• ETRI Journal
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• v.40 no.6
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• pp.693-698
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• 2018

This paper presents a true-time delay (TTD) using a commercial $0.13-{\mu}m$ CMOS process for wideband phased-array antennas without the beam squint. The proposed TTD consists of four wideband distributed gain amplifiers (WDGAs), a 7-bit TTD circuit, and a 6-bit digital step attenuator (DSA) circuit. The T-type attenuator with a low-pass filter and the WDGAs are implemented for a low insertion loss error between the reference and time-delay states, and has a flat gain performance. The overall gain and return losses are >7 dB and >10 dB, respectively, at 2 GHz-18 GHz. The maximum time delay of 198 ps with a 1.56-ps step and the maximum attenuation of 31.5 dB with a 0.5-dB step are achieved at 2 GHz-18 GHz. The RMS time-delay and amplitude errors are <3 ps and <1 dB, respectively, at 2 GHz-18 GHz. An output P1 dB of <-0.5 dBm is achieved at 2 GHz-18 GHz. The chip size is $3.3{\times}1.6mm^2$, including pads, and the DC power consumption is 370 mW for a 3.3-V supply voltage.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.68.1-68
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• 2001

This paper discusses tracking position control of linear actuator that has a time delay. The time delay happens when the process reads the sensor data and sends the control input to the plant located at a remote site in distributed control system. In this thesis, the time delay between the linear actuator and the discrete PID controller has constant value due to buffer device so the time delay can be modeled by Pade approximation but the large position error of the linear actuator is generated by the time delay. Therefore, the Smith predictor is used for tracking position control of the linear actuator with the time delay in order to minimize the effect of the time delay. The experimental and simulation results show that the ...

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.3
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• pp.273-279
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• 2004

This research is concerned with the development of an Internet-based robot system, which is insensitive to the unpredictable internet time delay. For this purpose, a simple mobile robot system that moves in response to the user s direct control on the internet has been developed. The time delay in data transmission is an important problem for the construction of this kind of system. Therefore, the PPS (Position Prediction Simulator) is suggested and implemented to compensate for the time delay problem of the internet. The simulation and experimental results show that the distance error can be reduced using the developed PPS.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.810-815
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• 2003

This research is concerned with the development of an Internet-based robot system, which is insensitive to the unpredictable Internet time delay. For that purpose, a simple mobile robot system that moves in response to the user' direct control on the Internet has been built. The time delay in data transmission is a big problem for the construction of this kind of system. Therefore, the PPS (Position Prediction Simulator) is suggested and implemented to compensate for the time delay problem of the Internet. The simulation and experimental result show that the distance error can be reduced using the developed PPS.

• The Journal of the Acoustical Society of Korea
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• v.22 no.8
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• pp.680-686
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• 2003

Digital waveguide model is a general method that is used in physical modeling of musical instruments. Wave motion is analyzed by time or by space in digital waveguide model. Because sampling is made via time, it is general that musical instrument model is described by wave motion of time. In this paper, we synthesized the musical instrument sound by adding instrument body model to the spatial based string model. In this way, we could improve sound quality and process musical instrument model's tone control variables effectively. We explained about delay error that happens in string and body in space based sampling and showed method to process fractional delay using FD (Fractional Delay)filter. Finally, we explained the relation between tone quality and number of delays. And we also compared the result with time base digital waveguide model.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.33.1-33
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• 2002

The INS provides high rate position, velocity and attitude data with good short-term stability while the GPS provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to provide highly accurate navigation performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system. But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the...

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.54 no.8
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• pp.350-354
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• 2005

This paper proposes a new method for delay time calculation in RLC interconnects. This method is simple, but precise. The proposed method can calculate delay time of RLC interconnects by simple numerical formula calculation without complex moment calculation using reduced model in RLC interconnects. The results using the proposed method for RLC circuits show that average relative error is within $10\%$ in comparison with HSPICE simulation results.

• Journal of Electrical Engineering and Technology
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• v.12 no.3
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• pp.1271-1279
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• 2017

A highly accurate model-free controller is proposed for trajectory tracking control of robot manipulators. The proposed controller incorporates time-delay estimation (TDE) to estimate and cancel continuous nonlinearities of robot dynamics, and exploits fuzzy logic systems to suppress the effect of the TDE error, which is due to discontinuous nonlinearities such as friction. To this end, integral sliding mode is defined using desired error dynamics, and a Mamdani-type fuzzy inference system is constructed. As a result, the proposed controller achieves the desired error dynamics well. Implementation of the proposed controller is easy because the design of the controller is intuitive and straightforward, and calculations of the complex robot dynamics are not required. The tracking performance of the proposed controller is verified experimentally using a 3-degree of freedom PUMA-type robot manipulator.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.1
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• pp.82.1-82.1
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• 2015

We investigate the long-term spatial drift of the center and the temporal variation of the shutter delay time map of Y4KCam mounted on the CTIO 1.0m telescope. We have collected shutter delay time maps for over 7 years as a part of long-term survey program. We find that the center of the shutter delay time map can drift up to $450{\mu}m$ on the CCD. This effect can result in a small amount of error unless the proper shutter delay time correction, but it does not appear to cause any significant problems in photometric measurements. We obtain the mean value of the shutter delay time of $69.1{\pm}0.9$ msec and find no temporal variation of the shutter delay time of Y4KCam for over 7 years, indicative of the mechanical stability of the shutter. We suggest that using a master shutter delay time correction frame would be sufficient to achieve high precision photometry and this does not add up errors more than ~ 2.5 mmag across the CCD frame with exposure times longer than 1 sec.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.1-8
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• 2004

The INS(Inertial Navigation System) provides high rate position, velocity and attitude data with good short-term stability while the GPS(Global Position System) provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to Provide highly accurate navigation Performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the loosely-coupled and the tightly-coupled GPS/INS integration systems. Linearized error models for the position and velocity matching GPS/INS integrated systems are Int derived by linearizing with respect to its time-delay and augmenting the delay-state into the conventional state equations for each case. And then separate bias Kalman Inter is introduced to estimate the time-delay during only initial navigation stage. The simulation results show that the present method is effective enough resulting in considerably less position error.