• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.48.2-48
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• 2002

This paper presents an integrated sliding mode adaptive control scheme for general nonlinear uncertain systems, where structured uncertainty is assumed can be linearly parameterized and unstructured uncertainty is assumed be bounded by unknown constant A certain estimation scheme for this unknown constant is introduced to attenuate the unstructured uncertainty. Presented control scheme is shown to be stable and numerical expressions of bounds of all error signals are given, from which we can acquire some useful information about practical trade-off between tracking performance and parameter estimation property.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1068-1072
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• 1991

This paper presents a decentralized model reference adaptive control scheme for an interconnected continuous linear system composed of a number of single-input single-output subsystems in which outgoing interactions pass through the measurement channel and are subject to bounded external disturbance. The scheme can treat the unknown strength of interactions as well as the uncertainty of subsystems.

• The Journal of the Acoustical Society of Korea
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• 제16권3E호
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• pp.7-13
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• 1997

This paper addresses traffic prediction issues on MPEG. A new adaptive traffic prediction scheme is proposed using MPEG picture characteristic that picture traffic depends on the coding mode of that picture, that is, I, P, and B mode. Our prediction scheme, which is based n picture decomposition (PD) and the cross-correlation of the different types of pictures, has better performance in predicting bursty MPEG traffic than that of the first-order autoregressive (AR) prediction scheme. Our simulation results show that the performance is further improved about 15% by utilizing the cross-correlations between pictures.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.47-51
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• 1987

This paper presents a decentralized adaptive control scheme based on Lyapunov design for robotic manipulators, which make possible the joint independent control without neglecting the coupling between the joint motions. The performance of the presented scheme is compared via computer simulations with the conventional joint independent control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.32-35
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• 1987

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonlinearties and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which combines the pole placement with the extended linearized perturbation model. And this control scheme has two components: a feadforward control and a feedback compensation control. Based on this, the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

• ETRI Journal
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• 제36권6호
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• pp.1066-1069
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• 2014

We propose a lane adaptive recovery scheme for multiple lane faults in a multi-lane-based Ethernet link. In our scheme, when lane faults occur in a link, they are processed not as full link faults but as partial link faults. Our scheme provides a higher link utilization and lower packet loss rate by reusing the available lanes of the link and providing a low recovery time of under a microsecond.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제7권4호
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• pp.784-799
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• 2013

This paper presents an adaptive rate control scheme for streaming-based content sharing service. This scheme delivers multimedia contents from a user device to another device or seamlessly redirects streaming service across heterogeneous user devices. In the proposed scheme, a streaming server adjusts video quality level according to the network and client status. Our scheme is different from other rate control schemes, because the video quality at the server is decided not only based on the available bandwidth, but also based on the device characteristics and bandwidth requirement at the access network. We also propose a bandwidth estimation method to achieve more equitable bandwidth allocations among streaming flows competing for the same narrow link with different Round Trip Times (RTTs). Through the simulation, we prove that our scheme improves the network stability and the quality of streaming service by appropriately adjusting the quality of the video stream. The simulation results also demonstrate the ability of the proposed scheme in ensuring RTT-fairness while remaining throughput efficient.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.319-328
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• 2010

This paper proposes a robust adaptive fuzzy tracking control scheme for a nonholonomic mobile robot with external disturbances as well as parameter uncertainties in the robot kinematics, the robot dynamics, and the actuator dynamics. In modeling a mobile robot, the actuator dynamics is integrated with the robot kinematics and dynamics so that the actuator input voltages are the control inputs. The presented controller is designed based on a FBFN (Fuzzy Basis Function Network) to approximate an unknown nonlinear dynamic function with the uncertainties, and a robust adaptive input to overcome the uncertainties. When the controller is designed, the different parameters for two actuator models in the actuator dynamics are taken into account. The proposed control scheme does not require the kinematic and dynamic parameters of the robot and actuators accurately. It can also alleviate the input chattering and overcome the unknown friction force. The stability of the closed-loop control system including the kinematic control system is guaranteed by using the Lyapunov stability theory and the presented adaptive laws. The validity and robustness of the proposed control scheme are shown through a computer simulation.

• 대한기계학회논문집B
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• 제24권3호
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• pp.443-449
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• 2000

The performance of 2-frame PTV(particle tracking velocimetry) system was improved using an adaptive hybrid scheme. The original 2-frame PTV method based on the match probability concept employs global match parameters for the entire flow field. Since this does not reflect fully the detailed local velocity change, it sometimes reduces the recovery rate of velocity vectors and increases the number of erroneous vectors in the region where an extraordinary flow structure exists. In this study, the preliminary FFT-based PIV results are used as an input parameter to determine the local match parameters needed for the 2-frame particle tracking algorithm. A computer simulation using synthetic particle images was carried out to study the performance of the adaptive 2-frame PTV technique. The adaptive hybrid method shows the better performance with increasing the velocity vector recovery rate and decreasing the computation time, compared to the original 2-frame PTV method.

• International Journal of CAD/CAM
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• 제6권1호
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• pp.139-148
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• 2006

Catmull-Clark subdivision scheme provides a powerful method for building smooth and complex surfaces. But the number of faces in the uniformly refined meshes increases exponentially with respect to subdivision depth. Adaptive tessellation reduces the number of faces needed to yield a smooth approximation to the limit surface and, consequently, makes the rendering process more efficient. In this paper, we present a new adaptive tessellation method for general Catmull-Clark subdivision surfaces. Different from previous control mesh refinement based approaches, which generate approximate meshes that usually do not interpolate the limit surface, the new method is based on direct evaluation of the limit surface to generate an inscribed polyhedron of the limit surface. With explicit evaluation of general Catmull-Clark subdivision surfaces becoming available, the new adaptive tessellation method can precisely measure error for every point of the limit surface. Hence, it has complete control of the accuracy of the tessellation result. Cracks are avoided by using a recursive color marking process to ensure that adjacent patches or subpatches use the same limit surface points in the construction of the shared boundary. The new method performs limit surface evaluation only at points that are needed for the final rendering process. Therefore it is very fast and memory efficient. The new method is presented for the general Catmull-Clark subdivision scheme. But it can be used for any subdivision scheme that has an explicit evaluation method for its limit surface.