• 전기의세계
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• 제30권12호
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• pp.822-831
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• 1981

Many different schemes of the adaptive observer and controller have been developed for both continuous and discrete systems. In this paper we have presented a new scheme of the reduced order adaptive observer for the single input discrete linear time invariant plant. The output equation of the plant, is transformed into the bilinear form in terms of system parameters and the states of the state variable filters. Using the plant output equation the discrete implicit adaptive observer based on the similar philosophy to Nuyan and Carroll is derived and the parameter adaptation algorithm is derived based on the exponentially weighted least square method. The adaptive model following control system is also constructed according to the proposed observer scheme. The proposed observer and controller are rather than simple structure and have a fast adaptive algorithm, so it may be expected that the scheme is suitable to the practical application of control system design. The effectiveness of the algorithm and structure is illustrated by the computer simulation of a third order system. The simulation results show that the convergence speed is proportinal to the increasing of weighting factor alpha, and that the full order and reduced order observer have similar convergence characteristics.

• 정보과학회 논문지
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• 제45권2호
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• pp.187-194
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• 2018

최근 HTTP 적응적 스트리밍(HTTP adaptive streaming) 서비스가 주목을 받고 있다. 기존 HTTP 적응적 스트리밍 서비스의 비디오 품질 조절 기법은 네트워크의 대역폭이나 클라이언트의 버퍼량에 따라 비디오 품질을 조절한다. 그러나 기존 품질 조절 기법은 빈번한 대역폭 변화나 고정된 버퍼 임계로 인해 불필요한 품질 변경이 발생하여 QoE(Quality of Experience)가 저하되는 문제가 있다. 본 논문에서는 변화하는 네트워크 환경에서 HTTP 적응적 스트리밍 서비스의 QoE 향상을 위해 평균 비디오 품질을 높이면서 불필요한 품질 변경을 최소화하는 비디오 품질 유지 기법을 제안한다. 제안하는 기법은 버퍼 점유율과 비디오 품질이 높을 경우 품질 유지 기간을 길게 설정하여 높은 품질을 오래 유지한다. 실험을 통해 제안하는 기법이 평균 비디오 품질을 향상시키고 품질 변경을 최소화하여 QoE를 향상시키는 것을 확인하였다.

• 한국통신학회논문지
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• 제27권6C호
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• pp.581-593
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• 2002

본 논문은 DiffServ 방식의 Assured Service를 이용하는 플로에게 QoS를 보장하기 위해 Admission Control이 수행된 상황 하에서 발생하는 RIO 방식의 문제점을 제시하고 이에 대한 해결 방안으로 Adaptive RIO 방식을 제안한다. 제안하는 Adaptive RIO 방식은 네트워크 토폴로지와 Assured Service 서브 클래스별로 할당되는 대역폭의 비율에 따라 결정되는 버퍼 크기를 기준으로 일정 시간 구간마다 도착 가능한 In-profile 패킷과 전체 패킷의 최대량을 고려하여 RIO의 변수 값들을 재설정함으로써 허용된 In-profile 패킷에 대한 확률적인 폐기 (Early Random Drop)를 방지한다. 시뮬레이션 결과는 Assured Service에 대해 Admission Control이 수행된 상황과 Congestion 상황에서 제안하는 Adaptive RIO 방식이 RIO 방식보다 In-profile 트래픽에 대한 보호와 수율 성능이 우수함을 보인다.

• 한국통신학회논문지
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• 제30권9A호
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• pp.762-771
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• 2005

In this paper, an efficient Adaptive quality-of-service (QoS) traffic control scheme with priority scheduling is proposed for the multimedia traffic transmission over wireless access networks. The objective of the proposed adaptive QoS control (AQC) scheme is to realize end-to-end QoS, to be scalable without the excess signaling process, and to adapt dynamically to the network traffic state according to traffic flow characteristics. Here, the reservation scheme can be used over the wireless access network in order to get the per-flow guarantees necessary for implementation of some kinds of multimedia applications. The AQC model is based on both differentiated service model with different lier hop behaviors and priority scheduling one. It consists of several various routers, access points, and bandwidth broker and adopts the IEEE 802.1 le wireless radio technique for wireless access interface. The AQC scheme includes queue management and packet scheduler to transmit class-based packets with different per hop behaviors (PHBs). Simulation results demonstrate effectiveness of the proposed AQC scheme.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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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• 제어로봇시스템학회 2004년도 ICCAS
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.472-477
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• 1996

This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.154-161
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• 1999

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 춘계학술대회 논문집
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 한국생산제조학회지
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• 제5권4호
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• pp.26-37
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.