• Journal of Positioning, Navigation, and Timing
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• 제12권2호
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• pp.121-128
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• 2023

When calculating the user's position using satellite signals, the signals originating from the satellite pass through the ionosphere and troposphere to the user. In particular, the ionosphere delay error that occurs when passing through the ionosphere delays when the signal is transmitted, generating a pseudorange error and position error at a large rate. Therefore, to improve position accuracy, it is essential to correct the ionosphere layer error. In a receiver capable of receiving dual frequency, the ionosphere error can be eliminated through a double difference, but in a single frequency receiver, an ionosphere correction model transmitted from a Global Navigation Satellite System (GNSS) satellite is used. The popularly used Klobuchar model is designed to improve performance globally. As such, it does not perform perfectly in the Korea region. In this paper, the characteristics of the delay in the ionosphere in the Korean region are identified through an analysis of 10 years of data, and an improved ionosphere correction model for the Korean region is presented using the widely employed Klobuchar model. Through the proposed model, vertical position error can be improved by up to 40% relative to the original Klobuchar model in the Korea region.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.335-338
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• 1996

In this paper, we are going to design an iterative learning controller with the robust properties for initial error. For this purpose, the PID-type learning law will be considered and the design guide-line will be presented for the selection of the learning gain. Also, we are going to suggest a condition for the convergence of control input for a plant with input delay. Several simulation results are presented, which shows the effectiveness of the proposed algorithms.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2485-2487
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• 2000

In this paper, we use a fuzzy algorithm to detect and diagnose the error which is caused by time delay of the computer-controlled system. Generally, a computer-controlled system is composed of computer and process. And they communicate the data each other. In data communication, error occurs by some reasons, such as noise, disturbance, hardware defect, etc. Time delay is one of the reasons. And time delay makes it difficult to distinguish whether the system really has a problem or not. Therefore, we need to detect and diagnose the error from time delay. For difficulty of modeling and ambiguity of classification, we use a fuzzy algorithm. To verify the better performance of the proposed algorithm, we exemplified by some simulation results.

• 드라이브 ㆍ 컨트롤
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• 제17권1호
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• pp.44-50
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• 2020

For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

• 정보처리학회논문지C
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• 제9C권3호
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• pp.375-384
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• 2002

현재의 인터넷은 가변적인 대역폭과 패킷손실 그리고 지연으로 인하여 대화식 응용의 QoS 보장이 어렵다. 특히 최근에 정보의 기반구조로 중요성이 강조되고 있는 VOIP는 패킷손실률과 종점간지연이 클 때 통화품질이 크게 떨어지므로 네트웍 수준에서나 응용 수준에서 에러제어 기법이 요구된다. 인터넷 전화와 같은 대화식 응용을 위한 응용 수준의 에러 제어 기법으로 FEC(Forward Error Correction)가 가장 많이 사용되고 있는데, 이 기법은 주정보와 더불어 부가정보를 전송함으로서 패킷손실을 복구하는 방법으로 네트웍의 상태에 따라 적응적으로 부가정보의 양을 조절한다. 그러나 기존의 알고리즘들은 패킷손실률만을 고려하여 부가정보를 조절하였으며 부가 정보를 증가시킬 때 수반되는 종점간지연을 간과함으로써 통화품질을 떨어뜨리는 단점이 있다. 본 논문에서는 패킷손실률뿐만 아니라 종점간지연을 고려하는 FEC기반 에러제어 기법인 SCCRP (Selecting a Codec Combination using Reward and Penalty)를 제안한다. 실험 결과, SCCRP는 다른 알고리즘들에 비해 복구 후 패킷손실률은 물론 복구 후 종점간지연을 낮게 유지하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.845-849
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• 1992

The disturbance and time delay can often cause a significant error in the estimation of trajectory of a underwater vehicle. The time delay considered in this study is due to the delayed rudder response to the rudder input from the guidance control part. The simulation tests are performed on maneuver with constant rudder angle, zigzag maneuver, dive-climb maneuver, and corridor pattern maneuver. The results are compared with those of without delay cases.

• 한국정보과학회논문지:시스템및이론
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• 제29권6호
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• pp.354-360
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• 2002

지연시간 계산은 지연시간을 고려한 배치 단계에서 백만 번 이상도 수행되므로 효과적이면서 간단해야 한다. 본 논문에서는 계산은 매우 빠르고 간단하지만 수 백%의 오차를 가질 수 있는 Elmore delay를 개선하기 위해 Elmore delay와 SPICE 결과의 비율을 보상값으로 이용하는 방법을 제안한다. 제안한 새로운 방법은 resistance shielding effects를 고려하여 실험적으로 지연시간을 보상하여 그 오차를 크게 줄이며, 계산 복잡도는 Elmore delay와 같은 정도로 간단하다. Elmore delay가 31.6 ~ 145.2% 오차를 갖는 RC 트리에 대하여 실험한 결과, 보상된 delay의 오차는 2.5 ~ 22.7%로 크게 줄었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1888-1893
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• 1991

Systematic design of a controller for a water temperature system was considered, with the intention of devising an accurate control experiment. The results of an experiment using a water temperature system based on the pole placement regulator showed water temperature oscillation and steady state error. This paper proposed a. method for eliminating both the oscillation and the steady state error. The oscillation was eliminated by a drive delay compensation technique, in which a future state value of the system was predicted through a real time computer simulation. The steady state error was eliminated by an steady state error correction technique, in which an actual steady state heatrate in the system model was replaced by an imaginary heatrate. By combining these two techniques, we obtained an experimental result for water temperature control of 0.01 (.deg. C) accuracy. Furthermore, the proposed method was evaluated relatively by comparing the experimental results using several other methods and proved to be the most accurate and convenient control method for the delay system.

• Journal of Information Processing Systems
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• 제8권4호
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• pp.739-748
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• 2012

We propose an analytic model to compute the station's saturated throughput and packet delay performance of the IEEE 802.11 DCF (Distributed Coordination Function) in which frame transmission error rates in the channel are different from each other. Our analytic model shows that a station experiencing worse frame error rates than the others suffers severe performance degradation below its deserved throughput and delay performance. 802.11 DCF adopts an exponential back-off scheme. When some stations suffer from high frame error rates, their back-off stages should be increased so that others get the benefit from the smaller collision probabilities. This impact is then recursively applied to degrade the performance of the victim stations. In particular, we show that the performance is considerably degraded even if the frame error rate of the victim station satisfies the receiver input level sensitivity that has been specified in the IEEE 802.11 standard. We also verify the analytic results by the OPNET simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.58-58
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• 2001

This paper shows a practical approach that is robust to the errors causing path-delay in mobile wireless location, and analyzes its performance by comparing with other methods. NLOS(non-line-of-sight) error and multipath are two big sources of positioning error in wireless location. Contrary to GPS(global positioning system), they result from the terrestrial propagation of a signal. Especially, since LOS(line-of-sight) path between a transceiver and a receiver is blocked by intermediate buildings and topography, NLOS causes a signal to be reflected and diffracted. This path-delay error is very localized, and so, it is not easy to be estimated and mitigated. To treat such localized error, therefore ...