• Journal of Mechanical Science and Technology
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• v.16 no.6
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• pp.799-809
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• 2002

In order to utilize a parallel mechanism as a machine tool component, it is important to estimate the errors of its end-effector due to the uncertainties in parts. This study proposes an error analysis for a new parallel device, a cubic parallel mechanism. For the parallel device, we consider two kinds of errors. One is a static error due to link stiffness and the other is a dynamic error due to clearances in the parts. In this study, we propose a stiffness model for the cubic parallel mechanism under the assumption that the link stiffness is a linear function of the link length. Also, from the fact that the errors of u-joints and spherical joints are changed with the direction of force acting on the link, they are regarded as a part of link errors, and then the error model is derived using forward kinematics. Lastly, both the error models are integrated into the total error, which is analyzed with a test example that the platform moves along a circular path. This analysis can be used in predicting the accuracy of other parallel devices.

• ETRI Journal
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• v.29 no.5
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• pp.569-595
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• 2007

Particularly in wireless communications, link errors severely affect the quality of the services due to the high error probability and the specific error characteristics (burst errors) in the radio access part of the network. In this work, we show that thorough analysis and appropriate modeling of radio-link error behavior are essential to evaluate and optimize higher layer protocols and services. They are also the basis for finding network-aware cross-layer processing algorithms which are capable of exploiting the specific properties of the link error statistics, such as predictability. This document presents the analysis of the radio link errors based on measurements in live Universal Mobile Telecommunication System (UMTS) radio access networks as well as new link error models originating from that analysis. It is shown that the knowledge of the specific link error characteristics leads to significant improvements in the quality of streamed video by applying the proposed novel network- and content-aware cross-layer scheduling algorithms. Although based on live UMTS network experience, many of the conclusions in this work are of general validity and are not limited to UMTS only.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.4
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• pp.75-80
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• 2001

An error analysis is very important to estimate performance of a precision machine. This study proposes an error analysis for a new parallel device, a cubic parallel device. The cubic parallel manipulator has error sources including upper and lower universal joint errors due to the directional changes in the link and actuation errors. The maximum errors of the end effector are affected by the axial direction changes of each links and the clearances of the universal joints when the parallel manipulator is moving along a path. It is found that the changes of errors mostly occur at the positions where the directions of exerting link forces shift. The error analysis is based on an error model formed from the relation between the universal point errors and the end-effector accuracy. The analysis method can be also used in predicting the accuracy of other parallel devices.

• Journal of Industrial Technology
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• v.23 no.A
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• pp.41-46
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• 2003

Because the quality of a radio link in real environment is generally varied with time, there is a difference between the delay in the real environment and one obtained from the analytic model where a time-varying link model is not used as a link model for a Bluetooth. This paper analyzes the transmission delay of a message in the time-varying radio link model for the Bluetooth. The time-varying radio link is modeled with a two-state Markov model. The mean transmission delay of the message is analytically obtained in terms of the arrival rate of the message, the state transition probability in the Markov model, and the packet error rate.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.5
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• pp.52-61
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• 1993

This paper deals with adaptive control method of a robot manipulator with one-flexible link. ARMA model is used as a prediction and estimation model, and adaptive control scheme consists of parameter estimation part and adaptive controller. Parameter estimation part estimates ARMA model's coefficients by using recursive least-squares(RLS) algorithm and generates the predicted output. Variable forgetting factor (VFF) is introduced to achieve an efficient estimation, and adaptive controller consists of reference model, error dynamics model and minimum prediction error controller. An optimal input is obtained by minimizing input torque, it's successive input change and the error between the predicted output and the reference output.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.16 no.6
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• pp.498-508
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• 1991

This thesis presents a performance analysis algorithm that estimates erro performance of individual links, at the bit level, in an end-to-end digital connection using the model of 3-statte MarKov chain. The link model proposed the burst error behavior of each individual link. It also presents a method to concateante several individual links and extract a model for end-to-end digital connection. This resulting end-to-end model can be used to calculate performance parameters such as bit error rate(BER) and block error(BLER) for any block size.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.2
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• pp.39-57
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• 2018

The purpose of this study was to construct an artificial intelligence model that learns and estimates the relationship between vehicle queue length and link travel time in urban areas. The vehicle queue length estimation model is modeled by three models. First of all, classify whether vehicle queue is a link overflow and estimate the vehicle queue length in the link overflow and non-overflow situations. Deep learning model is implemented as Tensorflow. All models are based DNN structure, and network structure which shows minimum error after learning and testing is selected by diversifying hidden layer and node number. The accuracy of the vehicle queue link overflow classification model was 98%, and the error of the vehicle queue estimation model in case of non-overflow and overflow situation was less than 15% and less than 5%, respectively. The average error per link was about 12%. Compared with the detecting data-based method, the error was reduced by about 39%.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1832-1835
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• 1997

Off-line programming systems are widely spread in assembly lines of minute electronic products to huge offshore structures. Any OLP system has to be calibrated before the on-line robot tasks are performed because there are inherent differences between the CAD model on OLP and the real robot workspace. This paper uses simple geometric expressions to propose a calibration method applicable to an OLP for SCARA robots. A positioning task on the two-dimensional horizontal surface was used in the error analysis of a SCARA robot and the anaysis shows that the inaccuracy results from the two error sources non-zero offset angles of two rotational joints at the zero return and differences in link lengths. Pen marks on a sheet of plotting paper are used to determine the accurate data on the joint centers and link dimensions. The calculated offset angles and link lengths are fed back to the OLP for the calibration of the CAD model of the robot and task environments.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.445-445
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• 2000

This paper proposes the MIMO indirect adaptive fuzzy controller to control the two-link manipulators. The input-output linearization technique, equivalent control input plus integral term, augmented error model and recursive least square adaptive law are used fer the controller. The linear type of fuzzifier-defuzzifier fuzzy logic system used for nonlinear function makes easy to farm the error model and able to follow the adaptive system approach. Such that control approach, the control system is not required joint speed and accerelation measurement and easy to implement and tune. The simulation results showed that the proposed controller has good control performance, stability, very small tracking error, decoupling, fast convergence, robust to parameter variation and load.

• Proceedings of the KSME Conference
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• 2000.11a
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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.