• International Journal of Fuzzy Logic and Intelligent Systems
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• v.3 no.2
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• pp.244-250
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• 2003

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a tele-operated mobile robot equipped with camera, the tele-operated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle. This virtual force is transferred back to the master over the Internet and the master(two degrees of freedom joystick), which can generate force, enables a human operator to estimate the position of obstacle in the remote environment. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. This force reflection improves the performance of a tele-operated mobile robot significantly.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.1
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• pp.61-77
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• 2017

The most challenging issues in the multi-channel MAC of the IEEE 1609.4 standard is how to handle the dynamic vehicular traffic condition with a high mobility, dynamic topology, and a trajectory change. Therefore, dynamic channel coordination schemes between CCH and SCH are required to provide the proper bandwidth for CCH/SCH intervals and to improve the quality of service (QoS). In this paper, we use a Markov model to optimize the interval based on the dynamic vehicular traffic condition with high mobility nodes in the multi-channel MAC of the IEEE 1609.4 standard. We evaluate the performance of the three-dimensional Markov chain based on the Poisson distribution for the node distribution and velocity. We also evaluate the additive white Gaussian noise (AWGN) effect for the multi-channel MAC coordination scheme of the IEEE 1609.4 standard. The result of simulation proves that the performance of the dynamic channel coordination scheme is affected by the high node mobility and the AWGN. In this research, we evaluate the model analytically for the average delay on CCHs and SCHs and also the saturated throughput on SCHs.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.2
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• pp.148-156
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• 2003

Many car manufacturers have frequently adopted an aggressive inflator and a lower threshold speed for airbag deployment in order to meet an injury requirement for unbolted occupant at high speed crash test. Consequently, today's occupant safety restraint system has a weakness due to an airbag induced injury at low speed crash event. This paper proposes a new crash algorithm to improve the weakness by suppressing airbag deployment at low speed crash event in case of belted condition. The proposed algorithm consists of two major blocks-crash severity algorithm and deployment logic block. The first block decides crash severity with two levels by means of velocity and crash energy calculation from acceleration signal. The second block implemented by simple AND/OR logic combines the crash severity level and seat belt status information to generate firing commands for airbag and belt pretensioner. Furthermore, it can be extended to adopt additional sensor information from passenger presence detection sensor and safing sensor. A simulation using real crash data for a 1,800cc passenger vehicle has been conducted to verify the performance of proposed algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.12
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• pp.5928-5947
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• 2019

Multicast Mesh based Mobile Ad-hoc NETworks (MANETs) provide efficient data transmission in energy restraint areas without a fixed infrastructure. In this paper, the authors present an improved version of protocol SLIMMER developed by them earlier, and name it SLIMMER-SN. Most mesh-based protocols suffer from redundancy; however, the proposed protocol controls redundancy through the concept of forwarding nodes. The proposed protocol uses remaining energy of a node to decide its energy efficiency. For measuring stability, a new metric called Stability of Node (SN) has been introduced which depends on transmission range, node density and node velocity. For data transfer, a weighted cost function selects the most energy efficient nodes / most stable nodes or a weighted combination of both. This makes the node selection criteria more dynamic. The protocol works in two steps: (1) calculating SN and (2) using SN value in the weighted cost function for selection of nodes. The study compared the proposed protocol, with other mesh-based protocols PUMA and SLIMMER, based on packet delivery ratio (PDR), throughput, end-to-end delay and average energy consumption under different simulation conditions. Results clearly demonstrate that SLIMMER-SN outperformed both PUMA and SLIMMER.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.5
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• pp.2144-2165
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• 2016

