公开(公告)号：KR100652024B1

公开(公告)日：2006-12-01

申请号：KR1020050121143

申请日：2005-12-09

Applicant: 한국전자통신연구원

Inventor： 전영애 ,  김지은 ,  이상재 ,  최상성 ,  박광로 ,  이병주 ,  이승형

IPC: H04L12/28 ,  H04L29/06 ,  H04L29/02 ,  H04L12/24

Abstract: A channel resource allocation method for QoS(Quality of Service) guarantee and fair channel resource reservation in a mesh WPAN(Wireless Personal Area Network) environment is provided to be capable of effectively managing the amount of channel time that each device uses through reservation when a mesh-type network is configured. All devices transmit beacons, and add the amount of channel resources to be reserved by the devices within the beacons, so that the devices can allocate channel resources for fair channel resource reservation with neighboring devices(401). The devices check beacons of all of the neighboring devices, and accumulate the amount of channel resources reserved by all of the neighboring devices except the devices themselves(403). The devices determine the amount of channel resources to be reserved by the devices themselves through an equation 2, by using values obtained through the channel resource amount adding and accumulating steps '401,403'(402).

Abstract translation: 提供在网状WPAN（无线个人区域网络）环境中用于QoS（服务质量）保证和公平信道资源预留的信道资源分配方法，以便能够有效地管理每个设备在预留时通过预留使用的信道时间量 网状网络被配置。 所有设备传输信标，并添加由信标内的设备预留的信道资源量，使得设备可以分配信道资源以与相邻设备进行公平信道资源预留（401）。 这些设备检查所有相邻设备的信标，并且累积除了设备本身之外的所有相邻设备保留的信道资源量（403）。 通过使用通过信道资源量增加和累加步骤'401,403'（402）获得的值，设备通过等式2来确定设备本身要保留的信道资源的数量。

公开(公告)号：KR1020090124552A

公开(公告)日：2009-12-03

申请号：KR1020080050837

申请日：2008-05-30

Applicant: 한국전자통신연구원 ,  한양대학교 산학협력단

Inventor： 윤호섭 ,  이재연 ,  황대환 ,  이병주 ,  오세민

IPC: B25J18/06 ,  B25J18/00

CPC classification number: B25J18/06 ,  B25J9/104

Abstract: PURPOSE: A robot arm and a robot including the same are provided to absorb an external impact by penetrating a backbone through a hole of each joint so as to support the joint. CONSTITUTION: A robot arm comprises a plurality of joints(310), a backbone(340), an elastic member(320), and joint drive wires(330_1,330_2,330_3). In each joint, a through hole is formed. The backbone passes through the through hole of each joint so as to support the joint. The elastic member connects the adjacent joints to form an articulation, and bends the articulation as the joint drive wires are pulled. The elastic member comprises a coil spring through which the back bone passes. The joint drive wires connect through the joints.

Abstract translation: 目的：提供机器人手臂和包括该机器人手臂的机器人，以通过穿过骨架穿过每个关节的孔来吸收外部冲击以支撑关节。 构成：机器人臂包括多个接头（310），骨架（340），弹性构件（320）和接合驱动线（330_1,330_2,330_3）。 在每个接头中形成通孔。 骨架通过每个关节的通孔以支撑关节。 弹性构件连接相邻的接头以形成铰接，并且当联接驱动线被拉动时弯曲铰接。 弹性构件包括一个螺旋弹簧，后骨通过该螺旋弹簧。 联合驱动电线通过接头连接。

公开(公告)号：KR100652020B1

公开(公告)日：2006-12-01

申请号：KR1020050123886

申请日：2005-12-15

Applicant: 한국전자통신연구원 ,  광운대학교 산학협력단

Inventor： 권재균 ,  안재영 ,  이승형 ,  이병주

IPC: H04B1/40