• Journal of IKEEE
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• v.16 no.3
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• pp.235-243
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• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.117-119
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• 2006

BACnet(Building Automation and Control networks) is a standard data communication protocol designed specifically for building automation and control systems. BACnet provides five options for datalink layer protocols and these five datalink layer options can be applied with various transmission media. Recently wireless technology prevails in automation area. ZigBee is a standard protocol based on IEEE 802.15.4 for low-speed wireless communication network. In this study, we propose a BACnet/ZigBee model that uses ZigBee wireless technology in a BACnet communication network system as a wireless datalink layer protocol. We also applied this model to a lighting control system to evaluate the feasibility of proposed technology. The technology proposed in this paper can extend the application of BACnet not only for building automation but also for home automation by taking the advantages of ZigBee wireless communication technology in BACnet communication network systems.

• 한국정보통신설비학회:학술대회논문집
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• 2009.08a
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• pp.219-220
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• 2009

Many surveillance cameras used in security system are controlled with RS-485 communication protocol. In this situation, if RS-485 connection can be replaced with wireless connection using sensor network technology, an installation will become ease because of no wired connection and also a deployment of cameras will become free. This paper explains about the design of wireless sensor node and the necessary implementation for an operation, which can be replacing RS-485 connection for the development of CCTV control system based on wireless sensor network. The hardware platform of sensor node was designed based on MicaZ and the software was developed based on TinyOS. To control surveillance cameras deployed on wide area, the supporting of multi-hop also was implemented. With the result of experiment deploying on real environment, it was revealed that the controller could control cameras quickly with wireless.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.5B
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• pp.295-303
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• 2007

An algorithm is proposed to seek a local optimal solution of the network utility maximization problem in a wireless mesh network, where the architecture being considered is an infrastructure/backbone wireless mesh network. The objective is to achieve proportional fairness amongst the end-to-end flows in wireless mesh networks. In order to establish the communication constraints of the flow rates in the network utility maximization problem, we have presented necessary and sufficient conditions for the achievability of the flow rates. Since wireless mesh networks are generally considered as a type of ad hoc networks, similarly as in wireless multi-hop network, the network utility maximization problem in wireless mesh network is a nonlinear nonconvex programming problem. Besides, the gateway/bridge functionalities in mesh routers enable the integration of wireless mesh networks with various existing wireless networks. Thus, the rate optimization problem in wireless mesh networks is more complex than in wireless multi-hop networks.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.289-292
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• 2006

In this paper, a wireless control network based on IEEE 802.15.4 MAC protocol is proposed. The superframe of IEEE 802.15.4 is applied to the proposed wireless control network. The transmission and bandwidth management method are proposed for efficient transmission in the superframe. By these methods, the proposed wireless control network protocol is able to transmit three types of data (periodic data, sporadic data, and non real-time message), and guarantee real-time transmission within deadline.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.9A
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• pp.916-922
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• 2007

Wireless networks (WNs) are developed and applied widely in a lot of areas. Now, a new generation of wireless networks is coming, and that is Wireless Mesh Network (WMN). At present, there are not so many researches which deal on this area. Most researches are derived from Mobile Ad hoc Networks (MANET) and WNs. In WMNs, there are some applications that require real-time delivery. To guarantee this, rate control and congestion control are needed. This problem leads to optimization issue in transport layer. In this paper, we propose a mathematical model which is applied in rate and congestion control in WNMs. From this model, we optimize rate and congestion control in WMNs by maximizing network utility. The proposed algorithm is implemented in distributed way both in links and sources.

• Proceedings of the Korea Contents Association Conference
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• 2003.11a
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• pp.177-180
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• 2003

In this paper, we implement the network image control system in which a wireless robot with a built camera monitors the dangerous place where human cannot approach. In the proposed network image control system, the noise occurred in wireless communication is reduced by implementing the noise eliminating circuit and the driving time of a wireless robot is increased by adopting the mercury battery. By constructing the image control network with the Internet, the image is monitored controled in the remote site with a wireless robot.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.476-479
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• 2003

Recently, Bluetooth has been regarded as a new technology for short-range wireless connection. Although initial application of Bluetooth technology has been focused mainly on replacing cables between hand-held devices due to a limited packet size and short-range, general wireless telecommunication such as PAN and Ad hoc networks via Bluetooth-equipped devices is expected to be one of the most popular applications. Wireless equipments have been used to exchange data between host and mobile unit. The exchanging data may be several bytes of control command and the value of sensors with ultra-sonic, vision sensor, and encoder from mobile robot. However, most wireless equipments have some drawbacks such as lack of authentication, large size and high price. On the other hand, the benefits of Bluetooth are small size, low power, low price except short-range. Especially, there are some difficulties when wireless modules are used in indoor environments. In this paper, a method of using wire network in Bluetooth network is investigated as a solution to overcome the short-range problem of Bluetooth and difficulty in indoor environment.

• Proceedings of the IEEK Conference
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• 2003.11c
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• pp.223-226
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• 2003

In this paper, we propose new agent discovery and route discovery schemes to support Mobile IP (MIP) in Ad Hoc networks with wireless backbone. The wireless backbone consisting of stationary wireless routers and Internet gateways (IGs) is a kind of wireless access network of IP-based core network. The proposed scheme utilizes favorable features of wireless backbone such as stable links and no energy constraints. In the agent discovery scheme, backbone-limited periodic Agent Advertisement (AA) and proxy-AA messages are used, which reduce network-wide broadcasting overhead caused by AA and Agent Solicitation messages and decentralize MIP processing overhead in IGs. In order to reduce delay time and control message overhead during route discovery far the destination outside Ad Hoc network, we propose a cache-based scheme which can be easily added to the conventional on-demand routing protocols. The proposed schemes can reduce control overhead during agent discovery and route discovery, and efficiently support MIP in Ad Hoc network with wireless backbone.

• The KIPS Transactions:PartA
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• v.13A no.7 s.104
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• pp.573-580
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• 2006

The conventional transport layer protocol TCP is designed to work under condition of packet loss is due to the network congestion, so that it's suitable in the traditional wired network with fixed hosts but it's inefficient on the wireless network where the environment of fading, noise, and transmission error comes from interference. This result from the needless transmission control of the bit error is due to treats the packet loss as a packet congestion control in the wireless network. In this paper, we propose the advanced SNOOP protocol with the consecutive packet loss and TCP window control to avoid the needless congestion management algorithm in wireless network for the wireless TCP packet transmission enhancement. We verify the performance of the advanced module from the simulation experiment result.