• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2016-2021
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• 2003

This paper deals with a control technique of eliminating the transient vibration with respect to a waist axis of an articulated robot. This control technique is based on a model-based control in order to establish the damping effect on the driven mechanical part. The control model is composed of reduced-order electrical and mechanical parts related to the velocity control loop. The parameters of the control model can be obtained from design data or experimental data. This model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration. This control method is applied to an articulated robot regarded as a time-invariant system. The effectiveness of the model-based control integrated into the position control loop is verified by simulations. Simulations show satisfactory control results to reduce the transient vibration at the end-effector.

• Journal of the Optical Society of Korea
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• v.20 no.2
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• pp.300-304
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• 2016

A dual loop optoelectronic oscillator (OEO) based on an acousto-optic modulator (AOM) for single mode operation with an acousto-optic delay line is demonstrated in this paper. When the OEO operates, the free spectral range is a function of the total loop length of the OEO, which is mainly dependent on the propagation time of the acoustic wave in the AOM. Due to the huge difference in the magnitude between the speed of light and the acoustic velocity in the AOM, the effective loop length converted to light-propagation length of the OEO increases to 3.8 km. With 150 MHz oscillation frequency, phase noise of -118 dBc/Hz at 10 kHz frequency offset, and -140 dBc/Hz at 200 kHz frequency offset, is achieved.

• The Transactions of the Korea Information Processing Society
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• v.6 no.5
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• pp.1225-1240
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• 1999

This paper proposes PASC(PArtitioned SCHeduler) processor architecture that equips with a number of functional unit and an individual scheduler paris. Every scheduler of the PASC processor can determine whether a unit instruction can be issued to the associated functional unit or it is to be waited until next cycle caused by a resource collision or data dependencies. In the PASC processor, only the functional unit with a resource collision or data dependencies waits by executing a NOP(No OPeration) instruction and the other functional units execute their own instructions. Therefore we can expect the code compaction effect on the PASC processor. Thus, the last instruction of a loop at certain iteration and the very first instruction of the loop at the next iteration can be scheduled simultaneously if the two instructions do not incur any resource collision or data dependencies. Therefore, we can expect that such two instructions without any resource collision and data dependencies are packed into the same very long instruction word and thus, the two instructions are executed concurrently at run time. As a result, we can shorten execution cycles of a loop comparing to the execution of the loop on a traditional VLIW or SVLIW processor architecture. Simulation result also promises faster execution of loops on a PASC processor architecture than those on a VLIW and SVLIW processor architecture.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.1 s.343
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• pp.1-8
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• 2006

In this paper, we suggested a new antenna structure for the RFID(Radio Frequency IDentification) reader. The conventional RFID reader uses a loop antenna. The central area of a loop antenna shows a low magnetic field strength, especially for the case of a large loop antenna diameter. We proposed a parallel-fed multiple loop antenna. Simulation and measurement were carried out for a single loop antenna, series-fed and parallel-fed multiple loop antennas. Simulation results show that we can obtain 0.40A/m, 0.68A/m, 1.98A/m of magnetic field strengths at the central point of a reader antenna for a single loop antenna, series-fed and parallel-fed multiple loop antennas, respectively. We measured the $79mm{\time}48mm$ tag area averaged induced voltages with applying 20Vp-p same source signals to reader antennas through the resistors. Measured tag area averaged induced voltages at the central point of a reader antennas were 0.76V, 1.45V, 4.04V for a single loop antenna series-fed and parallel-fed multiple loop antennas, respectively. The results show that we can get high induced voltage which can grantee a longer reading distance with a proposed parallel-fed multiple loop antenna.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.2
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• pp.155-167
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• 1998

The prevalence of microprocessor-based controllers in automotive systems has greatly increased the meed for tools which can be used to validate and test control systems over their full range of operation. The objective of this paper is to develop a real time simulator of an anti-lock braking system and the methodology of using hardware-in-the-loop simulation based on a personal computer. By use of this simulator, the analyses of a commercial electronic control unit as well as the validation of the developed control logics for ABS were performed successfully. The simulator of this research can be traction applied to development of more advanced control system, such as traction control systems, vehicle dynamic control system and so forth.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.11
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• pp.3066-3074
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• 1994

This paper addresses the residual vibration problem of robots due to joint flexibility excited by fast accelerations, which has not been easily solved with conventional closed loop controllers. In this paper, an open loop input shaping technique, proposed by singer, has been applied to a 3 DOF robot with joint flexibility. In conjunction to the technique, a closed loop controller based on time-delay controller was also used. The results of simulations and experiments showed that the technique is quite effective for suppressing the residual vibration.

• Journal of the Optical Society of Korea
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• v.20 no.4
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• pp.464-469
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• 2016

All-optical non-return-to-zero (NRZ) -to- return-to-zero (RZ) data-format conversion has been successfully demonstrated using a semiconductor optical amplifier in a fiber-loop mirror (so-called SOA-loop mirror) with a continuous-wave (CW) holding beam. The converted RZ signal after pulse compression has been used to create a 40 Gb/s OTDM (Optical Time Division Multiplexing) signal. Here is proposed an NRZ-to-RZ conversion method without any additional optical clocks, unlike conventional methods based on optical AND logic. In addition, it has the merit of operating at various bit-rate speeds without any controlling device. Moreover, it has a simple structure, and it can be used for all-optical bit-rate-flexible clock recovery.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.5 s.98
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• pp.83-90
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• 1999

The prevalence of microprocessor-based controllers in automotive system has greatly increased the need for tools which can be used to validate and test control system over their full range of operation. The objective of this paper is to develop a real time simulator of an anti-lock braking system and traction control system by the methodology of using hardware-in-the-loop simulation based on a personal computer. By use of this simulator, the analyses of commercial electronic control units and components for ABS/TCS were performed successfully. The simulator of this research can be applied to development of more advanced control system(such as vehicle dynamic control system) and other automotive system.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.5
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• pp.194-205
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• 1999

The prevalence of microprocessor-based controllers in automotive systems has greatly increased the need for tools which can be used to validate and test control systems over their full range of operation. The objective of this paper is to develop a real time simulator of traction control system by the methodology of using hardware-in-loop simulation based on a personal computer. By use of this simulator, the analysis of commercial electronic control units and components for TCS were performed successfully. The simulator of this research can be applied to development of more advanced control systems(suck as vehicle dynamics control system) and other automotive system.

• International Journal of Control, Automation, and Systems
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• v.6 no.4
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• pp.596-606
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• 2008

In this paper, we present a co-design methodology of dynamic optimal network-bandwidth allocation (ONBA) and adaptive control for networked control systems (NCSs) to optimize overall control performance and reduce total network-bandwidth usage. The proposed dynamic co-design strategy integrates adaptive feedback control with real-time scheduling. As part of this co-design methodology, a "closed-loop" ONBA algorithm for NCSs with communication constraints is presented. Network-bandwidth is dynamically assigned to each control loop according to the quality of performance (QoP) information of each control loop. As another part of the co-design methodology, a network quality of service (QoS)-adaptive control design approach is also presented. The idea is based on calculating new control values with reference to the network QoS parameters such as time delays and packet losses measured online. Simulation results show that this co-design approach significantly improves overall control performance and utilizes less bandwidth compared to static strategies.