• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.472-477
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• 1996

This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• ETRI Journal
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• v.38 no.4
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• pp.622-633
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• 2016

A discontinuous reception (DRX) operation is included in the Long Term Evolution (LTE) system to achieve power saving and prolonged battery life of the user equipment. An improvement in DRX power saving usually leads to a potential increase in the packet delay. An optimum DRX configuration depends on the current traffic, which is not easy to estimate accurately, particularly for non-real-time applications. In this paper, we propose a novel way to vary the DRX cycle length, avoiding a continuous estimation of the data traffic when only non-real-time applications are running with no active real-time applications. Because a small delay in non-real-time traffic does not essentially impact the user's experience adversely, we deliberately allow a limited amount of delay in our proposal to attain a significant improvement in power saving. Our proposal also improves the delay in service resumption after a long period of inactivity. We use a stochastic analysis assuming an M/G/1 queue to validate this improvement.

• Smart Structures and Systems
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• v.25 no.2
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• pp.155-167
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• 2020

This paper demonstrates a real-time hybrid substructuring (RTHS) shake table test to evaluate the seismic performance of a base isolated building. Since RTHS involves a feedback loop in the test implementation, the frequency dependent magnitude and inherent time delay of the actuator dynamics can introduce inaccuracy and instability. The paper presents a robust stability and performance analysis method for the RTHS test. The robust stability method involves casting the actuator dynamics as a multiplicative uncertainty and applying the small gain theorem to derive the sufficient conditions for robust stability and performance. The attractive feature of this robust stability and performance analysis method is that it accommodates linearized modeled or measured frequency response functions for both the physical substructure and actuator dynamics. Significant experimental research has been conducted on base isolators and dampers toward developing high fidelity numerical models. Shake table testing, where the building superstructure is tested while the isolation layer is numerically modeled, can allow for a range of isolation strategies to be examined for a single shake table experiment. Further, recent concerns in base isolation for long period, long duration earthquakes necessitate adding damping at the isolation layer, which can allow higher frequency energy to be transmitted into the superstructure and can result in damage to structural and nonstructural components that can be difficult to numerically model and accurately predict. As such, physical testing of the superstructure while numerically modeling the isolation layer may be desired. The RTHS approach has been previously proposed for base isolated buildings, however, to date it has not been conducted on a base isolated structure isolated at the ground level and where the isolation layer itself is numerically simulated. This configuration provides multiple challenges in the RTHS stability associated with higher physical substructure frequencies and a low numerical to physical mass ratio. This paper demonstrates a base isolated RTHS test and the robust stability and performance analysis necessary to ensure the stability and accuracy. The tests consist of a scaled idealized 4-story superstructure building model placed directly onto a shake table and the isolation layer simulated in MATLAB/Simulink using a dSpace real-time controller.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.590-592
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• 1997

A Discrete Event Dynamic System is a system whose states change in response to the occurrence of events from a predefined event set. A major difficulty in developing analytical results for the systems is the lack of appropriate modeling techniques. This paper proposes the use of Real-time Temporal Logic as a modeling tool for the analysis and control of DEDS. The Real-time Temporal Logic Frameworks is extended with a suitable structure of modeling hard real-time constraints. Modeling rules are developed for several specific situations. It is shown how the graphical model can be translated to a system of linear equations and constraints.

• Korean Journal of Veterinary Service
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• v.32 no.4
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• pp.299-306
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• 2009

Assay for the detection and quantification of porcine circovirus type 2 (PCV 2) with the real-time PCR were developed. TaqMan probe real-time using a set of primer/probe was developed for detection of PCV 2. In this study we applied real-time PCR assay to 320 samples, collected from pig farms. In 151 of 320 samples, PCV 2 DNA was detected by conventional PCR assay. All samples positive for PCV 2 DNA in conventional PCR assay were also positive in Real-time PCR assay, but 69 of 169 samples that tested negative for PCV 2 DNA in conventional assay were tested positive in TaqMan probe real-time PCR assay. The test of TaqMan probe real-time PCR resulted in detection and quantification limits of 101 copies per sample. TaqMan probe real-time PCR assay increased the number of samples in which PCV 2 was detected by 21%. TaqMan probe real-time PCR assay is very efficient method in contrast to the conventinal PCR, becoming increasingly important method for gene analysis.