In a vehicular ad hoc network, the communication links are unsteady due to the rapidly changing topology, high mobility and traffic density in the urban environment. Most of the existing geographical routing protocols rely on the continuous transmission of beacon messages to update the neighbors' presence, leading to network congestion. Source-based approaches have been proven to be inefficient in the inherently unstable network. To this end, we propose an opportunistic beaconless packet forwarding approach based on a modified handshake mechanism for the urban vehicular environment. The protocol acts differently between intersections and at the intersection to find the next forwarder node toward the destination. The modified handshake mechanism contains link quality, forward progress and directional greedy metrics to determine the best relay node in the network. After designing the protocol, we compared its performance with existing routing protocols. The simulation results show the superior performance of the proposed protocol in terms of packet delay and data delivery ratio in realistic wireless channel conditions.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.2
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• pp.71-78
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• 2020

This paper proposes vision sensors and deep learning-based around view monitoring system for ship berthing. Ship berthing to the port requires precise relative position and relative speed information between the mooring facility and the ship. For ships of Handysize or higher, the vesselships must be docked with the help of pilots and tugboats. In the case of ships handling dangerous cargo, tug boats push the ship and dock it in the port, using the distance and velocity information receiving from the berthing aid system (BAS). However, the existing BAS is very expensive and there is a limit on the size of the vessel that can be measured. Also, there is a limitation that it is difficult to measure distance and speed when there are obstacles near the port. This paper proposes a relative distance and speed estimation system that can be used as a ship berthing assist system. The proposed system is verified by comparing the performance with the existing laser-based distance and speed measurement system through the field tests at the actual port.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• Journal of The Institute of Information and Telecommunication Facilities Engineering
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• v.2 no.3
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• pp.36-47
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• 2003

Wideband Code Division Multiple Access (WCDMA) is one of the air interface techniques proposed for the third generation (3G) mobile communication system. WCDMA was selected because it fulfills the IMT-2000 requirements for higher data rate trans mission, support of multimedia capabilities and other flexible services due to its variable bit rates and larger bandwidth, improved capacity and coverage, efficient power control and support for advanced and improved detector structures. Performance evaluation of 3G wireless network through simulation plays an important role in the design and implementation of the actual system, aiding the wireless system designer by providing them the necessary performance conformance statistics prior to implementation. In accordance with this goal, a simulator engine was developed entirely on a MATLAB platform to emulate the behaviour of the WCDMA air interface for both the uplink and downlink in a real world fading mobile environment. This paper discuss the development of the simulator along with a brief description of its functionalities and user interface. The WCDMA air interface mode focused in this paper is in accordance to the 3GPPs frequency division duplex (FDD) mode and restricted to the physical layer description. Performance results for the selected cases for the downlink, uplink, varying mobile velocity and sampling rates are also provided.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.975-977
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• 2013

The optimal distribution pattern is induced in the optical link with an artificial distributions of single mode fiber (SMF) lengths and residual dispersion per span (RDPS). It is confirmed that the descending distribution of SMF length and ascending distribution of RDPS are most suitable to compensate for the distorted WDM signals, as the fiber span number is more increased. in the optical link with 10 ps/nm or -10 ps/nm the optimal net residual dispersion (NRD).

• Journal of information and communication convergence engineering
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• v.9 no.1
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• pp.32-37
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• 2011

In dispersion management (DM) and optical phase conjugation applied into optical transmission links with multi fiber spans for minimizing the impact of nonlinearity and group velocity (GVD), implementation possibility of DM using only one fiber span for pre- or postcompensation was assessed as a function of duty cycle of RZ pulse and residual dispersion per span (RDPS). It is confirmed that DM with optimal net residual dispersion (NRD) controlled by only one fiber span could be sufficiently applied into optical transmission links, though optimal NRD is more increased than that in transmission links with the general DM scheme of pre- and postcompensation. Thus, it is expected that optical transmission system is simply designed and implemented by applying the proposed DM scheme into real optical transmission links. Also, it is confirmed that the advantageous duty cycle of RZ is 0.5 and RDPS is setting to be small value for the effective transmitting wide signal wavelength range in optical links with optimal NRD controlled by only one fiber span.