• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1220-1230
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• 2006

In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1435-1438
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• 2005

In hands-free telephone systems, the received speech signal is fed back to the microphone and constitutes the so-called echo. To cancel the effect of this time-varying echo path, it is necessary to device an adaptive filter between the receiving and the transmitting ends. For a typical FIR realization, the length of the fullband adaptive filter results in high computational complexity and low convergence rate. Consequently, subband adaptive filtering schemes have been proposed to improve the performance. In this work, we use deterministic approach to analyze the relationship between fullband and subband adaptive filtering structures. With block adaptive filtering structure as an intermediate stage, the analysis is divided into two parts. First, to avoid aliasing, it is found that the matrix of block adaptive filters is in the form of pseudocirculant, and the elements of this matrix are the polyphase components of the fullband adaptive filter. Second, to transmit the near-end voice signal faithfully, the analysis and the synthesis filter banks in the subband adaptive filtering structure must form a perfect reconstruction pair. Using polyphase representation, the relationship between the block and the subband adaptive filters is derived.

• ETRI Journal
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• v.25 no.3
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• pp.171-178
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• 2003

To improve the detection performance of surveillance radars with polarization diversity, we developed an adaptive polarimetric processor and compared it with other polarimetric processors. We derived our adaptive polarimetric processor, called the polarization discontinuity detector (PDD), from the generalized likelihood ratio (GLR) test principle for the unspecified target component. We derived closed-form expressions of its probabilities of detection and false alarm, and compared its performance to that of the adaptive polarization canceller (APC) and Kelly's GLR processor. The PDD had a performance similar to Kelly's GLR in Gaussian clutter, and both the PDD and Kelly's GLR, which have embedded constant false alarm rates (CFARs), outperformed the APC, especially when the target polarization state was close to the clutter's polarization state. The important difference is that the PDD is much simpler than Kelly's GLR for hardware/software implementation, because the PDD does not require a costly two-parameter filter bank to cover the unknown target polarization state as Kelly's GLR does.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.29 no.6
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• pp.90-95
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• 2015

This paper proposes the new adaptive gain control monitoring sensor for the marine IT system. The marine IT system sensors make it possible to conduct search missions, record climate changes, provide pollution control, study marine life, conduct survey missions, tactical surveillance, and predict natural disturbances in the ocean. In this paper, the adaptive gain control circuit which changes its parameters according to the ambient noise situation for obtaining the precise location information of marine IT system sensor is developed and analyzed. The performance characteristics for ensuring the precise location information of marine system sensor is presented and analyzed. The theoretical and experimental studies have been carried out. The presented results from the above investigation show considerably excellent performance for the monitoring of the marine system.

• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.6
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• pp.668-676
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• 2017

A two-dimensional numerical investigation is performed to study the influence of slot width of multi-stage stationary floating overtopping wave energy devices on overtopping flow rate and performance. The hydraulic efficiency based on captured crest energy of different device layouts is compared with that of single-stage device to determine the effect of the geometrical design. The results show optimal trends giving a huge increase in overtopping energy. Plots of efficiency versus the relative slot width show that, for multi-stage devices, the greatest hydraulic efficiency is achieved at an intermediate value of the variable within the parametric range considered, relative slot width of 0.15 and 0.2 depending on design layouts. Moreover, an application of adaptive slot width of multi-stage device is investigated. The numerical results show that the overall hydraulic efficiency of non-adaptive and adaptive slot devices are approximately on par. The effect of adaptive slot width on performance can be negligible.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.2
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• pp.313-319
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• 2010

GNSS receiver which uses the weak satellite signal is very vulnerable to the intentional jamming or non-intentional electromagnetic interference. One of the best method to overcome this disadvantage is to use an adaptive array antenna which has the capability of beamforming or nulling to the certain direction. In this paper, the performance of spatial adaptive null pattern control algorithm of 5 element array antenna is analyzed. A control algorithm which is designed in the 5 element array antenna is OPM(Output Power Minimization) which is eliminating the correlation characteristics between a reference antenna and the others. This algorithm can be applied effectively to the satellite navigation's CRPA because the satellite direction is not considered and GNSS signal power is below the thermal noise. The feature of the OPM algorithm is analyzed and the performance is compared with other null pattern control algorithm.

• Journal of Mechanical Science and Technology
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• v.19 no.9
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• pp.1742-1752
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• 2005

This paper presents a Multiple Target Tracking (MTT) Adaptive Cruise Control (ACC) system which consists of three parts; a multi-model-based multi-target state estimator, a primary vehicular target determination algorithm, and a single-target adaptive cruise control algorithm. Three motion models, which are validated using simulated and experimental data, are adopted to distinguish large lateral motions from longitudinally excited motions. The improvement in the state estimation performance when using three models is verified in target tracking simulations. However, the performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. The MTT-ACC system is tested under lane changing situations to examine how much the system performance is improved when multiple models are incorporated. Simulation results show system response that is more realistic and reflective of actual human driving behavior.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.4
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• pp.42-49
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• 1997

A conventional adaptive noise canceller (ANC) using LMS algorithm suffers from the misadjustment of adaptive filter weights due to the gradient-estimate noise by input speech signal at steady state. In this paper, an ANC is proposed which uses the combination of VSLMS (variable step size LMS) and SA (sign algorithm) to improve steady state performance and convergence rate. SA algorithm is applied in speech region to prevent the weights from perturbing by output speech of ANC and VSLMS algorithm is applied to improve convergence rate and channel tracking ability in silence region and adaptive transient region. In compute rsimulation, the performance of the proposed VSLMS-SA combination algorithm is much better than LMS algorithm and the algorithm, recently proposed by greenberg, with adaptation step-size parameter determine dby sum method in convergence rate, channel tracking and steady state performance.

• Convergence Security Journal
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• v.7 no.3
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• pp.39-44
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• 2007

In order to detect and locate edge features precisely in real images we have developed an algorithm by introducing a nonlocal differentiation of intensity profiles called adaptive directional derivative (ADD), which is evaluated independently of varying ramp widths. In this paper, we first develop the edge detector system employing the ADD and then, the performance of the algorithm is illustrated by comparing the results to those from the Canny's edge detector.

• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.222-224
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• 2002

This paper investigates the adaptive control of a fuzzy logic based speed and flux controller for a vector controlled induction motor drive. A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and change of error measured between the motor speed and output of a reference model. The control performance of the model reference adaptive control(mAC) fuzzy controller is evaluated by simulation for various operating conditions. The validity of the proposed MRAC fuzzy controller is confirmed by performance results for induction motor drive system.