• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.11
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• pp.1042-1049
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• 2014

In Military MicroWave communication, the distance of link, availability, transmission capacity is the important point in order to design the circuit. Currently, operated by fixed modulation, in the future it will be evolved to the modulation techniques enabled to increase the transmission capacity. It would be hard to consistently guarantee the transmission quality of the high-availability because the occurrence probability of fading increase in terms of the link distance for the case of the long distance. In the case of the modulation techniques for the transmission of high-capacity, as the distance is long, a falling-off in the fade margin from the link budget analysis cause the decrease in the availability. It is difficult to provide QoS guaranteed connection. In this paper, we propose the performance improvement technique of transmission by the variable allocation of the bandwidth and the higher priority transmission technique using setting the ratio of the higher priority capacity in association with the distance of link. Also we suggest the alternative of the calculation for channel transmission capacity to design the circuit.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1007-1015
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• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.