• 한국전자통신학회논문지
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• 제4권3호
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• pp.236-242
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• 2009

2관절 유연한 로봇 팔는 관절 축을 회전할 때 진동이 발생한다. 본 논문에서는 유연한 로봇팔의 진동 동력학은 bernoulli-Euler의 beam이론과 라그란지 방정식을 이용하여 구하였고, $\dot{D}$-2C가 skew symmetric이다는 사실을 사용하여 계산량을 줄이는 단순한 구조의 새로운 제어기를 제안한다. Lyapunov 안정도 이론은 관절을 조절하기 위한 안정한 확정적인 비선형 제어기를 성취하기 위하여 적용된다.

• 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.

• 제어로봇시스템학회논문지
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• 제18권8호
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• pp.774-779
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• 2012

We design and implement a RTT (Round Trip Time) based TCP (Transmission Control Protocol) for USN (Ubiquitous Sensor Network). We adopt a basic update algorithm for window size from FAST TCP that uses the queuing delay at link as the congestion measure. The designed TCP estimates the queuing delay at link from the measured RTT in the network layer, and updates the window size based on the estimated queuing delay. The designed TCP allows to utilize the full capacity of USN links and avoids the waste of the given link capacity that is common without the flow control in the transport layer. The experiment results show that the window size of the sender converges within a small range of variations without any packet loss, and verify the stability and performance of the designed TCP.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제49권8호
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• pp.529-535
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• 2000

In this paper, a current control system of a single phase PWM AC/DC converter using a reduced-order Luenberger observer without source voltage sensors is proposed. The sinusoidal input current and unity input power factor are realised based on the estimated source voltage performed by the reduced-order Luenberger observer using actual currents and DC link voltage. The poles of the reduced-order Luenberger observer are placed in the left half plane of s-plane by the pole-placement method in order to acquire the stability of the observer. The magnitude and the phase of the estimated source voltage are used to accomplish the unity power factor. The proposed method is implemented by DSP(Digital Signal Processor). Experimental Results verify that the reduced-order observer estimates the source voltage without the estimation error and the control system accomplishes the unity power factor, and constant DC link voltage.

• 한국정밀공학회지
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• 제25권6호
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• pp.62-70
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• 2008

An adaptive fuzzy backstepping controller is proposed for the motion control for a single-link flexible-joint robot in the presence of parametric uncertainties. Fuzzy logic system is used to approximate the uncertainties of functions and a backstepping technique is employed to deal with the mismatched problem. A compensation controller is also employed to estimates the bound of approximation error so that the shattering effect of the control effort can be reduced. Thus the asymptotic stability of the closed loop control system can be obtained based on a Lyapunov synthesis approach. Numerical simulation results for a single-link flexible-joint robot are included to show the effectiveness of proposed controller.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2003년도 봄 학술발표회 논문집
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• pp.137-144
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• 2003

Continuous road improvement is required by situation that need link between cities by special quality that is our country's topography enemy that most of country have consisted to mountain district. According to this, occurrence of large cutting slope is formed necessarily Cutting slope are very weak real condition because of concentrative downpour and can know easily by example of typhoon Rusa. This study did helpful in slope design and carrying out suitable reinforcing method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.902-907
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• 1993

An efficient dynamic control algorithm that outperforms existing local torque optimization techniques for redundant manipulators is presented. The method resolves redundancy at the acceleration level. In this method, a systematic switching technique as a trade-off means between local torque optimization and global stability is proposed based on the stability condition proposed by Maciejewski [1]. Comparative simulations on a three-link planar arm show the effectiveness of the proposed method.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -1
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• pp.101-104
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• 2000

Nowadays, the issue of congestion control in high-speed communication networks becomes critical in view of the bandwidth-delay products for efficient data flow. In particular, the fact that the congestion is often accompanied by the data flow from the high-speed link to low-speed link is important with respect to the stability of closed-loop congestion control. The Virtual-Connection Network (VCN) in Gigabit Ethernet networks is a packet-switching based network capable of implementing cell- based connection, link-by-link flow-controlled connection, and single- or multi-destination virtual connections. VCN described herein differ from the virtual channel in ATM literature in that VCN have link-by-link flow control and can be of multi-destination. VCNs support both connection-oriented and connectionless data link layer traffic. Therefore, the worst collision scenario in Ethernet CSMA/CD with virtual collision brings about end-to-end delay. Gigabit Ethernet networks based on CSMA/CD results in non-deterministic behavior because its media access rules are based on random probability. Hence, it is difficult to obtain any sound mathematical formulation for congestion control without employing random processes or fluid-flow models. In this paper, an analytical method for the design of a congestion control scheme is proposed based on Smith＇s principle to overcome instability accompanied with the increase of end-to-end delays as well as to avoid cell losses. To this end, mathematical analysis is provided such that the proposed control scheme guarantees the performance improvement with respect to bandwidth and latency for selected network links with different propagation delays. In addition, guaranteed bandwidth is to be implemented by allowing individual stations to burst several frames at a time without intervening round-trip idle time.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 춘계학술대회
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• pp.811-814
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• 2009

HF대 해상통신이 디지털방식으로 발전하기 위해서는 먼저 해안국과 다수의 선박국간에서 1:N 으로 자동링크설정을 수행할 수 있는 기법이 마련되어야 한다. 단순히 polling에 의한 방식을 사용할 수는 있으나 통신환경이 열악한 HF대 통신상태에서 특정국만을 호출하여 링크를 설정하기 위해서는 많은 redundancy 시간이 소요될 수밖에 없다. 아마추어 무선에서는 특정국을 선택호출하는 1:1 자동 링크설정 방식으로 ALE(Automatic Link Establishment) controller를 이용하고 있으나, 해상통신에서 이러한 방식으로 1:N의 링크설정을 기대하기는 매우 어렵다. 즉, 선박국들의 동시호출을 유도하면 다수의 호출신호에 의한 트래픽 과부하로 충돌을 회피하기는 어렵다. 때문에 HF대 통신은 채널 특성상 트래픽 상태를 고려하여 자동적으로 무선링크가 설정되어야 하며, 트래픽 과부하시에는 적응적으로 채널의 안정성을 확보하며 운용되어야 한다. 본 논문에서는 다수의 선박국이 HF대의 단일채널에서 멀티톤 주파수에 의하여 자유접속을 시도할 수 있는 방식을 연구하여 자유접속, 그룹접속, polling의 3가지 자동링크설정 방식을 순차적으로 구동하는 새로운 무선프로토콜에 대하여 연구하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권12호
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• pp.5729-5744
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• 2017

Vehicular Ad Hoc Networks (VANET) in the large-scale road section usually have typical characteristics of large number of vehicles and unevenly distribution over geographic spaces. These two inherent characteristics lead to the unsatisfactory performance of VANETs. This poor performance is mainly due to fragile communication link and low dissemination efficiency. We propose a novel routing mechanism to address the issue in the paper, which includes a competition-based routing discovery with priority metrics and a local routing repair strategy. In the routing discovery stage, the algorithm uses adaptive scheme to select a stable route by the priorities of routing metrics, which are the length of each hop, as well as the residual lifetime of each link. Comparisons of different ratios over link length and link stability further show outstanding improvements. In the routing repair process, upstream and downstream nodes also compete for the right to establish repair process and to remain as a member of the active route after repair. Our simulation results confirm the improved performance of the proposed algorithm.