• International Journal of Precision Engineering and Manufacturing
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• 제6권3호
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• pp.29-36
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• 2005

With the rapid growth of the Internet, the Internet-based robot has been realized by connecting off-line robot to the Internet. However, because the Internet is often irregular and unreliable, the varying time delay in data transmission is a significant problem for the construction of the Internet-based robot system. Thus, this paper is concerned with the development of an Internet-based robot system, which is insensitive to the Internet time delay. For this purpose, the PPS (Position Prediction Simulator) is suggested and implemented on the system. The PPS consists of two parts : the robot position prediction part and the projective virtual scene part. In the robot position prediction part, the robot position is predicted for more accurate operation of the mobile robot, based on the time at which the user's command reaches the robot system. The projective virtual scene part shows the 3D visual information of a remote site, which is obtained through image processing and position prediction. For the verification of this proposed PPS, the robot was moved to follow the planned path under the various network traffic conditions. The simulation and experimental results showed that the path error of the robot motion could be reduced using the developed PPS.

• 전기학회논문지
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• 제57권3호
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• pp.458-465
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• 2008

In this paper, we propose a non-fragile guaranteed cost controller design method for uncertain linear systems with constant delyas in state. The norm bounded and time-varying uncertainties are subjected to system and controller design matrices. A quadratic cost function is considered as the performance measure for the system. Based on the Lyapunov method, an LMI(Linear Matrix Inequality) optimization problem is established to design the controller which uses information of delayed state and minimizes the upper bound of the quadratic cost function for all admissible system uncertainties and controller gain variations. Numerical examples show the effectiveness of the proposed method.

• 융합신호처리학회논문지
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• 제12권1호
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• pp.44-49
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• 2011

The need of data transmission in oceans and other underwater mediums are increasing day by day, so as the research. The underwater medium is very different from that of air. Propagation of electromagnetic wave in water or underground is very difficult because of the conductivity of the propagation materials. In this case, we usually use acoustic signals as ultrasonic but, they are not easy to transfer long distance with coherent method because of time varying multipaths, Doppler effects and attenuations. So, we use non-coherent methods such as FSK or ASK to communicate between long distances. But, as the propagation speed of acoustic wave is very slow, BW of the channel is narrow. It is very hard to guaranty the enough speed for the transmission of digital image data. In previous studies, we proposed this data communication protocol theoretically. In this paper, an underwater channel is modeled and this protocol is tested in this channel condition. The results show that the protocol is 4-6 times faster than ASK. Some relations and results are shown depending on the data length, channel length, bit rate etc.

• Bulletin of the Korean Chemical Society
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• 제20권12호
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• pp.1501-1505
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• 1999

Expansion dynamics of C$^{+}$ ions ejected from 355-nm laser ablation of graphite target in vacuum has been investigated by pulsed-field time-of-flight (TOF) mass spectrometry. A strong nonlinear dependence of the amount of desorbed C$^{+}$ ions on laser fluence is interpreted by the mechanism that C$^{+}$ ions are produced directly from the graphite via conversion of the multiphoton energy into thermal energy. The temporal evolution of C$^{+}$ ions was measured by varying the delay time of the ion repelling pulse with respect to the laser irradiation, which provides significant information on the ablated plume characterization. The TOF distributions of ablated ions showed a bimodal shape and could be fitted by shifted Maxwell-Boltzmann distributions. The velocity of the fast component increases with the delay time, whereas the slow component (< 500 m/s) exhibits a constant velocity. Also studied were the effects of the laser fluence on the energetics of C$^{+}$ ions.

