• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1099-1105
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• 2007

In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. A packet reflector with wireless internet connection is used to introduce serious time-varying communication delay of teleoperators. Average amount of time-delay was about 190(msec) for round trip, and varying between 175(msec) and 275(msec). Moreover some data packet was lost during the communication due to UDP data communication. Even under the serious time-varying delay and packet loss communication condition, the proposed approach can achieve stable teleoperation in free motion and hard contact as well.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.336-341
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• 2004

In this paper, a hybrid stabilization approach involving both passivity observer/passivity controller and wave variables is addressed to stabilize a teleoperation system with fixed time delay. To guarantee the stability of master or slave side, passivity observer/passivity controller are applied. But, passivity observer/passivity controller cannot deal with communication delay, and thus even small communication delay cause the system to be unstable. To cope with this problem, wave variables are additionally employed to have robustness to fixed communication delays. To show the validity of our proposed approach, several computer simulation results are illustrated.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.15 no.3
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• pp.265-270
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• 2004

This paper addresses the effect of group delay in satellite communication system. Phase of signal is distorted by the non-constant group delay. Group delay can be modeled as linear, parabolic and cubic type according to the polynomial characteristic. We investigate BER performance of satellite communication system with each 3 kinds of group delay. As signal bandwidth becomes wider, group delay makes more influence on the signal. BNR performance of satellite communication system is found when data rates are 1Mbps, 4Mbps and 8Mbps. Convolution coding with the code rate of 1/2 or 7/8 is used. At BER =10$\^$-5/, system with group delay needs more SNR of minimum 0.3㏈ to maximum 4.4㏈ than system without group delay. The worst case of BER performance happens in the linear group delay, 7/8 punctured convolution coding and 8 Mbps. The required SNR is increased by 4.4㏈ at this worst case.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.13 no.6
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• pp.29-35
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• 2013

The heterogeneous emergency communication radios is used at disaster management agencies of Korea to response activity in the event of disaster. The compensation method by communication connection time difference is necessary to seamless voice communication because radios have different communication method and delay. In this paper, we suggested solution for voice transmission chance and data loss problem.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.5
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• pp.1-10
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• 1998

Satellite communication is getting more important in the coming 21st century because of its wide areas sevice capability, ease of access, and fast channel establishment. As such, satellite communication networks will be the basis of the global communication system in cooperation with the ground ATM networks. In this paper, we consider an efficient transmission methodology of ATM cells over the satellite communication channel. We first analyze possible bottlenecks and performance deterioration factors in the case, and then propose an enhanced cell trasmission mechanism. In order to use satellite channel for ATM cell transmission, the application of complicated channel coding is inevitable. However, the forwared error control such as convolutional encoding brings forth burst errors, which calls for the application of some kind of interleaving mechanism to randomize the burst errors at the receiver. Another aspect which should b econsidered in satellite communication system is the inherent transmission delay, which can be very considered in satellite communication system is te inherent transmission delay, which can be very critical to the delay-sensitive ATM traffic. Therefore, we propose that the processing delay at the block interleaving stage should be controlled propose a variable-size block interleaving mechanism which utilizes the predicted transmission delay for each traffic in the queues of the transmitter. According to the computer simulation, the proposed mechanism could improve the overall performance by drastically reducing the ATM cell drop rate owing to the excessive transmission delay.

• Journal of electromagnetic engineering and science
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• v.3 no.2
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• pp.140-146
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• 2003

In this paper, the design of a channel filter and its group-delay-and-amplitude equalizer is carried out for the Ka-band satellite transponder subsystem. The 8th order dual-mode filter is employed for high selectivity around the band-edges with an elliptic-integral function response and has an in-line configuration. The 2-pole, reflection-type, group-delay equalizer is designed and manufactured to reduce the group-delay and amplitude variation, which can be large for such a high order filter. It is noted that in both the filter and equalizer, adopting the dual-mode coupling mechanism leads to less mass and volume. Through measurement, the performance of the realized group-delay-equalized filter is shown to meet the equipment requirements and to be appropriate for the satellite input multiplexer.

• International Journal of Internet, Broadcasting and Communication
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• v.15 no.3
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• pp.43-51
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• 2023

Slotted ALOHA (S-ALOHA) is a classical medium access control protocol widely used in multiple access communication networks, supporting distributed random access without the need for a central controller. Although stability and delay have been extensively studied in existing works, most of these studies have assumed ideal channel conditions or independent fading, and the impact of time-correlated wireless channels has been less addressed. In this paper, we investigate the queueing delay performance in S-ALOHA networks under time-correlated channel conditions by utilizing a Gilbert-Elliott model. Through simulation studies, we demonstrate how temporal correlation in the wireless channel affects the queueing delay performance. We find that stronger temporal correlation leads to increased variability in queue length, a larger probability of having queue overflows, and higher congestion levels in the S-ALOHA network. Consequently, there is an increase in the average queueing delay, even under a light traffic load. With these findings, we provide valuable insights into the queueing delay performance of S-ALOHA networks, supplementing the existing understanding of delay in S-ALOHA networks.

• Journal of IKEEE
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• v.19 no.4
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• pp.520-525
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• 2015

This paper investigates the consensus problem for high-order integrators with an arbitrary large communication delay. In order to solve this problem, new consensus controller with an additional design parameter that can eliminate the effect of a communication delay on the consensus problem is proposed. Also, it is proved that the proposed consensus controller can always solve the consensus problem of high-order integrators even in the presence of an arbitrarily large communication delay. Finally, an illustrative example is given in order to show the effectiveness of our design method.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.88-90
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• 2009

This paper deals with the consensus problem for multi-agent linear dynamic systems with communication delay. All the agents are identical high-order linear systems and their state information is exchanged through a communication network with constant communication delay. It is shown that a consensus is achieved if there exists a feasible solution to a set of linear matrix inequalities obtained for a simultaneous stabilization problem for multiple systems with delay. A numerical example is presented to show the effectiveness of the proposed method.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.1063-1066
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• 1999

The delay of cardiac depolarization wave detection in the conventional pacemakers or AICD (automatic implantable cardioverter/ defibrillator, or ICD) has been overlooked. However, it is known that the delay may cause hemodynamic problems and may prevent the proper operation of a new automatic feature, automatic capture verification, that is to be appeared in the near-future devices. In order to reduce the effects of the delay, a delay prevention algorithm was developed and tested by applying three human electrograms. The algorithm set the sensing threshold just above the measured noise level to reduce the detection delay. It is found that the low threshold was able to reduce the delay by 20msec(average) In most cases. The implementation results showed reliability and efficacy of the algorithm, and the algorithm could be applicable to the existing hardware and software of the conventional pacemakers and AICD without any significant modifications.