• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.840-843
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• 1996

This paper presents an adaptive cutting force controller for milling process, which can be attached to most commercial CNC machining centers in a practical way. The cutting forces of X,Y and Z axes measured indirectly from the use of currents drawn by AC feed-drive servo motors. A typical model for the feed-drive control system of a horizontal machining center is developed to analyze cutting force measurement from the drive motor. The pulsating milling forces can be measured indirectly within the bandwidth of the current feedback control loop of the feed-drive system. It is shown that indirectly measured cutting force signals can be used in the adaptive controller for cutting force regulation. The robust controller structure is adopted in the whole adaptive control scheme. The conditions under which the whole scheme is globally convergent and stable are presented. The suggested control scheme has been implemented into a commercial machining center, and a series of cutting experiments on end milling and face milling processes are performed. The adaptive controller reveals reliable cutting force regulating capability under various cutting conditions.

• IEMEK Journal of Embedded Systems and Applications
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• v.2 no.4
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• pp.221-226
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• 2007

This paper propose a control network system based on IEEE1394 for a multi body robot control. The IEEE1394 has the characteristic of high speed(400Mbps), real-time, stability and plug&play. And IEEE1394 also supports freeform daisy chaining, branching and hot plugging, which reduce cabling complexity and make a system simple. Especially, multi host and broad casting support network data sharing method which is suitable for control network for multi body robot. Through experiment, we show that the proposed control network can interface 48 joints (BLDC motors, gears, and encoders) and four 6-axis force/torque sensors with 4Khz communication bandwidth, which is adequate for a multi body robot.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.309-316
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• 2000

A coordination method for a macro/micro robot with separate controllers is proposed and evaluated. The macro/micro robot system generally has independent controllers for the macro and the micro robot respectively. A controller for the coordination of the macro and the micro robot has been designed based on the stable independent controller of each system. The method and trajectory generation method is also proposed to track the moving desired position rapidly. The control method and trajectory generation method is also proposed to track the moving desired position rapidly. The control strategy has been implemented to the macro/micron robot system to evaluate the performance. The experimental results show that the proposed method for maintaining the micro robot within its workspace has uniform performance over the various range of the bandwidth and the proposed trajectory generator is shown to be efficient.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.554-558
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• 2000

This paper proposes a new type of piezoactuator-driven valve system. The piezoceramic actuator bonded to both sides of a flexible beam surface makes a movement required to control the pressure at the flapper-nozzle of a pneumatic system. After establishing a dynamic model, an appropriate size of the valve system is designed and manufactured. Subsequently, a sliding mode controller which is known to be robust to uncertainties such as disturbance is formulated in order to achieve accurate regulating and tracking control of the desired pressure. The controller is experimentally realized and control performances for various pressure trajectories are presented in time domain. The control bandwidth of the valve system which directly represents the fastness is also evaluated in the frequency domain.

• Journal of Communications and Networks
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• v.14 no.6
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• pp.710-718
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• 2012

The implementation of a common control channel is one of the most challenging issues in cognitive radio networks, since a fully reliable control channel cannot be created without reserving bandwidth specifically for this purpose. In this paper, we investigate a promising solution that exploits the ultra wide band (UWB) technology to let cognitive radio nodes discover each other and exchange control information for establishing a communication link. The contribution of this paper is threefold: (i) We define the communication protocol needed to let cognitive radio nodes discover each other and exchange control information for link set up, (ii) we overcome the gap in coverage, which typically exists between UWB and long-medium range technologies, by using multi-hop communication, (iii) we evaluate the performance of our approach by adopting an accurate channel model and show its benefits with respect to an in-band signaling solution.

