• Journal of the Korean Society for Precision Engineering
• /
• v.11 no.4
• /
• pp.88-98
• /
• 1994

A new local path planning algorithm for free-ranging robots is proposed. Considering that a laser range finder has the excellent resolution with respect to angular and distance measurements, a simple local path planning algorithm is achieved by a directional weighting method for obtaining a heading direction of nobile robot. The directional weighting method decides the heading direction of the mobile robot by estimating the attractive resultant force which is obtained by directional weighting function times range data, and testing whether the collision-free path and the copen parthway conditions are satisfied. Also, the effectiveness of the established local path planning algorithm is estimated by computer simulation in complex environment.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.10 no.4
• /
• pp.137-143
• /
• 2010

This paper deals with the performance comparison of self adaptive equalizer by the weighting factor of MCMA cost function for the compensate the amplitude and phase distortion which occurs in the communication channel. The MCMA is improves the cost function of present CMA at the output of equalizer for the minimize of error function in the amplitude and phase, the value of weighting factor is used at this time. When the comparison of equalizer performance, we classified to initial state and steady state, then it represents the convergence time and convergence speed and steady state operation of equalizer to the predetermined level, it is determined by the weighting factor. We confirm to the different result to this 2 state by weighting factor values using computer simulation. By using the result of this paper, if we appropriately choose the weighting factor values in the environment of communication channel, it is expected that the high quality digital transmission is possible.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.3
• /
• pp.257-266
• /
• 1999

The aim of this paper is to suggest a design method of the optimal multivariable $H_{\infty}$ control system using genetic algorithm (GA). This $H_{\infty}$ control system is designed by applying GA to the optimal determination of weighting functions and design parameter $\gamma$ that are given by Glover-Doyle algorithm which can design $H_{\infty}$ controller in the state space. The first method to do this is that the gains of weighting functions and $\gamma$ are optimized simultaneously by GA with tournament method. And the second method is that not only the gains and $\gamma$ but also the dynamics of weighting functions are optimized at the same time by eA with roulette-wheel method. The effectiveness of this $H_{\infty}$ control system is verified by computer simulation.

• International Journal of Precision Engineering and Manufacturing
• /
• v.5 no.3
• /
• pp.77-84
• /
• 2004

A robust optimal control design is proposed in this study for rigid robotic systems under the unknown loads and the other uncertainties. The uncertainties are reflected in the performance index, where the uncertainties are bounded for the quadratic square of the states with a positive definite weighting matrix. An iterative algorithm is presented for the determination of the weighting matrix required for necessary robustness. Computer simulations have been done for a weight-lifting operation of a two-link manipulator and the simulation results shows that the proposed algorithm is very effective for a robust control of robotic systems.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2004-2009
• /
• 2003

A robust optimal control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method finding the Q weighting matrix is shown. Computer simulations have been done for a weight-lifting operation of a two-link manipulator and the result of the simulation shows that the proposed algorithm is very effective for a robust control of robotic systems.

• Proceedings of the IEEK Conference
• /
• 1998.06a
• /
• pp.639-642
• /
• 1998

This paper proposes a new wide-band beamforming which has guassian weighting. For the prupose of measurement this beam is formed by using all sensors toghether, not octave-by-octave. Weighting is applied to each sensor before time-delay compensation as a frequency-dependent function. As the resutls of the simulation of the proosed algorithm for nested linear array having 17 sensors for each octave, it is confirmed that beam can be formed with all sensors together and uniform directivity index can be achieved by proposed algorithm.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.22 no.3
• /
• pp.91-94
• /
• 1985

A method optimizing selection of a state weighting matrix is presented. The state weight-ing matrix is chosen so that the closed-loop system responses closely match to the ideal model responses. An algorithm is presented which determines a positive semidefinite state weighting matrix in the linear quadratic optimal control design problem and an numerical example is given to show the effect of the present algorithm.

• Journal of electromagnetic engineering and science
• /
• v.8 no.4
• /
• pp.139-143
• /
• 2008

In this paper, a new scheme to calculate the weighting factor of the 2-D isotropic-dispersion finite difference time domain(ID-FDTD) is proposed. The weighting factor in [1] was formulated in free space, so that it may not be optimal in dielectric media. Therefore, the weighting factor was reformulated by considering the material properties and using the least mean square method. As a result, a minimum numerical dispersion error for any dielectric media is guaranteed.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2000.04b
• /
• pp.431-438
• /
• 2000

The cost function consists of the weighting functions concerning the structural responses to be controlled and the controller capability. Therefore, the control efficiency depends on the characteristics of the weighting functions. The objective of this paper is the comparative study of the time domain control strategies of LQR and LQG and the frequency domain strategy of H₂ by setting the equivalent weighting functions to the all control strategies. As a result of analysis, LQR strategy is found to be more efficient than other strategies in terms of the response reduction. but the control force is found to be a little highter. As LQG can compensate the limitation of LQR that all state variables should be identified, LQG is more acceptable algorithm than LQR. Furthermore LQG shows a good performance both in the response reduction and the control force. Finally H₂ algorithm is employed to illustrate the importance of weighting filters considering the frequency characteristics of the response and the controller. It Is shown that the H₂ algorithm is found to be the most effective one for the response control with a little control force having a low frequency band.

• Journal of Internet Computing and Services
• /
• v.21 no.4
• /
• pp.35-41
• /
• 2020

This paper proposes an algorithm to improve the compression performance of the adaptive multi-rate (AMR) speech coding using the context tree weighting (CTW) method. AMR is the voice encoding standard adopted by IMT-2000, and supports 8 transmission rates from 4.75 kbit/s to 12.2 kbit/s to cope with changes in the channel condition. CTW as a kind of the arithmetic coding, uses a variable-order Markov model. Considering that CTW operates bit by bit, we propose an algorithm that re-orders AMR data and compresses them with CTW. To verify the validity of the proposed algorithm, an experiment is conducted to compare the proposed algorithm with existing compression methods including ZIP in terms of compression ratio. Experimental results indicate that the average additional compression rate in AMR data is about 3.21% with ZIP and about 9.10% with the proposed algorithm. Thus our algorithm improves the compression performance of AMR data by about 5.89%.