• International journal of advanced smart convergence
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• 제7권4호
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• pp.92-100
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• 2018

This paper presents a link adaptation scheme for adaptive full duplex (AFD) systems. The signal modulation levels and communication link patterns are adaptively selected according to the changing channel conditions. The link pattern selection process consists of two successive steps such as a transmit-receive antenna pair selection based on maximum sum rate or minimum maximum symbol error rate, and an adaptive modulation based on maximum minimum norm. In AFD systems, the antennas of both nodes are jointly determined with modulation levels depending on the channel conditions. An adaptive algorithm with relatively low complexity is also proposed to select the link parameters. Simulation results show that the proposed AFD system offers significant bit error rate (BER) performance improvement compared with conventional full duplex systems with perfect or imperfect self-interference cancellation under the same fixed sum rate.

• 한국통신학회논문지
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• 제38C권12호
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• pp.1186-1195
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• 2013

상황인식을 위해 전장에 참여하는 세력 간 전술상황 교환의 주요 수단은 전술데이터링크(Tactical Data Link)이다. 한국군은 Link-11, Link-16 등 선진국의 전술데이터링크를 현재 운용하고 있으며, Link-K 기반의 합동전술데이터링크체계(JTDLS: Joint Tactical Datalink System)를 개발하여 공동 운용할 예정이다. Link-16은 태평양사령부와 공동 운용하므로, 가입번호 및 트랙번호 할당을 한국군이 독자적으로 선택할 수 없지만 Link-K는 한국군이 독자적으로 부여할 수 있다. 본 논문은, 한국군이 Link-16과 Link-K를 합동 운용할 때, 미군과 협의에 의한 할당된 Link-16 가입번호 및 트랙번호와 한국군이 독자적으로 할당한 Link-K 가입번호 및 트랙번호 간 상호운용성을 유지할 수 있는 방안을 제시하며, 합동전술데이터링크체계의 운용시험평가 결과를 통해 제안방안의 적용 가능성을 제시한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.445-449
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• 1989

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.672-675
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• 2000

There are many sources of errors in the parallel device. This study investigates the effect of a clearance error at a U-joint on the position and orientation errors of the platform of a new parallel device, cubic parallel manipulator. In this study, the limits of errors can be estimated for given conditions.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.789-794
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• 2000

This study proposes an error analysis for a cubic parallel device. There are many sources of errors in the device. An error analysis is presented based on an error model formed from the relation between the universal joint error of the cubic parallel manipulator and the end effector accuracy. The analysis shows that the method can be used in evaluating the accuracy of a parallel device.

• 한국시뮬레이션학회논문지
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• 제28권4호
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• pp.33-43
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• 2019

Link-16은 미 해군 및 공군, NATO에 합동 상호운용성을 제공하는 데이터링크로 국내 무기체계에서도 운용되고 있다. 현재 Link-16 운용을 위한 시험환경, 전술모의훈련 및 상호운용성 검증 시험은 해외 SW 및 도구를 통해 전적으로 의존하고 있다. 따라서 Link-16 기반의 운용환경시험 도구의 개발이 필요하다. 본 논문에서는 Link-16 해외도구 기능 분석을 통해 Link-16 네트워크 운용성능분석 시뮬레이터를 개발하였다. 또한 연동을 위한 SIMPLE 표준 인터페이스를 구현하였다. Link-16 네트워크 운용성능분석을 위한 기능모델은 사전분석, 실시간 운용분석, 사후분석 기능모델로 구성된다. 각 기능모델에 대한 시험은 해외 SW 및 도구와 SIMPLE 연동을 통해서 수행하였다. Link-16 네트워크 운용성능분석 시뮬레이터를 통해 해외 SW를 대체하게 된다면 우리 군에 맞는 전술훈련 및 네트워크 운용성능분석, 운용(시나리오)검증을 수행할 수 있을 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1824-1827
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• 1997

Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.

• Journal of Mechanical Science and Technology
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• 제14권11호
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• pp.1225-1231
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• 2000

This paper proposes a V-shaped Lyapunov function approach for the model-based control of flexible-joint robots, in which a new model-based nonlinear control scheme is designed based on a V-shaped Lyapunov function. The proposed control guarantees global asymptotic stability for link trajectory control while keeping all internal signals bounded. Since joint flexibility is used as a control parameter, the proposed control is not restricted by the degree of joint flexibility and be applied to flexibility-joint, partly-flexibility, or rigid-joint robots without modification. the effectiveness of the proposed control has been by computer simulation.

• 한국군사과학기술학회지
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• 제16권6호
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• pp.789-796
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• 2013

Next Generation Weapon system from the center of the platform to share information in real-time Network Centric Warfare(NCW: Network Centric Warfare) has been changed. Data link system is defined as a network. That is, all in real-time battlefield information is to enable sharing. Data link system is classified as a precision strike, Monitoring/control, control of a Patriot missile battery systems. These systems are most effective in a Joint warfare and precision strike. Data Link Systems(Data Communications) implementation is accomplished by using the KDLM(Korean Data Link Modem) and Radio Transceiver. KDLM is operated in conjunction with the legacy Radios(re-using fielded HF/VHF/UHF radio systems). In this paper, we describe in terms of KDLM system design. In this paper, the proposed design structure is how to effectively interact with legacy various radio. First, The results provide an analysis of that Dynamic TDMA system and apply modem structure. Radio characteristics data are necessary for an effective TDMA system design. This article analyzes the test results and describes the structure to improve the receive performance.

• 한국통신학회논문지
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• 제38C권11호
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• pp.955-965
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• 2013

합동전술정보분배체계는 미국, 북대서양조약기구 및 기타 연합군에서 운용하고 있는 Link-16의 통신 터미널로 사용된다. 최근 민간 항공분야에서의 교통량 증가로 인해 주파수 수요가 급증함에 따라 Link-16에서 사용 중인 주파수는 다른 시스템에 재할당될 예정이며, 이는 Link-16의 성능에 영향을 미칠 것으로 예상된다. 따라서 본 논문에서는 주파수 대역 감소에 따른 Link-16 성능의 영향을 모의실험과 수치 해석을 통해 기존 성능과 비교하였다. 성능 분석 결과, Nakagami 페이딩과 부분대역 잡음 재밍 환경에서 주파수가 재할당된 Link-16은 성능이 감소됨에도 불구하고 높은 항재밍 능력을 유지하였으며, 동일 시간슬롯에서 다수 사용자들을 지원할 수 있음을 확인하였다.