• International Journal of Safety
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• 제5권2호
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• pp.6-11
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• 2006

The time delay in servo control on LonWorks/IP Virtual Device Network (VDN) is highly stochastic in nature. LonWorks/IP VDN induced time delay deteriorates the performance and stability of the real-time distributed control system and hinders an effective preventive and predictive maintenance. Especially in real-time distributed servo applications on the factory floor, timely response is essential for predictive and preventive maintenance. In order to guarantee the stability and performance of the system for effective preventive and predictive maintenance, LonWorks/IP VDN induced time delay needs to be predicted and compensated for. In this paper position control simulation of DC servo motor using Zero Phase Error Tracking Controller (ZPETC) as a feedforward controller, and Internal Model Controllers (IMC) based on Smith predictor with disturbance observer as a feedback controller is performed. The validity of the proposed control scheme is demonstrated by comparing the IMC based on Smith predictor with disturbance observer.

• 디지털융복합연구
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• 제12권3호
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• pp.353-358
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• 2014

급성기 허혈성 뇌졸중 증상이 있는 뇌 관류 CT 검사를 시행한 환자를 대상으로 장비사가 제시한 고정 시간 기법(Fixed time technique)과 조영제 추적 기법(Bolus tracking technique)을 비교하여 환자의 피폭선량을 분석하고자 하였으며, 조영제 추적 기법의 유용성과 최적의 조영증강 구간을 구현하는 Time graph를 알아보기 위한 것이다. 환자에서는 PCT의 $CTDI_{VOL}$은 고정시간기법에서 431.72mGy, Bolus tracking에서 323.61mGy로 측정되었고, DLP값은 고정시간기법에서 $1243.47mGy{\cdot}cm$, Bolus tracking에서 $932mGy{\cdot}cm$로 측정되었다. Time graph는 고정시간기법에서 다양하게 나타났으나, Bolus tracking 기법에서는 최적의 Time graph를 얻을 수 있었으며, 뇌 관류 CT검사 시 Bolus tracking기법을 적용하여 피폭선량을 25% 정도 감소시킬 수 있었다.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2005년도 전력전자학술대회 논문집
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• pp.618-620
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• 2005

An $H_2$ tracking controller is proposed for networked control systems. The network induced delay is assumed to be time varying and vary in the known range. The proposed controller guarantees stability and $H_2$ performance for all time varying delay in the known range. The proposed controller is verified using a simple networked motor control system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제3권4호
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• pp.344-365
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• 2009

The performance of a tracking system is greatly increased if multiple types of sensors are combined to achieve the objective of the tracking instead of relying on single type of sensor. To conduct the multi-modal tracking, we have previously developed a multi-modal sensor-based tracking model where acoustic sensors mainly track the objects and visual sensors compensate the tracking errors [1]. In this paper, we find a network synchronization problem appearing in the developed tracking system. The problem is caused by the different location and traffic characteristics of multi-modal sensors and non-synchronized arrival of the captured sensor data at a processing server. To effectively deliver the sensor data, we propose a time-based packet aggregation algorithm where the acoustic sensor data are aggregated based on the sampling time and sent to the server. The delivered acoustic sensor data is then compensated by visual images to correct the tracking errors and such a compensation process improves the tracking accuracy in ideal case. However, in real situations, the tracking improvement from visual compensation can be severely degraded due to the aforementioned network synchronization problem, the impact of which is analyzed by simulations in this paper. To resolve the network synchronization problem, we differentiate the service level of sensor traffic based on Weight Round Robin (WRR) scheduling at the routers. The weighting factor allocated to each queue is calculated by a proposed Delay-based Weight Allocation (DWA) algorithm. From the simulations, we show the traffic differentiation model can mitigate the non-synchronization of sensor data. Finally, we analyze expected traffic behaviors of the tracking system in terms of acoustic sampling interval and visual image size.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 하계종합학술대회 논문집(1)
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• pp.209-212
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• 2000

In this paper, effect of imperfect power control on performance of a pseudonoise (PN) code tracking loop is analyzed and simulated for a direct-sequence/code-division multiple access (DS/CDMA) system. The multipath fading channel is modeled as a two-ray Rayleigh fading model. Power control error is modeled as a log-normally distributed random variable. The tracking performance of DLL (delay-locked-loop) is evaluated in terms of tracking jitter and mean-time-to-lose-lock (MTLL). From the simulation results, it is shown that the PN tracking performance is very sensitive to the power control error.

