• Journal of Institute of Control, Robotics and Systems
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• v.10 no.3
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• pp.261-266
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• 2004

Recently, a variety of intelligent robots are developed for the personal purpose beyond the industrial application. These intelligent robots have ranges of sensors, actuators, and control algorithms to their application. In this paper we propose a reconfigurable robot controller, $SR^2$c (The SOPC-based Reconfigurable Robot Controller), based on SOPC (System on a Programmable Chip), that can be reconfigurable easily by software. The proposed robot controller contains not only a processing module but also robot-specific IP's. To show a feasibility of the proposed robot controller, a small entertainment robot, Wizard-4 is implemented with a single chip controller as proposed in this paper.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2393-2405
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• 2015

This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.422-428
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• 2007

This paper presents a neural network based adaptive control approach to a reconfigurable flight control law that keeps handling qualities in the presence of faults or failures to the control surfaces of an aircraft. This approach removes the need for system identification for control reallocation after a failure and the need for an accurate aerodynamic database for flight control design, thereby reducing the cost and time required to develope a reconfigurable flight controller. Neural networks address the problem caused by uncertainties in modeling an aircraft and pseudo control hedging deals with the nonlinearity in actuators and the reconfiguration of a flight controller. The effect of the reconfigurable flight control law is illustrated in results of a nonlinear simulation of an unmanned aerial vehicle Durumi-II.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.291-292
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• 2010

• ETRI Journal
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• v.36 no.2
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• pp.214-223
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• 2014

A fully-integrated penta-band reconfigurable power amplifier (PA) is developed for handset Tx applications. The output structure of the proposed PA is composed of the fixed output matching network, power and frequency reconfigurable networks, and post-PA distribution switches. In this work, a new reconfiguration technique is proposed for a specific band requiring power and frequency reconfiguration simultaneously. The design parameters for the proposed reconfiguration are newly derived and applied to the PA. To reduce the module size, the switches of reconfigurable output networks and post-PA switches are integrated into a single IC using a $0.18{\mu}m$ silicon-on-insulator CMOS process, and a compact size of $5mm{\times}5mm$ is thus achieved. The fabricated W-CDMA PA module shows adjacent channel leakage ratios better than -39 dBc up to the rated linear power and power-added efficiencies of higher than around 38% at the maximum linear output power over all the bands. Efficiency degradation is limited to 2.5% to 3% compared to the single-band reference PA.

• KIPS Transactions on Computer and Communication Systems
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• v.4 no.2
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• pp.41-46
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• 2015

The demand on low power and high performance system is soaring due to the extending of mobile and small electronic device market. The 3D die-stacking technology is widely studying for next generation integration technology due to its high density and low access time. We proposed the 3D die-stacked DRAM including a reconfigurable accelerator in a logic layer of DRAM. Also we discuss and suggest a cache-based local memory for a reconfigurable accelerator in a logic layer. The reconfigurable accelerator in logic layer of 3D die-stacked DRAM reduces the overhead of data management and transfer due to the characteristics of its location, so that can increase the performance highly. The proposed system archives 24.8 speedup in maximum.

• Proceedings of the IEEK Conference
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• 2002.07a
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• pp.58-61
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• 2002

In this paper, we present a new generalized k-Tree-based (CU/PE) allocation model to perform dynamic resource (CU/PE) allocation/deallocation decision for the reconfigurable MSIMD/MIMD multi-dimensional (k-D) mesh-connected architectures. Those reconfigurable multi-SIMD/MIMD systems allow dynamic modes of executing tasks, which are SIMD and MIMD. The MIMD task requires only the free sub-system; however the SIMD task needs not only the free sub-system but also the corresponding free CU. In our new k-Tree-based (CU/PE) allocation model, we introduce two best-fit heuristics for the CU allocation decision: 1) the CU depth first search (CU-DFS) in O(kN$_{f}$ ) time and 2) the CU adjacent search (CU-AS) in O(k2$^{k}$ ) time. By the simulation study, the system performance of these two CU allocation strategies was also investigated. Our simulation results showed that the CU-AS and CU-DFS strategies performed the same system performance when applied for the reconfigurable MSIMD/MIMD 2-D and 3-D mesh-connected architectures.

• International Journal of Safety
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• v.10 no.2
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• pp.10-15
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• 2011

The reconfigurable control systems based on feedback controls are utilized to compensate for damages of actuators in control systems. Such systems have multiple feedback controls and switch them in accordance with the degrees of the failures of the actuators. In order to be able to assess those systems, this paper develops a method to obtain reliabilities of reconfigurable dynamical systems which are interconnected in parallel / series configuration. By calculating reliabilities of interconnected dynamical systems, it is possible to assess many dynamical systems by comparing their reliabilities. Firstly, reliabilities of subsystems are obtained according to the definitions of the failures in terms of robust reliability for each subsystem. Then, the reliability of overall system is calculated from reliabilities of subsystems, using the methodology employed for probabilistic safety assessment. Failure rates of subsystems with feedbacks for reconfiguration change in certain time periods because of the switching of feedback controls. In order to deal with this, combinations of subsystems which compose overall system for each time period are derived by the methodology mentioned above and then integrated to calculate the reliability of overall system for a specific time. An illustrative example shows the validity and details of the proposed method.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.24 no.2
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• pp.113-121
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• 2013

In this paper, quadruple polarized antenna system with a reconfigurable feeding network is presented. The proposed antenna system consists of the reconfigurable feeding network for fourth polarization such as vertical/horizontal linear polarization and right-handed/left-handed circular polarizations or 45 degree tilted vertical/horizontal linear polarization and patch antenna to receive the signals with various polarizations. In order to receive a signal in any direction, the proposed antenna is designed by electrical switches for reconfigurable polarization. The insertion loss of the designed feeding network in the proposed antenna system is approximately 1.2 dB. The measured 3 dB axial bandwidth and gain of the proposed antenna are about 2 % and 4 dBi(c).

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.40.2-40
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• 2002

This paper presents the reconfigurable flight controller in the presence of jammed actuator fault using the adaptive sliding mode control scheme. It is developed under the assumption that the control surface fault cannot be detected and the positions of stuck control surfaces are unknown. It is well known that sliding mode controller shows good performance for the systems with various uncertainties. None-operating stuck actuator makes the system behave like bias which degrades the system performance and sometimes destabilizes the system. Therefore, the bias term generated by actuator faults has to be compensated by the control system. To the objective, we adopt the adaptive sliding mode cont...