• International Journal of Control, Automation, and Systems
• /
• v.1 no.4
• /
• pp.474-483
• /
• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.49 no.11
• /
• pp.211-216
• /
• 2012

Such as disaster rescue in deep water, undersea exploration and monitering for environmental pollution, many applications require the acoustic communication for high data rate over underwater acoustic channel. As underwater channel is very complex and is time-varying, In this paper, The proposed OFDM system with synchronization errors and multipath delay spread is analyzed for high data rate and reliability and rubust service over UWA channels.

• Journal of Electrical Engineering and Technology
• /
• v.11 no.3
• /
• pp.618-628
• /
• 2016

Active power filter (APF) has been proved as a flexible solution for compensating the harmonic distortion caused by nonlinear loads in power distribution power systems. Digital repetitive control can achieve zero steady-state error tracking of any periodic signal while the sampling points within one repetitive cycle must be a known integer. However, the compensation performance of the APF would be degradation when the grid frequency varies. In this paper, an improved repetitive control scheme with frequency adaptive capability is presented to track any periodic signal with variable grid frequency, where the variable delay items caused by time-varying grid frequency are approximated with Pade approximants. Additionally, the stability criterion of proposed repetitive control scheme is given. A three-phase shunt APF experimental platform with proposed repetitive control scheme is built in our laboratory. Simulation and experimental results demonstrate the effectiveness of the proposed repetitive control scheme.

• Proceedings of the Korean Society of Broadcast Engineers Conference
• /
• 2009.01a
• /
• pp.385-389
• /
• 2009

Multi-hop wireless mesh networks (WMNs) suffer from significant packet losses due to insufficient available bandwidth and high channel error probability. To conquer packet losses, end-to-end (E2E) error control schemes have been proposed. However, in WMNs, E2E error control schemes are not effective in adapting to the time-varying network condition due to large delay. Thus, in this paper, we propose a network-adaptive error control for video streaming over WMNs that flexibly operates E2E and hop-by-hop (HbH) error control according to network condition. Moreover, to provide lightweight support at intermediate nodes for HbH error control, we use path-partition-based adaptation. To verify the proposed scheme, we implement it and evaluate its transport performance through MPEG-2 video streaming over a real IEEE 802.11a-based WMN testbed.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.55 no.9
• /
• pp.401-408
• /
• 2006

In a multi-sensor multi-target tracking systems, the local sensors have the role of tracking the target and transferring the measurements to the fusion center. The measurements from the same target can arrive out of sequence called the out-of-sequence measurements(OOSMs). Out-of-sequence measurements can arise at the fusion center due to communication delay and varying preprocessing time for different sensor platforms. In general, the track fusion occurs to enhance the tracking performance of the sensors using the measurements from the sensors at the fusion center. The target informations can wive at the fusion center with the clutter informations in cluttered environment. In this paper, the OOSM update step with MPDA(Most Probable Data Association) is introduced and tested in several cases with the various clutter density through the Monte Carlo simulation. The performance of the MPDA with OOSM update step is compared with the existing NN, PDA, and PDA-AI for the air target tracking in cluttered and out-of-sequence measurement environment. Simulation results show that MPDA with the OOSM has compatible root mean square errors with out-of-sequence PDA-AI filter and the MPDA is sufficient to be used in out-of-sequence environment.

• Journal of the Ergonomics Society of Korea
• /
• v.15 no.2
• /
• pp.165-176
• /
• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufactruing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple- degree-of-freedom force feedback telemanipulation.

• Journal of Advanced Navigation Technology
• /
• v.14 no.1
• /
• pp.33-40
• /
• 2010

In this paper, the bit-error-ratio (BER) performances of Digital Radio Mondiale Plus (DRM+) system which stand for the European standard to bring analogue FM radio to digital radio in Band-II(30-170 MHz) are evaluated under multipath fading channel models used in Band-II and the adjacent channel interference (ACI) caused by FM signal. From the simulation results, the DRM+ system shows robust performances under time-varying channel environments even though the speed of a vehicle is equal to 300km/h. And it is shown that the frequency diversity, determined by delay spread of multipath fading channel, increases the coding gain of the DRM+ system with an increase of delay spread. In addition, to guarantee the BER performance of 10-4 for DRM+ system with ACI due to FM signal, the simulation results show that the desired signal-to-ACI power ratio must be more than -30 dB when the carrier frequency distance is 150 kHz.

• Journal of Communications and Networks
• /
• v.18 no.5
• /
• pp.784-795
• /
• 2016

In this paper, we investigate the resource allocation problem in time-varying heterogeneous wireless networks (HetNet) with multi-homing user equipments (UE). The stochastic optimization model is employed to maximize the network utility, which is defined as the difference between the HetNet's throughput and the total energy consumption cost. In harmony with the hierarchical architecture of HetNet, the problem of stochastic optimization of resource allocation is decomposed into two subproblems by the Lyapunov optimization theory, associated with the flow control in transport layer and the power allocation in physical (PHY) layer, respectively. For avoiding the signaling overhead, outdated dynamic information, and scalability issues, the distributed resource allocation method is developed for solving the two subproblems based on the primal-dual decomposition theory. After that, the adaptive resource allocation algorithm is developed to accommodate the timevarying wireless network only according to the current network state information, i.e. the queue state information (QSI) at radio access networks (RAN) and the channel state information (CSI) of RANs-UE links. The tradeoff between network utility and delay is derived, where the increase of delay is approximately linear in V and the increase of network utility is at the speed of 1/V with a control parameter V. Extensive simulations are presented to show the effectiveness of our proposed scheme.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.18 no.2
• /
• pp.218-230
• /
• 1993

A power line modem(PLM) which transfers data safely through power lines in houses or small offices is considered. When a power line is used for communications, transmitted signals could be affected by the channel characteristics such as frequency-selective fading, interference, and time-varying attenuation. In order to overcome these impairments, a direct sequence(DS) technique which is well known as an effective instrument against a variety of interferences and hostile channel properties is employed. Using a DS technique, however, requires more circuits such as PN code generator circuits, code modification circuits, and complicated synchronization circuits, and it also results in substantial acquisition delay. In this paper, some of these circuits are implemented via software programmed in the system controller, and the complicated synchronization circuits are replaced by simple circuits utilizing a 60 Hz power signal for synchronization. The synchronization ciruits used in this paper virtually eliminate the substantial acquisition delay, and is also designed to free influence of 60 Hz zero crossing jitters which reside in a power signal. As a result, a PLM using a DS technique is realized in the form of wall-socket plug, and the PLM hardware would be very much simplified.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.6
• /
• pp.628-633
• /
• 2014

This paper proposes a performance improvement method of the conventional double talk detection method which can operate before convergence of the echo canceller. The proposed method estimates the coefficients of the linear predictive coding(LPC) filter by using the primary input signal. The time-varying threshold for double talk detection is determined based on the LPC filter gain of the primary input signal level. The proposed method can reduce not only false detection rate which means wrong detection of single talk as double talk but also double talk detection delay. Computer simulation was performed using a long-term real speech signals. It is shown that the proposed method improves the conventional method in terms of lowering the false detection rate and shortening the detection delay.