• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.463-477
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• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.4A
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• pp.378-383
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• 2004

Orthogonal Frequency Division Multiplexing (OFDM) transmits high-speed data by splitting the transmission bandwidth into a number of subcarriers. The bandwidth of each subcarrier is ensured to be smaller than the coherence bandwidth. This paper presents an OFDM system incorporated with the Carrier Interferometry (CI) codes to improve the performance by enhancing frequency diversity effect. The performances of CI-OFDM with multilevel modulations are investigated in highly dispersive fading channels. For the investigation of performance improvement of CI-OFDM, a simulator has been developed using a well-known SPW simulation platform. The simulation results show that the CI-OFDM provides both performance improvement and robustness against dispersive fading channel behavior. The performance of CI-OFBM with multilevel modulations demonstrates that CI-OFDM outperforms a traditional OFDM system, particularly in highly dispersive channels. With a relatively large delay spread of 151㎱ compared to the guard interval of 800㎱, CI-OFDM provides a BER of 10$^{-3}$ if sufficient signal power is present.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.5C
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• pp.478-486
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• 2007

Double-talk detection errors can result in either large residual echo or distorting the near-end talker's input speech. Thus accurate double-talk detection is an important problem in the acoustic echo canceller to improve the speech quality. In the double-talk detection algorithm using a cross-correlation coefficient, double-talk detection errors can occur in the initial convergence period of an adaptive filter or in noisy environment since the cross-correlation coefficient becomes large in such situations. In this paper, we propose a new double-talk detection algorithm based on the cross-correlation method using a normalized error signal power to reduce the double-talk detection errors. The experimental results have shown the performance improvement of an acoustic echo canceller as well as the noise-robustness of the proposed double-talk detector.

• Journal of Advanced Navigation Technology
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• v.11 no.3
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• pp.329-336
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• 2007

The use of digital imaging technique and digital contents based on internet has grown rapidly for last several years, and the needs of digital image protection become more important. For the purpose of copyright protection on digital image, the verification of authentication techniques like content authentication, ownership authentication, illegal copy and etc are needed. Digital watermarking, the invisible encryption technique to insert digital watermark into image, the sophisticated perceptual information should be used for providing transparency and robustness of images on watermarking process. In this paper, we implement the digital watermarking algorithm for preventing forged attack, ownership protection and authentication by transforming the wavelet algorithms in frequency domain in terms of human visual system.

• Structural Engineering and Mechanics
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• v.42 no.2
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• pp.191-210
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• 2012

The Force Density Method (FDM) is a well known and extremely versatile tool in form finding of cable nets. In its linear formulation such method makes it possible to find all the possible equilibrium configurations of a net of cables having a certain given connectivity and given boundary conditions on the nodes. Each singular configuration corresponds to an assumed force density distribution. Its improvement as Non-Linear Force Density Method (NLFDM) introduces the possibility of imposing assigned relative distances among the nodes, the tensile level in the elements and/or their initial undeformed length. In this paper an Extended Force Density Method (EFDM) is proposed, which makes it possible to set conditions in terms of given fixed nodal reactions or, in other words, to fix the positions of a certain number of nodes and, at the same time, to impose the intensity of the reaction force. Through such extension, the (EFDM) enables us to deal with form findings problems of cable nets subjected to given constraints and, in particular, with mixed structures, made of cables and struts. The efficiency and the robustness of method are assessed through comparisons with other form finding techniques in dealing with characteristic applications to the prestress design of cable systems. As a further extension, the EFDM is applied to structures having some parts not yet geometrically defined, as can happen in designing new creative forms.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.14 no.2
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• pp.1-6
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• 2015

