• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2540-2545
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• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• ETRI Journal
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• v.30 no.1
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• pp.21-32
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• 2008

Cognitive radio (CR) has been proposed as an effective technology for flexible use of the radio spectrum. The interference between primary users and CR users, however, becomes a critical problem when they are using adjacent frequency channels with different transmission power levels. In this paper, a robust CR orthogonal frequency division multiplexing (OFDM) architecture, which can effectively suppress interference to nearby primary users and overcome adjacent channel interference (ACI) to the CR user, is proposed. This new approach is characterized by adaptive data repetition for subcarriers under heavy ACI, and adaptive time spreading for subcarriers near the borders of the CR user's spectrum. The data repetition scheme provides extra power gain against the ACI coming from primary users. Time spreading guarantees an acceptable interference level to nearby primary users. By computer simulation, we demonstrate that, under a CR environment, the proposed CR OFDM architecture outperforms conventional OFDM systems in terms of throughput and BER performance.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1220-1230
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• 2006

In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• ETRI Journal
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• v.26 no.5
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• pp.391-396
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• 2004

In this paper, we propose a packet scheduling discipline called packet loss fair scheduling, in which the packet loss of each user from different real-time traffic is fairly distributed according to the quality of service requirements. We consider an orthogonal frequency division multiple access (OFDMA) system. The basic frame structure of the system is for the downlink in a cellular packet network, where the time axis is divided into a finite number of slots within a frame, and the frequency axis is segmented into subchannels that consist of multiple subcarriers. In addition, to compensate for fast and slow channel variation, we employ a link adaptation technique such as adaptive modulation and coding. From the simulation results, our proposed packet scheduling scheme can support QoS differentiations while guaranteeing short-term fairness as well as long-term fairness for various real-time traffic.

• ETRI Journal
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• v.28 no.6
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• pp.697-708
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• 2006

Various adaptive mesh refinement techniques are often employed in numerical simulations for increasing spatial and temporal resolution beyond the limits imposed by available CPU time and memory space. Recently, an octree-based adaptive mesh structure was successfully used in fluid animation to place more grid cells efficiently in visually interesting regions of fluids. In an attempt to optimize the use of computational resources further in fluid animation, this paper extends this adaptive technique by modifying the mesh refinement scheme so that the camera's viewing properties are dynamically exploited during the simulation. Based on a simple adaptive mesh structure, we show that the new meshing strategy can save a substantial amount of computation time and memory space by using a view-dependent adaptive approach. The experimental results reveal that the proposed technique provides a good compromise between the computational effort and the simulation's fidelity, and may be used quite effectively in 3D animation production.

• Journal of Communications and Networks
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• v.17 no.3
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• pp.247-255
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• 2015

In this paper, we propose an adaptive time division multiple access based medium access control (MAC) protocol, called bitmap-assisted shortest job first based MAC (BS-MAC), for hierarchical wireless sensor networks (WSNs). The main contribution of BS-MAC is that: (a) It uses small size time slots. (b) The number of those time slots is more than the number of member nodes. (c) Shortest job first (SJF) algorithm to schedule time slots. (d) Short node address (1 byte) to identify members nodes. First two contributions of BS-MAC handle adaptive traffic loads of all members in an efficient manner. The SJF algorithm reduces node's job completion time and to minimize the average packet delay of nodes. The short node address reduces the control overhead and makes the proposed scheme an energy efficient. The simulation results verify that the proposed BS-MAC transmits more data with less delay and energy consumption compared to the existing MAC protocols.

• Journal of information and communication convergence engineering
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• v.15 no.1
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• pp.28-36
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• 2017

The medium access control (MAC) protocol based on dynamic time division multiple access/time division duplex (TDMA/TDD) is responsible for random access control and radio resource allocation in dynamic traffic environments. These functions of random access and resource allocation are very important to prevent wastage of resources and improve MAC performance according to various network conditions. In this paper, we propose new random access and resource allocation schemes to guarantee quality of service (QoS) and provide priority services in a dynamic TDMA/TDD system. First, for the QoS guarantee, we propose an adaptive random access and resource allocation scheme by introducing an access probability. Second, for providing priority service, we propose a priority-based random access and resource allocation scheme by extending the first adaptive scheme in both a centralized and a distributed manner. The analysis and simulation results show that the proposed MAC protocol outperforms the legacy MAC protocol using a simple binary exponential backoff algorithm, and provides good differential performance according to priorities with respect to the throughput and delay.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.1
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• pp.102-110
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• 2017

In this paper, we have implemented an real-time adaptive feedback cancellation(AFC) algorithm that can be applied to multi-channel digital hearing aid. Multichannel digital hearing aid typically use the FFT filterbank based Wide Dynamic Range Compression(WDRC) algorithm to compensate for hearing loss. The implemented real-time acoustic feedback cancellation algorithm has one integrated structure using the same FFT filter bank with WDRC, which can be beneficial in terms of computation affecting the hearing aid battery life. In addition, when the AFC fails to operate due to nonlinear input and output, the reduction gain is applied to improve robustness in practical environment. The implemented algorithm can be further improved by adding various signal processing algorithm such as speech enhancement.

• Journal of Communications and Networks
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• v.9 no.2
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• pp.118-127
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• 2007

We propose a link adaptation and selection method for the links constituting an orthogonal frequency division multiplexing (OFDM) based wireless relay network. The proposed link adaptation and selection method selects the forwarding, modulation, and channel coding schemes providing the highest end-to-end throughput and decides whether to use the relay or not. The link adaptation and selection is done for each sub-channel based on instantaneous signal to interference plus noise ratio (SINR) conditions in the source-to-destination, source-to-relay and relay-to-destination links. The considered forwarding schemes are amplify and forward (AF) and simple adaptive decode and forward (DF). Efficient adaptive modulation and coding decision rules are provided for various relaying schemes. The proposed end-to-end link adaptation and selection method ensures that the end-to-end throughput is always larger than or equal to that of transmissions without relay and non-adaptive relayed transmissions. Our evaluations show that over the region where relaying improves the end-to-end throughput, the DF scheme provides significant throughput gain over the AF scheme provided that the error propagation is avoided via error detection techniques. We provide a frame structure to enable the proposed link adaptation and selection method for orthogonal frequency division multiple access (OFDMA)-time division duplex relay networks based on the IEEE 802.16e standard.