• 한국통신학회논문지
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• 제30권7B호
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• pp.433-439
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• 2005

본 논문에서는 무선 통신시스템에서 클래스간 비례지연 서비스를 위한 Flow Based Waiting Time Priority (FB-WTP) 스케쥴러를 제안한다. 기존의 스케쥴러는 클래스 단위로 동작하는 유선망의 구조를 그대로 사용하나, 제안된 FB-WTP 스제쥴러는 이와 달리 플로우 단위로 동작을 하며, 네트웍크 운영자가 입력한 클래스간 목표 큐잉 지연 비율은 기존 알고리즘과 같이 거의 동일하게 만족 시키면서도 클래스별 평균 큐잉 지연 성능은 월등히 향상 되었다. 이것은 각 플로우의 채널 환경이 동적으로 변화는 무선 환경에서 FB-WTP는 다중 플로우 다이버시티 효과를 최대한 이용 하기 때문이다. 또한 기존 알고리즘들에서 발생 할 수 있는 HOL 패킷 블록킹 문제가 발생하지 않는다. 성능평가를 위한 모의 실험에서 다중 채널 상태를 고려한 Look-ahead Waiting Time Priority (LWTP) 스케줄링 알고리즘과의 비교 분석으로 제안한 FB-WTP가 클래스간 목표 큐잉 지연 비율을 만족 시킬뿐만 아니라 LWTP에 비해 클래스별 평균 큐잉 지연 특성이 향상됨을 보였다.

• 한국지능시스템학회논문지
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• 제17권4호
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• pp.483-487
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• 2007

본 논문은 시변 시간 지연을 가지는 선형 뉴트럴 시스템에 관한 관측기 설계 및 안정도 해석에 관해서 논의한다. 시변 시간 지연을 가지는 선형 뉴트럴 시스템의 안정도를 판별하기 위하여 Lyapunov-Krasovskii의 이론을 도입한다. 오차 상태 방정식의 안정도 조건으로 시간 변동 시간 지연에 종속적인 충분조건을 제시한다. 선형 행렬 부등식의 해를 이용하여 관측기의 이득 값을 설계하며, 설계된 관측기를 이용하여 오차 상태 방정식의 안정도를 판별한다. 본 논문의 결과는 Luenberger가 제안했던 관측기의 일반적인 결과를 나타냄을 확인한다. 모의실험을 통해 제안된 이론을 입증한다.

• 대한기계학회논문집A
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• 제21권12호
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• pp.2081-2089
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• 1997

Accurate positioning of the throttle valve of a gasoline engine is required to implement various systems such as traction control system(TCS), cruise control system and drive-by-wire system. In this research, position control system has been developed for the throttle actuator system that uses one throttle actuation for small volume and DC servo motor for fast response. In order to drive the DC motor, PWM signal generator and PWM amplifier were built and interfaced to the motor and controller. Also, time delay control(TDC) law has been used as a basic control algorithm. A method of varying the reference model of the TDC according to the size of change in target throttle angle is proposed here. The simulation and experimental results show that both overshoot prevention and fast response are achieved by the TDC technique with this variable reference model.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1040-1044
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• 1992

This paper presents an algebraic approach for finding a dynamic state feedback controller when the linear multi-input system with delays in both state and input is controllable. In the time-delay case, controllability of the system does not always imply that system is cyclizable. Therefore, reduced order augmentation systems which is cyclizable as the time-varying case are considered. It is possible to construct feedback contorl systems by using single-input methods.

• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.15-23
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• 2008

This paper considers the problem of delay-dependent guaranteed cost controller design for uncertain neutral systems with distributed delays. The system under consideration is subject to norm-bounded time-varying parametric uncertainty appearing in all the matrices of the state-space model. By constructing appropriate Lyapunov functionals and using matrix inequality techniques, a state feedback controller is designed such that the resulting closed-loop system is not only robustly stable but also guarantees an adequate level of performance for all admissible uncertainties. Furthermore, a convex optimization problem is introduced to minimize a specified cost bound. By matrix transformation techniques, the corresponding optimal guaranteed controller can be obtained by solving a linear matrix inequality. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed approach.

• Journal of applied mathematics & informatics
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• 제26권5_6호
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• pp.961-972
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• 2008

In this paper, we consider the global exponential stability of cellular neural networks with time-varying delays. Based on the Lyapunov function method and convex optimization approach, a novel delay-dependent criterion of the system is derived in terms of LMI (linear matrix inequality). In order to solve effectively the LMI convex optimization problem, the interior point algorithm is utilized in this work. Two numerical examples are given to show the effectiveness of our results.