• ETRI Journal
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• v.28 no.4
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• pp.537-540
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• 2006

When multiple ZigBee wireless personal area networks (WPANs) are in close proximity to each other, contentions and collisions in transmissions will lead to increased packet delays. However, there is no existing study on how delay performance would be affected in a crowded real-life environment where each person walking down a busy street would be wearing a ZigBee WPAN. This letter studies the use of ZigBee WPANs in such a real-life environment for real-time heart beat monitoring. To be pragmatic, we derived a mobility pattern from the analysis of a real-life video trace. Then, we estimated the delay performance from the video trace by combining data collected from ZigBee experiments. The results show that the 300 ms packet delay requirement will not be met for only 11% of the time. When failure occurs, it will last for an average duration of 1.4 s.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.2
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• pp.132-140
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• 2002

A momentum backpropagation neural network is prepared to carry out real-time dynamics simulations of a passenger car. A full-car model of fifteen degrees of freedom was constructed for vehicle dynamics analysis. Human body dynamics analysis was performed for a male driver(50 percentile Korean adult) restrained by a three point seatbelt system. The trained data using the neural network were obtained using a dynamic solver, ADAMS . The neural network were formed based on the dynamics of the simulator. The optimized hidden layer was obtained by selecting the optimal number of hidden layers. The driving scenario including bump passing and lane changing has been used for the estimation of the proposed neural network. A comparison between the trained data and neural network outputs is found to be satisfactory to show the applicability of the suggested approach.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.175-185
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• 2005

The scheduling methods of the distributed real-time systems have been proposed. However, they have some weak points. They did not schedule both sporadic and periodic tasks and messages at the same time or did not consider the end-to-end constraints such as precedence relations between sporadic tasks. This means that system scheduling must guarantee the constraints of practical systems and be applicable to them. This paper proposes a new scheduling method that can be applied to more practical model of distributed real-time systems. System model consists of sporadic and periodic tasks with precedence relations and sporadic and periodic messages and has end-to-end constraints. The proposed method is based on a binary search-based period assignment algorithm, an end-to-end laxity-based priority assignment algorithm, and three kinds of schedulability analysis, node, network, and end-to-end schedulability analysis. In addition, this paper describes the application model of sporadic tasks with precedence constraints in a distributed real-time system, shows that existing scheduling methods such as Rate Monotonic scheduling are not proper to be applied to the system having sporadic tasks with precedence constraints, and proposes an end-to-end laxity-based priority assignment algorithm.

• Proceedings of the Microbiological Society of Korea Conference
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• 2003.05a
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• pp.118-121
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• 2003

A method for detection and quantification of aceticlastic methanogens using a real-time PCR with a TaqMan probe was developed. Two sets of primers and probes targeting the family Methanosarcinaceae and Methanosaetaceae were designed by using the Ribosormal Database Project (RDP) II, and softwares for phylogenetic probe design and sequence analysis. Target-group specificity of each set of primers and probe was verified by testing DNAs isolated from pure cultures of 28 archaeal strains purchased from DSMZ. Cell numbers in the 28 archaeal cultures and in the samples from anaerobic processes were quantified using a real-time PCR with the sets of primers and probe. In conclusion, the real-time PCR assay was very specific for the corresponding target methanogenic family and was proved to be a powerful method for quantification of aceticlastic methanogens in anaerobic processes.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.11
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• pp.1434-1440
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• 1999

For the real-time power system analysis, there exists a limitation to the scale of the system to be simulated, hence it is necessary for the real-time simulation to develop reduced equivalent systems which preserve the desired property of the original system. In this paper, a procedure for developing an equivalent system whose scale is reduced within the hardware capacity of a real-time simulator is proposed. Also, the proposed procedure is applied to a KEPCO's system. The comparison between the original system and equivalent systems illustrates the capabilities of the proposed procedure.