• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.419-423
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• 1996

These days, industrial robots are required to have high speed and high precision in doing various tasks. Recently, the adaptive control algorithms for those nonlinear robots have been developed. With spatial vector space, these adaptive algorithms including recursive implementation are simply described. Without sensing joint acceleration and computing the inversion of inertia matrix, these algorithms which include P.D. terms and feedforward terms have global tracking convergence. In this paper, the feasibility of the proposed control method is illustrated by applying to 2 DOF SCARA robot in DSP(Digital Signal Processing).

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.8
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• pp.16-22
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• 1993

As a method of separating the signal arriving from a desired direction in the presence of noise and interfering signals, a linearly constrained adaptive beamformer based on the escalator (Gram-Schmidt) structure is presented. The weights are chosen to minimize local output power subject to the response constraint. The performances of the proposed escalator adaptive beamformer are compared with those of cascade adaptive beamformer via computer simulations.

• Proceedings of the IEEK Conference
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• 2002.07c
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• pp.2035-2038
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• 2002

The necessity of the filter coefficients compensation for the LTJ adaptive filter was explained generally and easily by analyzing it with respect to the time-varying transform domain adaptive filter. And also the reduction method of computational complexity for filter coefficients compensation was proposed and its effectiveness was verified through experiments using artificial and real speech signals. The proposed adaptive filter reduces the computational complexity for filter coefficients compensation by 95%, and when the filter is applied to the acoustic echo canceller with 1000 taps, the total complexity is reduced by 82%

• The Transactions of the Korean Institute of Electrical Engineers
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• v.33 no.1
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• pp.17-20
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• 1984

The motivation in this paper is in constructing the controller with faster adapting speed than the one using the errors between the states of the plant and the model as the adaptive criterion. In the first part of this work, the adaptive law is found by using the state errors. In the later part, the adaptive law is obtained by introducing the companion model method. Finally the justification for the adaptive speed characteristics are compared.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.48.1-48
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• 2001

In this paper, we present a global adaptive output feedback control scheme for a class of uncertain nonlinear systems to which adaptive observer backstepping method may not be applicable directly. The allowed output feedback structure includes quadratic and multiplicative dependency of unmeasured states. Our novel design technique employs a change of coordinates and adaptive backstepping. With these proposed tools, we can remove linear and quadratic dependence on the unmeasured states in the state equation. Also, the multiplication of the two unmeasured states can be eliminated ...

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.24-29
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• 2006

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.8
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• pp.19-27
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• 2016

Nowadays the adaptive buffering techniques for burst stream packet configuration and its operation algorithm to save energy in IP core network have been studied. This paper explains the selection method of packet buffering interval for energy saving when configuring burst stream packet at the ingress router in IP core network. Especially the adaptive buffering interval and its implementation scheme are required to improve the energy saving efficiency at the input part of the ingress router. In this paper, we propose the best adaptive buffering scheme that a current buffering interval is adaptively buffering scheme based on the input traffic of the past buffering interval, and analyze its characteristics of energy saving and end-to-end delay by computer simulation. We show the improvement of energy saving effect and reduction of mean delay variation when using an appropriate inverse-function selecting the buffering interval for the configuration of burst stream packet in this paper. We confirm this method have superior properties compared to other method. The proposed method shows that it is less sensitive to the various input traffic type of ingress router and a practical method.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1085-1090
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• 1989

In this paper, an adaptive control method is presented to guarantee the ultimate boundedness of uncertain systems with partially known uncertainty bounds. This method, with a conventional linear compensator, is used to improve the performance of the trajectory tracking of a robotic manipulator with uncertainties. The proposed method is simulated under several different environments, and its performance is compared with the computed torque method. The simulation results show that the proposed method is well suited for high-performance operation of uncertain robotic systems.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.7 s.196
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• pp.7-12
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• 2007

• Journal of applied mathematics & informatics
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• v.19 no.1_2
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• pp.165-177
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• 2005

In this paper, an adaptive trust region method based on the conic model for unconstrained optimization problems is proposed and analyzed. We establish the global and super linear convergence results of the method. Numerical tests are reported that confirm the efficiency of the new method.