• 한국정보통신설비학회:학술대회논문집
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• 한국정보통신설비학회 2009년도 정보통신설비 학술대회
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• pp.112-114
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• 2009

In this paper, a PN code tracking loop with extended Kalman filter (EKF) is proposed for a direct-sequence spread-spectrum. EKF is used to estimate amplitude and delay in a multipath fading channel. It is shown that tracking error performance is significantly improved by EKF compared with a conventional tracking loop.

• 한국멀티미디어학회논문지
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• 제24권12호
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• pp.1589-1597
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• 2021

Due to the low output rate and time delay of vehicle's navigation results, the electro-optical tracking system(EOTS) cannot estimate accurate target positions. If an inertial measurement unit(IMU) is additionally mounted into the EOTS and inertial navigation system(INS) is constructed, the high navigation output rate can be obtained. And the time-delay can be compensated by using the augmented Kalman filter. An accurate initial attitude is required in order to have accurate navigation outputs. In this paper, an attitude determination algorithm is proposed using the augmented Kalman filter in order to compensate measurement delay of the EOTS and have accurate initial attitude. The proposed initial attitude determination algorithm consists of an augmented Kalman filter, an INS, and an integrated Kalman filter. The augmented Kalman filter compensates the time-delay of the vehicle's navigation results and the integrated Kalman filter estimates the navigation error of the INS. In order to evaluate performance of the proposed algorithm, vehicle's navigation outputs and IMU measurements were generated using sensors' model-based measurement generator and initial attitude estimation errors of the proposed algorithm and the conventional algorithm without the augmented Kalman filter were compared for the generated measurements. The evaluation results show that the proposed algorithm has better accuracy.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.752-759
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• 2008

In this paper, we propose a high accurate geo-location system based on a single base station, where its location is obtained by Time-of-Arrival(ToA) and Direction-of-Arrival(DoA) of the radio signal. For estimating accurate ToA and DoA information, a MUltiple SIgnal Classification(MUSIC) is adopted. However, the estimation of ToA and DoA using MUSIC algorithm is a time-consuming process. The position tracking bias is occurred by the time delay caused by the estimation process. In order to mitigate the bias error, we propose the estimation method of the position tracking bias and compensate the location error produced by the time delay using the position tracking bias mitigation. For accurate self-localization of mobile robot, the Unscented Kalman Filter(UKF) with position tracking bias is applied. The simulation results show the efficiency and accuracy of the proposed geo-location system and the enhanced performance when the Unscented Kalman Filter is adopted for mobile robot application.

• 한국통신학회논문지
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• 제36권9C호
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• pp.581-588
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• 2011

본 논문에서는 cosine 위상 binary offset carrier (BOC) 신호를 위한 코드 추적 기법을 제안한다. BOC 자기상관함수는 다수의 부상관함수들로 이루어져 있으며, 본 논문에서는 이러한 부상관함수들을 재결합함으로써 주변첨두가 없는 새로운 상관함수를 획득한다. 마지막으로 delay lock loop 에서 사용되는 자기상관함수를 제안한 상관함수로 대체함으로써 주변첨두로 인한 false lock 문제를 해결한다. 또한 모의실험 결과를 통해 제안한 기법이 기존의 기법에 비해 더 좋은 tracking error standard deviation (TESD) 성능을 가지는 것을 보인다.

• 정보통신설비학회논문지
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• 제8권3호
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• pp.107-110
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• 2009

In this paper, a PN code tracking loop with extended Kalman filter (EKF) is proposed for a direct-sequence spread-spectrum. EKF is used to estimate amplitude and delay in a multipath. fading channel. It is shown that tracking error performance is significantly improved by EKF compared with a conventional tracking loop.