• International Journal of Precision Engineering and Manufacturing
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• v.6 no.2
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• pp.61-71
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• 2005

The study reported deals with investigating the feasibility of control strategy for a serial rigid link manipulator that applies impulsive torques at the joints. The strategy is illustrated for a planar three rigid link manipulator. An impulse-based concept which uses successive torque impulses on rigid link as the controller for motion correction was introduced. This control strategy was tested over the entire trajectory to demonstrate that the tracking error could be reduced effectively. The best condition for minimizing the tracking error with the least impulse input at each joint is investigated by considering one design and one operating parameter. The first was the damping in the system, and the second was the sampling time during operation. The results show that this approach can provide useful guidance for the design and control of robot manipulators that require minimum impulse feedback for accurate tracking.

• Journal of the military operations research society of Korea
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• v.30 no.2
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• pp.32-49
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• 2004

The Tactical Data Link System is a standardized communication link to exchange and interface positional, situational information, command and control in real time. It has been evaluated that this Link would play an important role for tactical interoperability, situation awareness, and execution of joint operations in the future war. But considering the rapidly changing war situations, even though being admitted the necessity of the Tactical Data Link System of Army helicopter, one of superpowers in the Army, substantially we don't still have any concrete concept to build it. Therefore, this work presents how to embody the Tactical Data Link System through computer-aided system engineering on the base of Tactical Data Link System operating concept analysis of helicopters-ground units.

• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.222-229
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• 2011

In this paper, we present the concept and main mission of the Crabster, an underwater walking robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which comprise the main difference in dynamic characteristics between on-land and underwater robots. Drag and lift forces acting on the underwater link are described as a function of the relative velocity of the link with respect to the fluid using the strip theory. Using the translational velocity of the link as the rotational velocity of the joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has a roll joint and twist angles between the joints. To verify the proposed model, we conducted drag torque simulations using a simple Selective Compliant Articulated Robot Arm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.1
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• pp.193-214
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• 2017

In this paper, we study the problem of network utility maximization in a CSMA based multi-hop wireless network. Existing work in this aspect typically adopted continuous time Markov model for performance modelling, which fails to consider the channel conflict impact in actual CSMA networks. To maximize the utility of a CSMA based wireless network with channel conflict, in this paper, we first model its weighted network capacity (i.e., network capacity weighted by link queue length) and then propose a distributed link scheduling algorithm, called CSMA based Maximal-Weight Scheduling (C-MWS), to maximize the weighted network capacity. We derive the upper and lower bounds of network utility based on C-MWS. The derived bounds can help us to tune the C-MWS parameters for C-MWS to work in a distributed wireless network. Simulation results show that the joint optimization based on C-MWS can achieve near-optimal network utility when appropriate algorithm parameters are chosen and also show that the derived utility upper bound is very tight.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.8
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• pp.1022-1029
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• 2020

We investigate the joint selection problem of the transmit power level and the best access point for multi-access points. We further reduce the transmit power by jointly optimizing the transmit power and the access point selection. Our aim is to minimize the total transmit power, while each terminal maintains minimum signal to interference ratio requirement. We observe that the optimum solution can be achieved through proposed iterative algorithm for both TA link and AT link. Simulation results show that proposed algorithm (joint optimization of transmit power level and access point) outperforms the algorithm which optimizes the transmit power only. We also observe that the duality between the TA link and AT link does not hold in multi-access points environment. Accordingly, the resulting power vectors and the access point vectors for TA link and AT link are different in general.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Journal of IKEEE
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• v.15 no.1
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• pp.15-22
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• 2011

In order to performing the joint operation of Korean army efficiently, informations about surveillance, reconnaissance, and situation awareness need to be possessed jointly. In the first development phase (basis type) of the Korean joint tactical data link system (JTDLS-K), essential tactical information and recognized situation are owned among platforms in common by using existing wireless terminals. In the second development phase (completion type) of the JTDLS-K, a JTDLS which can perform network centric warfare (NCW) will be developed in due consideration of technology development of the basis type and common technology maturity degree. This is a joint battlefield system that can show fighting power simultaneous and polysynthetically through providing command and control messages effectively to each platform, which is participating in the joint and combined operations. In this paper, the development of JTDLS-K with a common data processor based on common link integration processing (CLIP) is described. From the test results of the system presented in this paper, it is demonstrated that quadrature phase shift keying (QPSK) signals can be applied to the system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.3
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• pp.643-650
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• 2017

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for the flexible joint robot by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition for disturbances. The dynamic model of flexible joint robot is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.9
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• pp.1245-1247
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• 2014

This paper presents a robust position tracking controller for motor-driven flexible joint manipulators using only the motor angle measurement. The control problem is not easy because the link position is hard to estimate in the presence of parameter uncertainties. The proposed controller consists of a feedback linearization controller (FLC) and two proportional-integral observers (PIOs) that estimate both system states including the link position and an equivalent disturbance for compensating the parameter uncertainties. Comparative computer simulations are conducted to demonstrate the effectiveness of the proposed control algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.343-343
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• 2000

The conventional actuators with the speed reducer had weakness in supporting the weight of the body and leg itself. To overcome this, a new four bar link mechanism actuated by the ball screw was proposed. Using this, we developed a new type of 10 D.O.F biped robot. The dynamics model of the biped robot is investigated in this paper. In the modeling process, the robot dynamics are expressed in the joint coordinates using the Euler-Lagrange equation. Then, they are converted in to the sliding joint coordinates, and joint torques are expressed in the force along the sliding direction of the ball screw. To test modeling of the robot, a computer simulation was performed.