bank are presented, A new dynamic model of PEMFC system, the converter and controller has been developed for stand-alone applications. The simulation results are presented using Matlab/Simulink, and SimPowerSystems environments. It is confirmed that the results show a good performance and stable DC-link voltage for proposed dynamic and mathematical models developed for the combined FC/SCB.