• 한국통신학회논문지
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• 제35권11B호
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• pp.1640-1650
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• 2010

최근 전장의 환경이 네트워크 중심전으로 빠르게 변화함에 따라 다양한 전술정보를 신속하고 정확하게 전송할 수 있는 전술데이터링크가 요구되고 있다. 현재 한국군은 효율적인 합동전술 작전을 지원하기 위해 한국형 합동전술데이터링크(KJTDLS: Korea Joint Tactical Data Link System) 체계 개발을 기본형과 완성형 2단계로 나누어 추진하고 있다. 하지만 한국형 합동전술데이터링크 체계(기본형)는 미군의 대표적인 전술데이터링크인 Link-16과 비교하여 통신 대역폭의 제한과 낮은 전송효율 때문에 Link-16의 TDMA 프로토콜을 적용하기에는 많은 문제점이 있다. 본 논문에서는 한국군의 전술 작전환경을 고려하여 Dynamic TDMA 기술 기반의 프로토콜의 구조를 제안하였으며, 제안된 전술데이터링크 프로토콜을 검증하기 위해 시뮬레이션을 구현 및 성능을 분석하였다.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.223-233
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• 2008

A new output feedback controller design approach for flexible-joint (FJ) robots via the observer dynamic surface design technique is presented. The proposed approach only requires the feedback of position states. We first design an observer to estimate the link and actuator velocity information. Then, the link position tracking controller using the observer dynamic surface design procedure is developed. Therefore, the proposed controller can be simpler than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop system are uniformly ultimately bounded. Finally, the simulation results of a three-link FJ robot are presented to validate the good position tracking performance of the proposed control system.

• Journal of Computational Design and Engineering
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• 제1권1호
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• pp.1-12
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• 2014

In this paper, we propose a new method of reconstructing the hand models for individuals, which include the link structure models, the homologous skin surface models and the homologous tetrahedral mesh models in a reference posture. As for the link structure model, the local coordinate system related to each link consists of the joint rotation center and the axes of joint rotation, which can be estimated based on the trajectories of optimal markers on the relative skin surface region of the subject obtained from the motion capture system. The skin surface model is defined as a three-dimensional triangular mesh, obtained by deforming a template mesh so as to fit the landmark vertices to the relative marker positions obtained motion capture system. In this process, anatomical dimensions for the subject, manually measured by a caliper, are also used as the deformation constraints.

• 한국정밀공학회지
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• 제5권2호
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• pp.23-32
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• 1988

A control system for improving the moving accuracy of robotic manipulators with elastic joints is devloped. The dynamics of manipulator system is splitted into two sub-dynamics; of arm-link and actuator rotor- link, which are coupled statically through joint torque. Two contorl loops are implemented respectively around both sub-dynamic systems. Computed torque algorithm with acceleration feedback is used for the arm-link control loop, and for the actuator rotor-link control loop PID algorithm is adopted. The resulting control system is tested through a series of computer simulation for a PUMA type manipulator, The reaults show good performance of the developed control system for wide range of joint stiffness and moving speed.

• Journal of Mechanical Science and Technology
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• 제16권1호
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• pp.13-23
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• 2002

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.511-516
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• 2000

In order to not only perform as a extreme model under the severe operating condition but also acquire more diverse and advanced control capability utilizing high compliance, active vibration control of a flexible 2-link robot manipulator are investigated. Multi variable-structured frequency shaped optimal sliding mode is proposed for the flexible robot manipulator like control system, whose control variables, an angular motion of joint and vibration of flexible link, have to be controlled simultaneously by one control torque at a driving joint. The control system is divided into two subsystems, a control input related subsystem and an added subsystem. The proposed sliding mode, composed of multi control variables, makes optimized relation between subsystems and a individual control input, thus, the sliding mode controller can compensate whole dynamics of each subsystems simultaneously. And the possibility and effectiveness are verified by vibration control of a manipulator having two flexible links. Simulation and experiment results show that the proposed control scheme achieves the purpose effectively.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권11호
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• pp.5209-5228
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• 2016

Device-to-device (D2D) communication underlaying cellular networks can bring significate benefits for improving the performance of mobile services. However, it hinges on elaborate resource sharing scheme to coordinate interference between cellular users and D2D pairs. We formulate a joint mode selection, link allocation and power control optimization problem for D2D communication sharing uplink resources in a multi-user cellular network and consider the efficiency and the fairness simultaneously. Due to the non-convex difficulty, we propose a three-step scheme: firstly, we conduct mode selection for D2D pairs based on a minimum distance metric after an admission control and obtain some cellular candidates for them. And then, a cellular candidate will be paired to each D2D pair based on fairness. Finally, we use Lagrangian Algorithm to formulate a joint power control strategy for D2D pairs and their reused cellular users and a closed-form of solution is derived. Simulation results demonstrate that our proposed algorithms converge in a short time. Moreover, both the sum rate of D2D pairs and the energy efficiency of cellular users are improved.

• 대한기계학회논문집
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• 제17권10호
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• pp.2543-2554
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• 1993

In this paper, the kinematic and dynamic analyses of spatial complex kinematic chain are studied. Through the new method both using the set of identification numbers and applying the DenavitHartenberg link representation method to the spatial complex kinematic chain, the kinematic configuration of the chain is represented. Some link in the part of closed chain being fictitiously cutted, the complex kinematic chain is transformed to the branched chain. The kinematic constraint equations are derived from the constraint conditions which the cutted sections of the link have to satisfy. And the joint variables being partitioned in the independent joint variables and the dependent joint variables, the dependent variables are calculated from the independent variables by using the Newton-Raphson iterative method and the pseudoinverse matrix. The equations of motion are derived under the independent joint variables by using the principle of virtual work. Algorithms for dynamic analysis are presented and simulations are done to verify accuracy and efficiency of the algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.492-496
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• 1988

Usually the first three joint variables (major link) and the next three joint variables (minor link) are used to determine the position and the orientation, respectively, of 6 degrees-of-freedom robot manipulators. In this paper, the Jacobians of 20 major links and 6 minor links are calculated to find the positional maneuverability matrices and orientational maneuverability matrices. Then the kinematic characteristics of the major and minor links are examined. Also we gave the measures of maneuverability and the controllability of the links for the figure of merits of robot manipulator design.

• 대한전기학회논문지
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• 제43권3호
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• pp.485-492
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• 1994

Trajectory tracking control porblems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot mainpulator.