• Journal of the Korea Society for Simulation
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• v.8 no.2
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• pp.45-56
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• 1999

It is necessary that we should control the traffic to not only efficiently use the rich bandwidth of ATM network but also satisfy the users various requirements for service quality. However, it is very difficult to decide which control mechanism would be applied in real network because there are various types of ATM traffic and traffic control mechanisms. In this paper, a smart simulator is developed ot analyze the performance of a UPC(Usage Parameter Control) mechanism which is a typical traffic control mechanism. The simulator consists of a user interface that supports a menu-driven input form and a simulation program that is executed with the users input parameters. Especially, the simulator establishes more powerful and flexible simulation environment since it supports a more complex simulation applying various source traffic to several different UPC mechanisms at the same time and allows an arbitrary user-defined traffic in addition to some well-known traffic.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1713-1715
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• 2007

Measurement of network traffic have shown that the self-similarity is a ubiquitous phenomenon spanning across diverse network environments. In previous work, we have explored the feasibility of exploiting the long-range correlation structure in a self-similar traffic for the congestion control. We have advanced the framework of the multiple time scale congestion control and showed its effectiveness at enhancing performance for the rate-based feedback control. Our contribution is threefold. First, we define a modular extension of the TCP-a function called with a simple interface-that applies to various flavours of the TCP-e.g., Tahoe, Reno, Vegas and show that it significantly improves performance. Second, we show that a multiple time scale TCP endows the underlying feedback control with proactivity by bridging the uncertainty gap associated with reactive controls which is exacerbated by the high delay-bandwidth product in broadband wide area networks. Third, we investigate the influence of the three traffic control dimensions-tracking ability, connection duration, and fairness-on performance.

• Journal of Korea Society of Industrial Information Systems
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• v.10 no.3
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• pp.48-56
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• 2005

This paper proposes a dynamic end-to-end flow control algorithm that is more effective than previous methods considering either the Rate of Packet Loss (RPL) or Round Trip Time (RTT). When the RPL is under normal conditions, the current network status will be in one of three defined states by using the RTT and this makes bandwidth control precise before serious packet loss occurs. If the RPL exceeds a critical level, then the network is considered to be in a fourth state. Suitable transmission rates are determined depending on the network status and are controlled by adjusting not only the number of transmitted frames but also the quality of the frames. In this paper, we present some experimental results of the proposed algorithm. According to our quantitative analysis, the proposed method performs 1.6 to 6 times better than the previous method in terms of the RPL. At the same time, the total number of transmitted packets is increased, which indicates that the proposed method can provide greater bandwidth capacity than previous methods.

• Journal of KIISE:Information Networking
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• v.28 no.3
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• pp.347-354
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• 2001

This paper proposes and analyzes an error control scheme which tries to recover the transmission error within the deadline of a message on FDDI networks. The error control procedure does not interfere other normal message transmissions by delivering retransmission request via asynchronous traffic as well as by delivering retarnsmitted message via overallocated bandwidth which is inevitably produced by the bandwidth allocation scheme for hard real-time guarantee. The receiver counts the number of tokens which it meets, determines the completion of message transmission, and finally sends error report. The analysis results along with simulation performed via SMPL show that the proposed scheme is able to enhance the deadline meet ratio of messages by overcoming the network errors. Using the proposed error control scheme, the hard real-time network can be built at cost lower than, but performacne comparable to the dual link network.

• Journal of KIISE:Information Networking
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• v.31 no.6
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• pp.595-607
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• 2004

Networks often evolve to provide a host with multiple access points to the Internet. In this paper, we propose a transport layer load distribution mechanism utilizing the multiple network interfaces simultaneously. We specifically propose an extension of Stream Control Transmission Protoco1 (SCTP) to have load sharing over multiple network interfaces. We named the particular service provided by the Proposed load sharing mechanism to be LS (Load Sharing) mode service. LS mode service is based on the following four key elements: (i) the separation of flow control and congestion control, (ii) congestion window based striping, (iii) redundant packet retransmission for fast packet loss recovery, (iv) a novel mechanism to keep track of the receiver window size with the SACKS even if they arrive out-of-order. Through simulations, it is shown that the proposed LS mode service can aggregate the bandwidth of multiple paths almost ideally despite of the disparity in their bandwidth. When a path with a delay of 100% greater is utilized as the second path, the throughput is enhanced about 20%.