• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.106-111
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• 1992

The flexible arm has considerable structural flexibility. Because of its flexibility, the dynamic nodel is very complex and difficult to get. In this paper, fuzzy logic controller(FLC) of the single-link flexible arm is proposed, for FLC does not require any mathematical model of the plant. Noncolocated control is used and the choice of linguistic variables are examined. The simulation results are presented to show the possibility of FLC for flexible arm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.8-13
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• 1993

This paper presents deterministic and adaptive control laws for two-link flexible arm. The flexible arm has considerable structural flexibility. Because of its flexbility, dynamic equations are very complex and difficult to get, dynamic equations for two-link flexible arm are derived from Bernoulli-Euler beam theory and Lagrangian equation. Using the fact that matrix is skew symmetric, controllers which have a simplified structure with less computational burden are proposed by using Lyapunov stability theory.

• 한국통신학회논문지
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• 제35권2A호
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• pp.165-173
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• 2010

무선 메쉬 네트워크는 기존 무선랜에 비해 낮은 구축비용으로 네트워크 구성이 용이한 무선 백본 네트워크 기술이다. 대부분의 기존 무선 메쉬 관련 연구는 실제 구현 보다는 시뮬레이션을 통해 성능을 평가하였다. 구현 연구들도 존재하지만 링크 구성 유연성이나 다중 채널 등 링크 특성 활용 등의 측면에서 한계가 있다. 그 결과 무선 메쉬의 장점인 망 구성 유연성이 떨어지고 다중 홉 상황에서 성능이 악화되는 문제가 발생한다. 본 논문은 동적 링크 구성을 지원하며 다중 채널 등을 효과적으로 활용할 수 있는 리눅스 기반의 링크 계층 무선 메쉬 라우팅 시스템인 WBMR의 설계 및 구현에 관해 소개한다. 우리는 동적 링크 구성을 위해 무선랜 동작 모드의 하나인 WDS를, 링크 계층 라우팅을 위해 기존 리눅스 브릿지 모듈을 활용하고 변경하는 접근을 택했다. 실험을 통한 성능 평가 결과 WBMR은 빠르고 자율적인 망 구성을 지원하며 링크 특성 반영이 어려운 기존 접근법에 비해 다중 홉 환경에서 데이터 전송률을 크게 향상 시켰다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.342-345
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• 1995

This paper describes the design process and the experimental results of a fuzzy logic controller to control the tip position of a fixible-link manipulator, directly driven by a AC motor, with a large payload. The joint angle fuzzy logic controller is designed without a costly nonlinear system analysis of the flexible manipulator and the AC motor drive system. The state variables for the fuzzy logic controller are joint angle, joint velocity, link deflection, and link deflection velocity. The simulation and experimental results show that the joint position control is not satisfactory when the controller is designed under the assumption of no link flexibility and that stable joint position control and link vibration suppression can be cahieved with the fuzzy logic controller suggested in this paper.

• 한국공작기계학회논문집
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• 제12권1호
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• pp.1-7
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• 2003

In this paper, we discuss the control scheme on active compliance control of flexible manipulators. The active compliance control scheme is extended from the scheme for rigid manipulators. To illustrate the validity of the proposed control scheme, we show experimental results for the case when the end-effector is not moving and when it is moving while applying force. Although flexible manipulators show some problems of stability yet it is clear from these results that flexible manipulators are more effective to reduce damage of environment because of link flexibility than rigid ones.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.599-606
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• 1992

A manipulator system that needs significantly large workspace volume and high payload capacity has greater link flexibility than typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator's end-effector exhibits the nonminimum phase, noncollocated, and flexible structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a flexible manipulator. The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, the inverse dynamic method calculates the feedforward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-Unk flexible manipulator, the effectiveness of the inverse dynamic method has been demonstrated.

• 한국통신학회논문지
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• 제22권6호
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• pp.1323-1333
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• 1997

In this paper, we propose an efficient architecture for a high-speed cell concentrator/distributor(HCCD) in an ATM(Asynchronous Transfer Mode) switch and by analyzeing the simulation results evaluate the performance of the proposed architecuture. The proposed HCCD distributes cells from a switch link to local processors, or concentrates cells from local processor s to a switch link. This design is to guarntee a high throughput for the IPC (inter-processor communication) link in a distributed ATM switching system. The HCCD is designed in a moudlar architecture to provide the extensibility and the flexibility. The main characteristics of the HCCD are 1) Adaption of a local CPU in HCCD for improving flexibility of the system, 2) A cell-baced statistical multiplexing function for efficient multiplexing, 3) A cell distribution function based on VPI(Virtual Path Identifier), 4) A bypassing capability for IPC between processor attached to the same HCCD, 5) A multicasting capability for point-to-multipoint communication, 6) A VPI table updating function for the efficient management of links, 7) A self-testing function for detecting system fault.

• Journal of information and communication convergence engineering
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• 제17권4호
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• pp.227-233
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• 2019

In long-haul optical communication system consisting of standard single-mode fiber spans and fiber amplifiers, such as the erbium-doped fiber amplifier, performance is deteriorated by signal distortion due to chromatic dispersion and nonlinearity of the fiber. A combination of dispersion management and optical phase conjugation is an effective technique to compensate for the distortion. In an optical link configured by this combination, a dispersion map mainly affects the compensation of the distorted optical signals. This paper proposes new dispersion maps configured by the decaying or expanding distribution of residual dispersion per span (RDPS) in a dispersion-managed link combined with a midway optical phase conjugator. The effect of the proposed dispersion maps on the compensation for distorted 24 channel × 40 Gbps wavelength-division multiplexed signals was assessed through numerical simulation. It was confirmed that all the proposed dispersion maps are most appropriate for the compensation and, furthermore, for the flexibility of link configuration than conventional links.

• Journal of Mechanical Science and Technology
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• 제14권11호
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• pp.1225-1231
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• 2000

This paper proposes a V-shaped Lyapunov function approach for the model-based control of flexible-joint robots, in which a new model-based nonlinear control scheme is designed based on a V-shaped Lyapunov function. The proposed control guarantees global asymptotic stability for link trajectory control while keeping all internal signals bounded. Since joint flexibility is used as a control parameter, the proposed control is not restricted by the degree of joint flexibility and be applied to flexibility-joint, partly-flexibility, or rigid-joint robots without modification. the effectiveness of the proposed control has been by computer simulation.

• 한국정밀공학회지
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• 제14권7호
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• pp.137-143
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• 1997

In this study, handling simulation of a passenger car is carried out to see the effects of suspension compliance, roll stabilizef bar and chassis flexibility. The front suspension of the car is a MacPherson strut type and the rear suspension is a multi-link type. The following five DADS models are constructed and compared to verify the effects of suspension compliance and chassis flexibility during lane change. (1) Vdhicle model without hard point compliance and stabilizer, (2) Vehicle model with hard point compoiance, (3) Vehicle model with hard point compliance and stabilizer, (4) Vehicle model with hard point compoiance, stabilizer, and one vibration mode of the chaxxis. (5) Vehicle model with hard point compliance, stabilizer, and three vibration modes of the chassis. The result shows that hard point compliance and stabilizer are significant in roll angle, and the flexibility of the chassis affects the yaw angle and yaw rate.