• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.193-200
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• 2004

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제7권12호
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• pp.3055-3070
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• 2013

This paper proposes an improved carrier frequency offset (CFO) and sampling frequency offset (SFO) estimation scheme for orthogonal frequency division multiplexing (OFDM) based broadcasting system with cyclic delay diversity (CDD) antenna. By exploiting a periodic nature of channel transfer function, cyclic delay and pilot pattern with a maximum channel power are carefully chosen, which helps to enable a robust estimation of CFO and SFO against the frequency selectivity of the channel. As a performance measure, a closed-form expression for the achievable mean square error of the proposed scheme is derived and is verified through simulations using the parameters of the digital radio mondiale standard. The comparison results show that the proposed frequency estimator is shown to benefit from properly selected delay parameter and pilot pattern, with a performance better than the existing estimator.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권12호
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• pp.5268-5285
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• 2016

Digital watermarking techniques are widely applied to protect the integrity and copyright of digital content. In a majority of the literature for watermarking techniques, the watermarked image often causes some distortions after embedding a watermark. For image-quality-concerned users, the distortions from a watermarked image are unacceptable. In this article, we propose a removable watermarking scheme that can restore an original-like image and resist signal-processing attacks to protect the ownership of an image by utilizing the property of singular value decomposition (SVD). The experimental results reveal that the proposed scheme meets the requirements of watermarking robustness, and also reestablishes an image like the original with average PSNR values of 59.07 dB for reconstructed images.

• International Journal of Contents
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• 제11권3호
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• pp.39-46
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• 2015

When host images are watermarked with CRT (Chinese Remainder Theorem), the watermark images are still robust in spite of the damage of the host images by maintaining the remainders in an unchanged state within some range of the changes that are incurred by the attacks. This advantage can also be attained by "zero-watermarking," which does not change the host images in any way. This paper proposes an improved zero-watermarking scheme for color images on the DCT (Discrete Cosine Transform) domain that is based on the CRT. In the scheme, RGB images are converted into YCbCr images, and one channel is used for the DCT transformation. A key is then computed from the DC and three low-frequency AC values of each DCT block using the CRT. The key finally becomes the watermark key after it is combined four times with a scrambled watermark image. When watermark images are extracted, each bit is determined by majority voting. This scheme shows that watermark images are robust against a number of common attacks such as sharpening, blurring, JPEG lossy compression, and cropping.

• Journal of Communications and Networks
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• 제5권1호
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• pp.82-89
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• 2003

In this paper, an efficient threshold-based filtering (TF) buffer management scheme is proposed. The TF is capable of minimizing the overall loss performance and improving the fairness of buffer usage in a shared buffer packet switch. The TF consists of two mechanisms. One mechanism is to classify the output ports as sctive or inactive by comparing their queue lengths with a dedicated buffer allocation factor. The other mechanism is to filter the arrival packets of inactive output ports when the total queue length exceeds a threshold value. A theoretical queuing model of TF is formulated and resolved for the overall packet loss probability. Computer simulations are used to compare the overall loss performance of TF, dynamic threshold (DT), static threshold (ST) and pushout (PO). We find that TF scheme is more robust against dynamic traffic variations than DT and ST. Also, although the over-all loss performance between TF and PO are close to each other, the implementation of TF is much simpler than the PO.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.305-307
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• 1994

In this paper, the desist and the implementation of a robust adaptive controller for trajectory tracking control of the robot manipulator is presented. The proposed control scheme ensures that without any prior knowledge of the robot manipulator parameters, tracking errors are converged to some boundary in the presence of a state-dependent input disturbances as well as the ideal case. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking control of the robot manipulator.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2008년도 추계학술발표대회
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• pp.1387-1390
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• 2008

In a wireless network, handover latency is very important in supporting user mobility with the required quality of service (QoS). In view of this many schemes have been developed which aim to reduce the handover latency. The Hierarchical Mobile IPv6 (HMIPv6) approach is one such scheme which reduces the high handover latency that arises when mobile nodes perform frequent handover in Mobile IPv6 wireless networks. Although HMIPv6 reduces handoff latency, failures in the mobility anchor point (MAP) results in severe disruption or total disconnection that can seriously affect user satisfaction in ongoing sessions between the mobile and its correspondent nodes. HMIPv6 can avoid this situation by using more than one mobility anchor point for each link. In [3], an improved Robust Hierarchical Mobile IPv6 (RH-MIPv6) scheme is presented which enhances the HMIPv6 method by providing a fault-tolerant mobile service using two different MAPs (Primary and Secondary). It has been shown that the RH-MIPv6 scheme can achieve approximately 60% faster recovery times compared with the standard HMIPv6 approach. However, if mobile nodes perform frequent handover in RH-MIPv6, these changes incur a high communication overhead which is configured by two local binding update units (LBUs) as to two MAPs. To reduce this communication overhead, a new cost-reduced binding update scheme is proposed here, which reduces the communication overhead compared to previous schemes, by using an increased number of MAP switches. Using this new proposed method, it is shown that there is a 19.6% performance improvement in terms of the total handover latency.

• Management Science and Financial Engineering
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• 제14권2호
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• pp.13-23
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• 2008

The pricing/lot-sizing problem of determining the robust optimal order quantity and selling price is discussed. The uncertainty of parameters characterized by an ellipsoid is explicitly incorporated into the problem. An approximation scheme is proposed to transform the problem into a geometric program, which can be efficiently and reliably solved using interior-point methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.642-647
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• 1993

In general, systems contain uncertain elements in the real world; these may be parameters, constant or varying, that are unknown or imperfectly known. When the uncertainty is assumed to satisfy the matching condition and to be cone-bounded, Y.H. Chen[81 proposed an adaptive robust control algorithm which introduced adaptive scheme for a design parameter into robust deterministic controls. In this paper, the above control algorithm is applied to the position tracking control of 2 DOF direct drive SCARA robots, and simulation and experimental studies are conducted to verify the control algorithm and to evaluate control performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.379-382
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• 1996

Evolution Strategy is used as an effective search algorithm in optimization problems and Sliding Mode Control is well known as a robust control algorithm. In this paper, we propose a Sliding Mode Control Method for robot manipulator using Evolution Strategy. Evolution Strategy is used to estimate Sliding Mode Control Parameters such as sliding surface gradient, continuous function boundary layer, unknown plant parameters and switching gain. Experimental results show the proposed control scheme has accurate and robust performances with effective search ability.