• 한국소음진동공학회논문집
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• 제15권2호
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• pp.169-175
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• 2005

In this paper, a novel vibration control scheme for a single-link flexible manipulator system without using a vibration feedback sensor is proposed. In order to achieve the vibration information of the flexible link, a reaction moment estimator based on the dynamic characteristics of the flexible manipulator is proposed. While the manipulator is maneuvering the reaction moment is reciprocally acting on the flexible link and the hub inertia due to the vibration of the link. A sliding mode controller based on the equivalent rigid body dynamics corresponding to the proposed flexible manipulator is then augmented with the reaction moment estimator to realize a decentralized control system. The reaction moment estimator is implemented via the first order low pass filter. The performance of the proposed control scheme is verified by computer simulation and experiment.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 추계종합학술대회 논문집(1)
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• pp.287-290
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• 2000

This paper analyze link-sharing mechanisms in packet networks based on the hierarchical class based queueing. The CBQ outlines a set of flexible, efficiently implemented gateway mechanisms that can meet a range of service and link-sharing requirements. We have analyzed the Class level(B, C, D) using the EWMA (Exponential Weighted Moving Average) weight value and EWMA average limit value.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.782-787
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• 2004

In the conventional sliding mode control technique, a priori knowledge of the bound of external disturbances or/and parameter uncertainties is required to assure control robustness. This, however, may not be easy to obtain in practical situation. This work presents a novel methodology, a sliding mode controller with perturbation estimator, which offers a robust control performance without a priori knowledge about the perturbations (disturbances and parameter uncertainties). The proposed technique is featured by an integrated average value of the imposed perturbation over a certain sampling period. This work also proposes two effective actuating methods of the perturbation estimator: on-off condition and filtering condition. In order to demonstrate the effectiveness of the proposed methodology, a two-link robotic system is adopted and its position control performance is evaluated. In addition, a comparative work between the conventional technique and the proposed one is undertaken.

• 대한기계학회논문집A
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• 제26권9호
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• pp.1859-1865
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• 2002

In the conventional sliding mode control technique, a priori knowledge of the bound of external disturbances or/and parameter uncertainties is required to assure control robustness. This, however, may not be easy to obtain in practical situation. This work presents a novel methodology, a sliding mode controller with perturbation estimator, which offers a robust control performance without a priori knowledge about the perturbations (disturbances and parameter uncertainties). The proposed technique is featured by an integrated average value of the imposed perturbation over a certain sampling period. In order to demonstrate the effectiveness of the proposed methodology, a two-link robotic system is adopted and its position control performance is evaluated. In addition, a comparative work between the conventional technique and the proposed one is undertaken.

• 한국정보통신학회논문지
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• 제18권5호
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• pp.1215-1223
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• 2014

멀티홉 무선네트워크에서 메시지 전송 경로는 경로 탐색 과정을 통해 설정하게 되는데 일반적으로 최단경로를 이용하게 된다. 그러나 이러한 경로는 네트워크 중앙부근의 노드들을 많이 이용하여 에너지 사용의 불균형 및 혼잡 발생 확률을 높여 메시지 전송 안정성을 떨어뜨리는 문제가 발생한다. 본 논문에서는 노드들의 잔여 에너지량을 고려하여 종단간 안정성 있는 메시지 전송 라우팅 프로토콜을 제안한다. 제안한 프로토콜은 링크성능평가척도로 ETX (Expected Transmission Count) 를 사용하며, 경로설정시 노드의 잔여 에너지량이 적은 노드들을 회피함으로써 경로 고장 확률을 줄이고 이로 인한 메시지 손실을 최소화하도록 하고 있다. 제안한 프로토콜의 성능을 평가하기 위해 QualNet 시뮬레이터를 이용하여 성능측정을 수행하였고, 이를 기존의 라우팅 프로토콜들과 비교하였다. 성능측정 결과 종단간 메시지 전송률 및 메시지 전송지연시간 등에 있어서 기존 신뢰성 보장 프로토콜인 MRFR 프로토콜과 유사하였지만 노드들의 부하균등성 측면에서 MRFR 프로토콜 보다 우수함을 보였다.

• International Journal of Precision Engineering and Manufacturing
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• 제3권4호
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• pp.94-100
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• 2002

The conventional sliding mode control (SMC) technique requires a priori knowledge of the upperbounds of disturbances and/or modeling uncertainties to assure robustness. This, however, may not be easy to obtain in practical situation. This paper presents a new methodology, a sliding mode control with disturbance estimator (SMCDE), which offers a robust control performance without a priori knowledge about the disturbance. The proposed technique is featured by an average value of the imposed disturbance over a certain period. A nonlinear spring-mass-damper system and a two-link robot system are adopted as illustrative application examples. Control performances such as estimation error and tracking error are compared between the proposed methodology and conventional scheme.

• 소음진동
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• 제6권5호
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• pp.567-574
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• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(1)
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• pp.77-80
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• 2002

In this paper, we analyze a physical layer of W-CDMA .system and design a transmitter and receiver by using ADS (Advanced Design System). Also, we simulated a link level performance with different channel estimation algorithm in Jakes fading channel environment. For the channel estimator, we used the WMSA(Weighted Multi-Slot Averaging) algorithm, EGE(Equal Gain Estimation) algorithm and SSE(Symbol-to-Symbol Estimation) algorithm. This study will be useful in the analysis and design of W-CDMA system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권7호
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• pp.1214-1229
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• 2011

Power control is a key technique in spectrum underlay cognitive network to guarantee the interference temperature limit of the primary users (PUs) and the quality of service of the secondary users (SUs). In this paper, a robust power control scheme via link gain pricing with $H_{\infty}$ estimator is proposed. The scheme guarantees the interference temperature of the PUs through operating in the network-centric manner, and keeps the fairness between the SUs through link gain pricing. Furthermore, the $H_{\infty}$ filter is also used in the proposed scheme to estimate the channel variation, and thus the power control scheme is robust to the severe channel fading. Plenty of simulations are taken, and prove its superior robust performance against the channel fading, and its effectiveness in guaranteeing the interference temperature limit of the PUs.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.523-525
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• 2004

Over the last few years, the control of bipedal robot has been considered a promising research field in the community of robotics. But the problems we encounter make the control of a bipedal robot a hard task. The complicated link connection of the bipedal robot makes it impossible to achieve its exact model. In addition, the joint velocity is needed to accomplish good control performance. In this paper a control method using ANFIS as an system approximator is purposed. First a model biped robot of a biped robot with switching leg influence is presented. Unlike classical method, ANFIS approximation error estimator is inserted in the system for tuning the ANFIS. In the entire system, only ANFIS is used to approximate the uncertain system. ANFIS tuning rule is given combining the observation error, control error and ANFIS approximation error. But this needs velocity information which is not available. So a practical method is newly presented. Finally, computer simulation results is presented to show this control method has good position tracking performance and robustness without need for leg switching acknowledgement.