• 대한전자공학회논문지TC
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• 제44권10호
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• pp.83-98
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• 2007

이동 무선 환경에서 핸드오버 특히, 이종 망이 중첩된 네트워크 환경에서의 핸드오버는 서로 다른 서비스 특성과 서비스 영역의 영향을 받는다. 핸드오버로 인한 서비스 단절 현상과 서비스 품질 저하를 방지하기 위해서는 서비스 요구 사항(bandwidth, throughput, delay 등)을 지속적으로 유지시킬 수 있는 자원 예약 알고리즘은 필수적인 요소이다. 자원 예약은 이동 단말의 핸드오버 처리 시간과 자원 낭비를 최소화시키기 위해 사전에 미리 진행되어야 하는데, 이는 단말의 위치 정보, 이동 속도 이동 경로, 서비스 요구 사항, 주변 셀 정보 등이 개개의 단말과 서비스에 대한 정확한 예측과 높은 신뢰도를 바탕으로 이루어져야 한다. 본 논문에서는 단말 이동에 따른 셀 변경 확률 및 셀 선정 알고리즘을 기반으로 이동 속도별 서비스 계층을 두어 특정 속도에 대해 핸드오버를 효과적으로 처리하고, 네트워크 오버헤드 및 자원 낭비를 최소화시킬 수 있는 사전 자원 예약 알고리즘을 제안한다. 또한 3개 계층으로 구성된 네트워크 모델 상에서 가상 시나리오에 따라 PMS(Predictive Mobility Support) 및 VCDS(Velocity and Call Duration Support scheme)와의 성능 비교를 통해 제안 알고리즘의 효율성을 살펴본다.

• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권1호
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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.

• Journal of Communications and Networks
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• 제18권1호
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• pp.105-111
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• 2016

Trust models in the literature of MANETs commonly assume that packets have different security requirements. Before a node forwards a packet, if the recipient's trust level does not meet the packet's requirement level, then the recipient must perform certain security association procedures, such as re-authentication. We present in this paper an analysis of the epidemic broadcast delay in such context. The network, mobility and trust models presented in this paper are quite generic and allow us to obtain the delay component induced only by the security associations along a path. Numerical results obtained by simulations also confirm the accuracy of the analysis. In particular, we can observe from both simulation's and analysis results that, for large and sparsely connected networks, the delay caused by security associations is very small compared to the total delay of a packet. This also means that parameters like network density and nodes' velocity, rather than any trust model parameter, have more impact on the overall delay.

• 자동차안전학회지
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• 제16권2호
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• pp.51-59
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• 2024

This study presents a method for health monitoring of rotating objects for mobility based on multiple recursive least squares(RLS) algorithms. The performance degradation of the rotating objects causes low handing / low driving performances and even fatal accidents. Therefore, health monitoring algorithm of rotating objects is one of the important technologies for mobility fail-safe and maintenance areas. In order for health monitoring of rotating objects, four recursive least squares algorithms with forgetting factor were designed in this study. The health monitoring algorithm proposed in this study consists of two steps such as uncertainty estimation and parameter changes estimation. In order to improve estimation accuracy, time delay function was applied to the estimated signals based on the first order differential equation and forgetting factors used for the RLS were reasonably tuned. The health monitoring algorithm was constructed in Matlab/Simulink environment and simulation-based performance evaluation was conducted using DC motor model. The evaluation results showed that the proposed algorithm estimates the actual parameter differences reasonably using velocity and current information.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.193-196
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• 1987

We reported that hot electron phenomena in submicron nMOSFET by Monte Carlo method. In order to predict the influence of the hot electron effects on the device reliability, either simple analytical model or a complete two dimensional numerical simulation has been adopted. Results of numerical simulation, based on the static mobility model, may be inaccurate when gate length of MOSFET is scaled down to less than 1um. Most of device simulation packages utilize the static nobility model. Monte Carlo method based on stochastic analysis of carrier movement may be a powerful tool to characterize hot electrons. In this work, energy and velocity distribution of carriers were obtained to predict the relative degree of short channel effects for different device parameters. Our analysis shows a few interesting results when $V_{ds}$ is 5 volt, average electron energy does not increase with gate bias as evidenced by substrate current.

• 융합신호처리학회논문지
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• 제7권1호
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• pp.38-44
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• 2006

The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.

• 정보처리학회논문지C
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• 제8C권6호
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• pp.831-838
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• 2001

이동정보서비스는 휴대단말을 소지한 사용자가 생활현장에서 정보를 처리할 때 유용성을 제공코자 하는 서비스 패러다임을 말한다. 여기서 사용자의 이동성, 현장성으로 인하여 정보를 요구하고 있는 현재 상황(context)에 적응적인 서비스 방법론은 매우 중요한 기술요소로 인식되고 있다. 본 논문은 이동정보서비스에서 고려될 수 있는 상황 중에서 사용자의 위치 변화에 따른 상황인식요소인 위치인식 이동정보서비스를 위한 프리패칭 방법론을 다룬다. 먼저 단말 혹은 사용자의 이동 패턴을 상황인식에 활용하기 위하여 속도기반 이동모델을 채택한다. 이동속도 및 이동방향을 근거로 하여 프리패칭의 대상정보를 선정하는 프리패칭 영역을 정의함으로써, 프리패칭되는 대상 정보의 수를 효과적으로 제한하는 반면에 현재 상황에 최적인 정보서비스를 적응적으로 처리하는 기반을 제공한다. 제안된 프리패칭 방법론은 시뮬레이터를 이용하여 효용성 관점에서 분석 평가하였다. 본 논문에서 제안된 방법론은 다른 이동정보서비스 상황인 서비스 요구시간, 단말 입출력장치, 네트워크 전송률 등의 활용에 개념적으로 확장될 수 있을 것으로 기대된다.

• 한국전기전자재료학회논문지
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• 제21권3호
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• pp.197-202
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• 2008

In this paper, we proposed an analytical model for TFT which has series of the polycrystalline structures. An average speed is defined as carrier speed by the electric field. The effective square is suggested as the area of grain without depletion for the changed grain size. First, physical parameters such as grain size, channel lenght and trap density, have been changed to prove the validity of the average speed model and the value of the effective square has been estimated through drain-source current.

• Journal of Mechanical Science and Technology
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• 제19권3호
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• pp.756-767
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• 2005

This paper presents a decentralized motion control method of welding mobile manipulators which use for welding in many industrial fields. Major requirements of welding robots are accuracy, robust, and reliability so that they can substitute for the welders in hazardous and worse environment. To do this, the manipulator has to take the torch tracking along a welding trajectory with a constant velocity and a constant heading angle, and the mobile-platform has to move to avoid the singularities of the manipulator. In this paper, we develop a kinematic model of the mobile-platform and the manipulator as two separate subsystems. With the idea that the manipulator can avoid the singularities by keeping its initial configuration in the welding process, the redundancy problem of system is solved by introducing the platform mobility to realize this idea. Two controllers for the mobile-platform and the manipulator were designed, respectively, and the relationships between two controllers are the velocities of two subsystems. Control laws are obtained based on the Lyapunov function to ensure the asymptotical stability of the system. The simulation and experimental results show the effectiveness of the proposed controllers.