• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2554-2566
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• 1994

Robot position/force control has been a difficult task owing to the interaction between a robot and an environment with a rather high stiffness. In addition to the dynamic instability, the interaction causes the following problem : 1) chattering at steady-state, 2) dynamic coupling effect of robot, and 3) performance degradation due to a titled environment. To solve the problem, the Time Delay Control(TDC), which has been known to be quiet robust to plant uncertainties and disturbances, has been applied. In conjunction to TDC, the following three ideas were also used : 1) To reduce the amplitude of the chattering at the steady state, a novel scheme was adopted to enhance the resolution type solution of A/D conversion for the force sensor. 2) To reduce the dynamic coupling, a trajectory type position command was tried on a comparative basis to the step command, as well as a more accurate mass matrix was used instead of the constant mass matrix. 3) And finally to improve the performance in the tilted environment, force derivatives instead of position derivatives were used in the TDC law. Computer simulations and experiments resulted in obvious improvements on the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.12
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• pp.2081-2089
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• 1997

Accurate positioning of the throttle valve of a gasoline engine is required to implement various systems such as traction control system(TCS), cruise control system and drive-by-wire system. In this research, position control system has been developed for the throttle actuator system that uses one throttle actuation for small volume and DC servo motor for fast response. In order to drive the DC motor, PWM signal generator and PWM amplifier were built and interfaced to the motor and controller. Also, time delay control(TDC) law has been used as a basic control algorithm. A method of varying the reference model of the TDC according to the size of change in target throttle angle is proposed here. The simulation and experimental results show that both overshoot prevention and fast response are achieved by the TDC technique with this variable reference model.

• Journal of IKEEE
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• v.25 no.2
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• pp.234-242
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• 2021

In case implementation of microwave photonic (MWP) systems for phased array radars (PARs), noise and time delay error should be minimized to obtain accurate beam direction. Time delay error in MWP systems is generated from signal noise and timing jitter. In this paper, noise and timing jitter in MWP systems for PAR is researched, also according to the amplification of an erbium-doped fiber amplifier, noise and timing jitter variation is verified by an experiment. Timing jitter is decreased and SNR is increased if we amplify the signal by using an erbium-doped fiber amplifier, up to the amplification rate of signal and noise is similar.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.5
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• pp.34-42
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• 1993

Due to the low loss, broadband and accurate short time delay properties of optical fiber, it has attracted as a delay medium for high speed and broad-band signal processing. In this paper, we consider the coherent optical fiber filter of lattice structure, which uses coherent light sources and consists of directional couplers and optical fiber delay elements.The differences between the optical fiber filter and the ordinary digital filter are 1) the coupling coefficients of directional couplers are restricted between 0 and 1. 2) the optical signal is divided into ${j\sqrt{a}}and\;{j\sqrt{1-a}}$ at the directional coupler. Considering these restrictions, the design formulae and condition of realibility for optical fiber filter of lattice structure which makes the optimal use of optical signal energy are derived.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.32A no.12
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• pp.209-219
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• 1995

As a new algorithm for RC tree delay estimation, we propose a $\tau$-model of the driver and a moment propagation method. The $\tau$-model represents the driver as a Thevenin equivalent circuit which has a one-time-constant voltage source and a linear resistor. The new driver model estimates the input voltage waveform applied to the RC more accurately than the k-factor model or the 2-piece waveform model. Compared with Elmore method, which is a lst-order approximation, the moment propagation method, which uses $\pi$-model loads to calculate the moments of the voltage waveform on each node of RC trees, gives more accurate results by performing higher-order approximations with the same simple tree walking algorithm. In addition, for the instability problem which is common to all the approximation methods using the moment matching technique, we propose a heuristic method which guarantees a stable and accureate 2nd order approximation. The proposed driver model and the moment propagation method give an accureacy close to SPICE results and more than 1000 times speedup over circuit level simulations for RC trees and FPGA interconnects in which the interconnect delay is dominant.

