• Journal of Drive and Control
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• v.14 no.2
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• pp.9-15
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• 2017

The steering systems of all-terrain cranes have been developed with various control strategies for the stability and drivability. To optimally control the input steering angle, an accurate mathematical model that represents the actual crane dynamics is required. The derivation of an accurate mathematical model to optimally control the steering angle, however, is difficult since the steering-control strategy generally varies with the magnitude of the crane's longitudinal velocity, and the postures of the crane's working parts vary while it is being driven. To address this problem, this paper proposes an automatic steering-control algorithm that is based on the MPC (model predictive control) with a disturbance observer for all-terrain cranes. The designed disturbance observer of this study was used to estimate the error between the base steering model and the actual crane. A model predictive controller was used for the computation of the optimal steering angle, along with the use of the base steering model with an estimated uncertainty. Performance evaluations of the designed control algorithms were conducted based on a curved-path scenario in the Matlab/Simulink environment. The performance-evaluation results show a sound reference-path-tracking performance despite the large uncertainties.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.1
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• pp.253-271
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• 2017

In this paper, considering that perfect channel state information (CSI) is hard to achieve in practice, the downlink capacity of distributed antenna systems (DAS) with imperfect CSI and multiple receive antennas is investigated over composite Rayleigh fading channel. According to the performance analysis, using the numerical calculation, the probability density function (PDF) of the effective output SNR is derived. With this PDF, accurate closed-form expressions of ergodic capacity and outage probability of DAS with imperfect CSI are, respectively, obtained, and they include the ones under perfect CSI as special cases. Besides, the outage capacity of DAS in the presence of imperfect CSI is also derived, and a Newton's method based practical iterative algorithm is proposed to find the accurate outage capacity. By utilizing the Gaussian distribution approximation, another approximate closed-form expression of outage capacity is also derived, and it may simplify the calculation of accurate outage capacity. These theoretical expressions can provide good performance evaluation for downlink DAS for both perfect and imperfect CSI. Simulation results verify the effectiveness of the theoretical analysis, and the system capacity can be improved by increasing the receive antennas, and decreasing the estimation error or path loss. Moreover, the system can tolerate the estimation error variance up to about 0.01 with a slight degradation in the capacity.

• Journal of Broadcast Engineering
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• v.5 no.1
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• pp.123-129
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• 2000

This paper addresses a new double detection algorithm which is based on the fuzzy control in the adaptive echo canceller of communication system. In this method, the two input of the fuzzy inference for detecting double talk condition are used. The one is the cross-correlation coefficient between the error signal and the primary signal which is the summed signal of the real echo signal and the near-end signal. The other is the cross-correlation coefficient between the estimation error signal and the primary signal. The fuzzy controller made a fuzzification for two inputs by the membership functions of trapezoid and them became the composition using inference rules. The composed result is defuzzificated by the center gravity method. The output is compared with two threshold values to detect double talk and echo path variation effectively. It is confirmed by computer simulation that this fuzzy double talk detector is able to track echo path variation accurately.

• Journal of electromagnetic engineering and science
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• v.6 no.3
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• pp.147-154
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• 2006

In this paper, we propose and present implementation results of a high-speed turbo decoding algorithm. The latency caused by (de) interleaving and iterative decoding in a conventional maximum a posteriori(MAP) turbo decoder can be dramatically reduced with the proposed design. The source of the latency reduction is come from the combination of the radix-4, dual-path processing, parallel decoding, and rearly-stop algorithms. This reduced latency enables the use of the turbo decoder as a forward error correction scheme in real-time wireless communication services. The proposed scheme results in a slight degradation in bit-error rate(BER) performance for large block sizes because the effective interleaver size in a radix-4 implementation is reduced to half, relative to the conventional method. Fixed on the parameters of N=212, iteration=3, 8-states, 3 iterations, and QPSK modulation scheme, we designed the adaptive high-speed turbo decoder using the Xilinx chip (VIRTEX2P (XC2VP30-5FG676)) with the speed of 17.78 Mb/s. From the results, we confirmed that the decoding speed of the proposed decoder is faster than conventional algorithms by 8 times.

