• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2007년도 한국컴퓨터종합학술대회논문집 Vol.34 No.1 (D)
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• pp.473-476
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• 2007

RFID(Radio Frequency IDentification) 기술은 RF 신호를 사용하여 물품에 부착된 전자 태그(tag)를 인식하는 자동인식 기술이다. 이런 RFID 기술의 확산을 위해서는 다수의 태그를 빠르게 읽는 다중접속 방식에서 태그 간 충돌 문제를 해결 하는 충돌방지(anti-collision) 알고리즘이 필수적으로 요구된다. 본 논문에서는 이 문제를 해결하기 위해 충돌 방지 알고리즘 중에서 트리 기반 메모리래스(tree based memoryless) 충돌방지 알고리즘 기반인 충돌 추적(collision tracking) 알고리즘을 개선한 RCT(Revised Collision Tracking) 방식을 제안한다. 그리고 기존의 충돌 추적 알고리즘과의 성능 비교를 통해 제안하는 방식의 성능을 증명한다.

• IEIE Transactions on Smart Processing and Computing
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• 제5권6호
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• pp.375-382
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• 2016

This paper realizes control of the motion of a swimming robot fish in order to implement an underwater robot fish aquarium. And it implements positional control of a two-axis trajectory path of the robot fish in the aquarium. The performance of the robot was verified though certified field tests. It provided excellent performance in driving force, durability, and water resistance in experimental results. It can control robot motion, that is, it recognizes an object by using an optical flow object-detecting algorithm, which uses a video camera rather than image-detecting sensors inside the robot fish. It is possible to find the robot's position and control the motion of the robot fish using a radio frequency (RF) modem controlled via personal computer. This paper proposes realization of robot fish motion-tracking control using the optical flow object-detecting algorithm. It was verified via performance tests of lead-lag action control of robot fish in the aquarium.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.41-46
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• 1987

A new control scheme is developed to achieve fast and accurate decoupled tracking for an n-Joint robotic manipulator In the Presence of disturbances and unknown Parameter variations. The control system is designed so that a new type of state trajectories called sliding mode may exist in a phase plane. In order to remove the reaching Phase and high frequency chattering phenomenon which ate the common shortcomings of variable structure control(VSC) scheme, this paper presents the new switching line which is composed of three segments and the continuous control law which is derived from the existence condition of a sliding mode. The Proposed methods in this Paper are applied to a 3-Joint robotic manipulator as a numerical example-The digital simulation results which are compared with those of typical VSC scheme show the validity of accurate tracking capability and robust Performance of the system.

• 동력기계공학회지
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• 제7권3호
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• pp.40-47
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• 2003

In this study, position and force simultaneous trajectory tracking control apparatus with pneumatic cylinder driving system is proposed. The pneumatic cylinder driving system that consists of two pneumatic cylinders constrained in series and two proportional flow control valves offers a considerable advantage as to non-interaction of the actuators because of the low stiffness of the pneumatic actuators. The controller applied to the driving system is composed of a non-interaction controller to compensate for interaction of two cylinders and a disturbance observer to reduce the effect of model discrepancy of the driving system in the low frequency range that cannot be suppressed by the non-interaction controller. The experimental results with the proposed control apparatus show that the interacting effects of two cylinders are eliminated remarkably and the proposed control apparatus tracks the given position and force trajectory accurately.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.177-178
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• 2006

The real-time tracking system is an essential factor for the development of low cost sensor networks for use in pervasive computing and ubiquitous networking. In this paper, we address the interference problems of the sensor network platform with ultrasonic for location tracking system. Ubiquitous indoor environments often contain substantial amounts of metal and other such reflective materials that affect the propagation of radio frequency signals in non-trivial ways, causing severe multi-path effects, dead-spots, noise, and interference. Especially we present a novel reducing interference location system that is particularly well suited to support context-aware computing. The system called Pharos, aims to combine the advantages of real-time tracking systems that implement distributed environment with regardless of infrastructure or infrastructure-less wireless sensor networks.

• 천문학회보
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• 제38권1호
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• pp.64.2-64.2
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• 2013

Korea Astnonomy and Space Science Institute (KASI) operates two solar radio observing facilities, the Korean station of the e-CALLISTO and the Korean Solar Radio Burst Locator (KSRBL). The e-CALLISTO station had suffered from tracking problem for past several years. Since 2011, KASI has developed a new tracking system, and recently the antenna has regained the its sun-tracking capability and full day-time coverage. The KSRBL also suffered from the control computer breakdown last year. After one year of operational gap, the KSRBL restored its normal daily observation. We also expanded the data server storage capacity, to store the full original data of 25 ms integration time and 0.25 MHz frequency resolution, amounting to about 80 GB per day.