• International Journal of Highway Engineering
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• v.16 no.5
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• pp.109-119
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• 2014

PURPOSES : The control delay in seconds per vehicle is the most important traffic operational index to evaluate the level of service of signalized intersections. Thus, it is very critical to calculate accurate control delay because it is used as a basic quantitative evidence for decision makings regarding to investments on traffic facilities. The control delay consists of time-in-queue delay, acceleration delay, and deceleration delay so that it is technically difficult to directly measure it from fields. Thus, diverse analysis tools, including CORSIM, SYNCHRO, T7F, VISTRO, etc. have been utilized so far. However, each analysis tool may use a unique methodology in calculating control delays. Therefore, the estimated values of control delays may be different by the selection of an analysis tool, which has provided difficulties to traffic engineers in making solid judgments. METHODS : This study was initiated to verify the feasibility of diverse analysis tools, including HCM methodology, CORSIM, SYNCHRO, T7F, VISTRO, in calculating control delays by comparing estimated control delays with that measured from a field. RESULTS : As a result, the selected tools produced quite different values of control delay. In addition, the control delay value estimated using a calibrated CORSIM model was closest to that measured from the field. CONCLUSIONS : First, through the in-depth experiment, it was explicitly verified that the estimated values of control delay may depend on the selection of an analysis tool. Second, among the diverse tools, the value of control delay estimated using the calibrated microscopic traffic simulation model was most close to that measured from the field. Conclusively, analysts should take into account the variability of control delay values according to the selection of a tool in the case of signalized intersection analysis.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.106-108
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• 2005

The calculation of parameters of a process model is modified to find that better sliding mode controller for a process with time delay. A design method by Camacho has such problems as chattering, overshoot due to the Pade approximation errors for the time delay term of the first order model. In this paper, a new design technique for a sliding mode controller is proposed by introducing the modified Pade approximation considering the weight factor. The modified method is expected to provide a more accurate model with better control settings.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.75-78
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• 1989

In this paper, A last time delay damper is presented for HB ( HyBrid ) step motor, which has large oscillation characteristics.The design objective is to develop a cost-effective and good-performance damper that would be applyed to HB step motor / driver system without the addition of transducer that would add a weight, size and cost to the system. The Back EMF signal which is recovered from current and voltage signal is used for the measuring the rotor position. It would be possible to get more accurate delay time for the motor driver system. It is proved that the maximum overshoot can be reduced to 13% at stopping through experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2641-2647
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• 2003

Conventional DLLs estimate the delay times of satellite signals individually and feed back these measurements to the VCO independently. But VDLL estimates delay times and user position directly and then estimate the feedback term for VCO using the estimated position changes. In this process, input measurements are treated as vectors and these vectors are used for navigation. First advantage of VDLL is that noise is reduced in all of the tracking channels making them less likely to enter the nonlinear region and fall below threshold. Second is that VDLL can operate successfully when the conventional independent parallel DLL approach fails completely. It means that VDLL receiver can get enough total signal power to track successfully to obtain accurate position estimates under the same conditions where the signal strength from each individual satellite is so low or week that none of the individual scalar DLL can remain in lock when operating independently. To operate VDLL successfully, it needs to know the initial user dynamics and position and prevents total system from the divergence. The suggested integration method is to use the inertial navigation system to provide initial dynamics for VDLL and to maintain total system stable. We designed the GPS/INS integrated navigation system. This new type of integrated system contained the vector pseudorange format generation block, VDLL signal processing block, position estimation block and the conversion block from position change to delay time feedback term aided by INS.

• Smart Structures and Systems
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• v.20 no.4
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• pp.483-498
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• 2017

Real-Time Hybrid Simulation (RTHS) is a powerful and cost-effective dynamic experimental technique. To implement a stable and accurate RTHS, time delay present in the experiment loop needs to be compensated. This delay is mostly introduced by servo-hydraulic actuator dynamics and can be reduced by applying appropriate compensators. Existing compensators have demonstrated effective performance in achieving good tracking performance. Most of them have been focused on their application in cases where the structure under investigation is subjected to inputs with relatively low frequency bandwidth such as earthquake excitations. To advance RTHS as an attractive technique for other engineering applications with broader excitation frequency, a discrete-time feedforward compensator is developed herein via various optimization techniques to enhance the performance of RTHS. The proposed compensator is unique as a discrete-time, model-based feedforward compensator. The feedforward control is chosen because it can substantially improve the reference tracking performance and speed when the plant dynamics is well-understood and modeled. The discrete-time formulation enables the use of inherently stable digital filters for compensator development, and avoids the error induced by continuous-time to discrete-time conversion during the compensator implementation in digital computer. This paper discusses the technical challenges in designing a discrete-time compensator, and proposes several optimal solutions to resolve these challenges. The effectiveness of compensators obtained via these optimal solutions is demonstrated through both numerical and experimental studies. Then, the proposed compensators have been successfully applied to RTHS tests. By comparing these results to results obtained using several existing feedforward compensators, the proposed compensator demonstrates superior performance in both time delay and Root-Mean-Square (RMS) error.