• The KIPS Transactions:PartB
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• v.9B no.2
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• pp.155-162
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• 2002

Reinforcement learning is a learning method that uses trial-and-error to perform Learning by interacting with dynamic environments. It is classified into online reinforcement learning and delayed reinforcement learning. In this paper, we propose an online reinforcement learning system (ONRELS : Outline REinforcement Learning System). ONRELS updates the estimate-value about all the selectable (state, action) pairs before making state-transition at the current state. The ONRELS learns by interacting with the compressed environments through trial-and-error after it compresses the state space of the mage environments. Through experiments, we can see that ONRELS can search the shortest path faster than Q-learning using TD-ewor and $Q(\lambda{)}$-learning using $TD(\lambda{)}$ in the maze environments.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.1
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• pp.195-200
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• 2012

We present a new algorithm which can improve the tracking performance of the double-talk robust algorithm. A detection method of the echo path change and a modification method for the update equation of the conventional adaptive filter are proposed. A duration of the high error signal to scale parameter ratio varies according to the call status and this property is used to detect the echo path change. The proposed update equation of the adaptive filter improves the tracking performance by prohibiting wrong selection of the error signal. Simulations using real speech signals and echo paths of the ITU-T G.168 standard confirmed that as compared to the conventional algorithm, the proposed algorithm improved the tracking performance by more than 4 dB.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.283-294
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• 2007

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundizing function is proposed and applied to a two-wheeled welding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the sliding surface vector including new boundizing function and the adaptation laws are chosen to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system is shown through the Lyapunov method. In addition, a simple way of measuring the errors by potentiometers is introduced. The simulations and experimental results are shown to prove the effectiveness of the proposed controller.

• Journal of Korea Society of Digital Industry and Information Management
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• v.18 no.2
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• pp.27-37
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• 2022

In this paper, we presents a Multiple User Multiple Input Multiple Output (MU-MIMO) test-bed system for Time Division Duplex (TDD) Long Term Evolution-Advanced (LTE-A). Using two parameters, the condition number of the channel matrix and the path gain, the MU-MIMO system could switch pre-coder to maintain target Bit Error Rate (BER) level. This paper also introduces a calibration procedure for compensating error of Radio Frequency (RF) paths of the antennas and RF transceivers. From experimental measurements, dynamic pre-coding scheme could maintain target BER, set to 10^-3, with the pre-coder set configured with Zero Forcing (ZF), Tomlinson Harashima Pre-coding (THP), Lattice Reduction (LR). The simplest pre-coder ZF is adopted in stable channel, and when path gain become less than 0.25, LR is adopted. Lastly, when condition number of channel matrix become larger than 7, THP is adopted.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.19 no.5
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• pp.547-555
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• 2008

This parer proposed the path mismatch detection and compensation algorithm with closed form for linear amplification with non-linear components(LINC) system implementation. The LINC system has a merit of using the high efficient amplifier by transferring the non-constant envelop signal which is high peak to average signal ratio into constant envelop signal. However, the performance degradation is very sensitive to the path mismatch such as an amplitude mismatch and a phase mismatch. In order to improve the path mismatch, the error detection and compensation method is introduced by the use of four test signals. Since the presented method has the closed form solution, the efficient and fast detection is available. The digital-IF structure of LINC system applied by the proposed error detection and compensation algorithm was implemented. The performance was evaluated with the IEEE 802.16 WiMAX baseband sinal which has 7 MHz channel bandwidth and 16-QAM. The Error Vector Magnitude(EVM) of -37.37 dB was obtained through performance test, which meets performance requirement of -24 dB EVM. As a result, the introduced error detection and compensation method was verified to improve the LINC system performance.

• Journal of Information Technology Applications and Management
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• v.18 no.4
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• pp.41-53
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• 2011

Trust prediction between users in social network based on the trust propagation assumes properties of transitivity and composability of trust propagation. But it has been hard to find studies which test on how those properties have been operated in real social network. This study aims to validate if the longer the distance of trust paths and the less the numbers of trust paths, the higher prediction error occurs using two real social network data set. As a result, the longer the distance of trust paths, we can find higher prediction error when predicting level of trust between source and target users. But we can not find decreasing trend of prediction error though the possible number of trust paths between source and target users increases.