• 전자공학회논문지B
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• 제30B권4호
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• pp.67-75
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• 1993

The Fourier series are employed to approximate the input/output(I/O) characteristics of a dynamic system and, based on the approximation, a new learing control algorithm is proposed in order to find iteratively the control input for tracking a desired trajectory. The use of the Fourier approximation of I/O renders at least a couple of useful consequences: the frequency characteristics of the system can be used in the controller design and the reconstruction of the system states is not required. The convergence condition of the proposed algorithm is provided and the existence and uniqueness of the desired control input is discussed. The effectiveness of the proposed algorithm is illustrated by computer simulation for a robot trajectory tracking. It is shown that, by adding feedback term in learning control algorithm, robustness and convergence speed can be improved.

• 정보처리학회논문지C
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• 제17C권6호
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• pp.471-484
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• 2010

이동통신 시스템에서 이동단말이 소비하는 전력은 휴대용 배터리의 용량 제약으로 인하여 매우 중요하게 고려되는 이슈이다. 따라서, Mobile WiMAX 시스템을 포함한 대부분의 무선통신 네트워크 규격은 이동단말의 전력소모를 줄이기 위한 전력절약 모드를 지원한다. 그러나 이들 규격에서 제시하는 전력절약 모드는 청취구간의 시간적인 배치만을 정의한다. 따라서 전력절약 모드로 동작하는 단말의 소비전력은 단말제조사의 구현형태에 의존적이며, 채널환경 변화에 따라 페이징 손실의 위험성도 존재한다. 본 논문은 광대역 이동통신 네트워크 환경에서 전력절약 모드로 동작하는 이동단말이 채널품질의 변동추이를 바탕으로 최선의 기지국을 선택하는 방식을 통해 보다 효율적인 전력사용 및 청취구간 동안 페이징 메시지의 손실 위험을 줄이는 실용적인 알고리즘을 제시한다. 이러한 채널적응형 주파수/기지국 재선택 알고리즘은 청취구간 동안 채널품질을 측정하는 과정, 측정된 채널품질의 변동을 추적하는 과정, 추적결과에 따라 이종 주파수 탐색을 수행하는 과정, 탐색결과에 따라 최선의 주파수 및 기지국을 재선택 하는 과정으로 구성되어 있다. 그러므로 제안된 방식은 단말이 이동함에 따라 해당 네트워크의 채널환경이 변하더라도 전력을 합리적으로 사용함과 동시에 양호한 기지국을 선택하게 함으로써, 청취구간에서 페이징 메시지 수신성능을 향상시킨다. 본 알고리즘을 적용한 시뮬레이션 결과는 단말의 이동하는 채널환경에서 다른 후보방안들 보다 페이징 메시지 수신성능이 우수함을 보여주고 있으며 동시에 단말이 평균적으로 보다 양호한 채널환경에서 전력절약 모드를 동작하게 함을 보여준다.

• Journal of Power Electronics
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• 제17권2호
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• pp.358-367
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• 2017

This paper presents a novel filtering method for speed measurements to improve the low-speed performance of the direct-drive permanent magnet traction machines for elevators. Based on the theory of nonlinear tracking differentiator (NTD), this method, which can act as a high performance filter of a raw speed signal, obtains a more accurate speed feedback signal when applying a low-resolution encoder. In addition, it can relieve the interference caused by the position derivative for speed sampling. By analyzing the frequency response of the NTD, the influence of its parameters on the performance of the speed filtering is investigated. Compared with different types of low-pass filters, the proposed method shows a shorter time delay and a stronger ability in terms of noise suppression when the parameters are selected carefully. In addition, when using the measured speed signal through a nonlinear tracking differentiator as the feedback of the system, the motor runs more steadily at low speeds. As a result, the riding comfort of a direct-drive elevator can be improved. The feasibility of the proposed strategy was verified on an 11.7kW elevator traction machine using a commercial inverter.

• 한국컴퓨터산업학회논문지
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• 제10권4호
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• pp.135-142
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• 2009

본 논문에서는 주파수도약용 통신시스템을 위한 40~60[MHz]의 주파수 범위를 갖는 트래킹 필터를 설계, 제작하였다. 트래킹필터의 성능결과 삽입손실은 각 호핑 중심주파수에서 3.7~4.3[dB], 3[dB]대역폭은 중심주파수에서 5.1~5.33[%], 필터의 차단특성인 30/3[dB] shape factor는 6.828~6.98로 설계목표를 만족하고 있음을 알 수 있다. 하지만 $2{\times}f_0$의 감쇄량은 46~52[dB]가 측정되어 설계목표에 미치지 못하고 있음을 알 수 있다.