Transmission of a tracked vehicle designed for multiple functions such as steering, gear-shifting, and braking is a core component of heavy vehicle to which the power is transferred based on combined technology of various gears, bearing, and fluid machineries. Robustness and durability of transmission, however, have been issued due to a large number of driving units and sub-components inside its body. The bevel gears are major components for the transmission of power in a transmission. Increasing the tooth surface roughness and chamfering of the bevel gears, especially, we aim to improve the quality of transmission. In this study, design structural evaluation is conducted on bevel gears of transmission for tracked vehicle using the ROMAX-DESIGNER program. By doing so, design safety of the bevel gears has been evaluated based on the gear strength theory of ANSI/AGMA 2003 B97 standard.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.409-412
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• 1996

Ultrasonic sensors are widely used in various applications due to advantages of low cost, simplicity in construction, mechanical robustness, and little environmental restriction in usage. But the main purposes of the noncontact sensing are rather narrowly confined within object detection and distance measurement. For the application of object recognition, ultrasonic sensors exhibit several shortcomings of poor directionality which results in low spatial resolution of objects, and specularity which gives frequent erroneous range readings. To resolve these problems in object recognition, an array of the sensor has been used. To improve the spatial resolution, more number of sensors are used in essence throughout the various devices of the sensor arrays. Under the disguise of a fixed number of the sensors, the array can be shifted mechanically in several steps. In this paper we propose a practical sensor resolution enhancement method using an electronic circuit accompanying the sensor array. The circuit changes the transmitter output voltage in several steps. Using the known sensor characteristics, a set of different return echo signals provide enhanced spatial resolution. The improvement is obtained with neither the cost of the increased number of the sensors nor extra mechanical devices.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.155-164
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• 2006

This paper focuses on a new optimization technique of a fuzzy logic based proportional integral (FLPI) load frequency controller by the multiple tabu search (MTS) algorithm. Conventionally, the membership functions and control rules of fuzzy logic control are obtained by trial and error method or experiences of designers. To overcome this problem, the MTS algorithm is proposed to simultaneously tune proportional integral gains, the membership functions and control rules of a FLPI load frequency controller in order to minimize the frequency deviations of the interconnected power system against load disturbances. The MTS algorithm introduces additional techniques for improvement of the search process such as initialization, adaptive search, multiple searches, crossover and restart process. Simulation results explicitly show that the performance of the proposed FLPI controller is superior to conventional PI and FLPI controllers in terms of overshoot and settling time. Furthermore, the robustness of the proposed FLPI controller under variation of system parameters and load change are higher than that of conventional PI and FLPI controllers.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.389-394
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• 2004

A Fuzzy Logic Sliding Mode Control or FLSMC for the uninterruptible power system (UPS) is presented, which is tracking a sinusoidal ac voltage with specified frequency and amplitude. The FLSMC algorithm combines feedforward strategy with the Variable Structure Control (VSC) or Sliding Mode Control (SMC) and fuzzy logic control. The control function is derived to guarantee the existence of a sliding mode. FLSMC has an advantage that the stability of FLSMC can be proved easily in terms of VSC. Furthermore, the rules of the proposed FLSMC are independent of the number of system state variables because the input of the suggested controller is fuzzy quantity sliding surface value. Hence the rules of the proposed FLSMC can be reduced. The simulation results illustrate that the purposed approach gives a significant improvement on the tracking performances. It has the small overshoot in the transient and the smaller chattering in the steady state than the conventional VSC. Moreover, its can achieve the requirements of robustness and can supply a high-quality voltage power source in the presence of plant parameter variations, external load disturbances and nonlinear dynamic interactions.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.14 no.5
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• pp.44-51
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• 2015

The deployment of high capacity backhaul is required due to explosive growth in mobile data services. For rapid backhaul deployment, point to point microwave is a much easier and cheaper technology. The space diversity scheme is used in point to point microwave links. The purpose of space diversity is to overcome fading by combining signals from two separate receiver antennas. For signal combining algorithm, maximum power and minimum distortion methods were used and these algorithms were reported not to be good enough for robustness in selective fading. In this paper, a more practically efficient signal combining scheme from the main and diversity branch is proposed and evaluated in selective fading channel. The proposed algorithm has shown significant performance improvement in terms of signal spectrum.