• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1045-1052
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• 2000

In this paper, we propose a method to apply the Input Shaping Technique (IST) to multi-input multi-output (MIMO) systems. In MIMO systems, there is a high possibility of multi-mode residual vibration. The IST filter designed for this multi mode may need a longer time to suppress the residual vibration. Previous works prove that we can shorten the time lag by using negative sequence. This negative sequence, however, causes another problem - it requires excessive control input. In this paper, we provide a remedy to reduce the size of control input by limiting the reference input by limiting the reference input and its derivative. The result of simulations and experiments on a 2 link flexible arm confirmed the effectiveness of the proposed method.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.951-956
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• 2007

This paper suggests a high-speed control method which is suitable for multi-joint robots using a real-time stand-alone controller for general-purpose. The fast processing controller consists of a PCI Interface Board and 2-axe PWM drivers. The PCI Interface Board consists of 32-channel PWM output ports, 32-channel Encoder Counters, 32-channel A/D Converters and 48-channel Digital I/O ports, and all the I/O data transmissions are completed within 1ms. And The 2-axe PWM driver can be redesigned easily in order to embed in each link. Experimental implementations show that the high-speed control method can be used for the real-time control which is essential to controlling of multi-body robots such as humanoid robots. Especially, it is efficient for realizing the model-based motion control in demand of much calculation time by the high I/O communication speed.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.54 no.3
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• pp.127-133
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• 2005

Korean multi-propulsion system consists of a synchronous alternator driven by a gas turbine driving synchronous alternator coupled to a rectifier - DC link - DC/DC converter and traction system based on modification of the G7 high-speed train. The simulation modules include turbine engine system, alternator, rectifier, DC/DC converter and power management module. Simulation for the multi-propulsion system such as a modular is presented in order to confirm the system stability for loads with uncertain input impedances and control loop speeds. This paper deals with various simulation modules with a specific control loop to help the development of the real lame-scaled system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.711-714
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• 2001

As the life cycle of the vehicle become shorter, the method that reduce the development time of new model become more important. In this reason, the development of the simulator that provides similar environment with the actual vehicle road characteristics is increasing. In this paper, the multi-axis simulator is designed and analyzed by kinematic method. The simulator has a function simulating the 3 load elements; vertical, longitudinal, and lateral force respectively and simultaneously. The result of this paper can be used for developing the multi-axis simulator linkage.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.3
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• pp.194-197
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• 2002

This paper considers the problem of routing connections in a optical multi tree networks using WDM (Wavelength Division Multiplexing), where each connection between a pair of nodes in the network is assigned a path through the network and a wavelength on that path, so that connections whose paths share a common link in the network are assigned different wavelengths. The problem of optimal coloring of the paths on the optical multi-networks is NP-hard[1], but if that is the coloring of all paths, then there exists efficient polynomial time algorithm. In this paper, using a "divide & conquer" method, we give efficient algorithm to assign wavelengths to all the paths of a tree network based on the theory of [7]. Here, our time complexity is 0(n4log n).

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.5
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• pp.2362-2378
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• 2017

To mitigate the performance degradation caused by performance anomaly, a number of channel assignment algorithms have been proposed for multi-rate wireless mesh networks. However, network conditions have not been fully considered for routing process in these algorithms. In this paper, a joint scheme called Multi-rate Dijkstra's Shortest path - Rate Separated (MDSRS) is proposed, combining routing metrics and channel assignment algorithm. In MDSRS, the routing metric are determined through the synthesized deliberations of link costs and rate matches; then the rate separated channel assignment is operated based on the determined routing metric. In this way, the competitions between high and low rate links are avoided, and performance anomaly problem is settled, and the network capacity is efficiently improved. Theoretical analysis and NS-3 simulation results indicate that, the proposed MDSRS can significantly improve the network throughput, and decrease the average end-to-end delay as well as packet loss probability. Performance improvements could be achieved even in the heavy load network conditions.

• Journal of Digital Contents Society
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• v.5 no.3
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• pp.187-191
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• 2004

Rapid time variations of the mobile communication channel have a dramatic effect on the performance of multi-carrier modulation. This paper analyzed the bit error rate (BER) performance for multi-carrier code division multiple access (MC-CDMA) network, and derived the equivalent signal-to-total noise plus interference(SNIR) of MC-CDMA system in the reverse link, the performance of MC-CDMA/BPSK signal is evaluated taking into account the fraction of partial-band interference and interference power. and the effect of partial-band interference is comprehensively studied in order to further improve the Qos of multi-carrier multimedia system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.12B
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• pp.1498-1505
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• 2009

In centralized control sensor network, tree-based multi-channel communication overcomes the recurrent channel switching and makes possible to transfer data simultaneously from different sources. In our paper, we propose a greedy algorithm named as NIT (Non-Intersecting Tree) that the trees can avoid inter-tree interference. We also propose channel switching technique by which trees can avoid link failure or area blocking due to external interference locally without rerunningthe algorithm and without interrupting the whole network. At first we applied our algorithm for a random topology and then we evaluate the performance of the network using NS-2 simulator. The results show that with the increasing of channel the throughputand delivery ratio are increased significantly. We got better performance than a using a recent proposed Tree-based Multi-Channel Protocol (TMCP).

• International Journal of Internet, Broadcasting and Communication
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• v.16 no.3
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• pp.192-198
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• 2024

This paper investigates the application of multi-agent deep reinforcement learning in the fighting game Samurai Shodown using Proximal Policy Optimization (PPO) and Advantage Actor-Critic (A2C) algorithms. Initially, agents are trained separately for 200,000 timesteps using Convolutional Neural Network (CNN) and Multi-Layer Perceptron (MLP) with LSTM networks. PPO demonstrates superior performance early on with stable policy updates, while A2C shows better adaptation and higher rewards over extended training periods, culminating in A2C outperforming PPO after 1,000,000 timesteps. These findings highlight PPO's effectiveness for short-term training and A2C's advantages in long-term learning scenarios, emphasizing the importance of algorithm selection based on training duration and task complexity. The code can be found in this link https://github.com/Lexer04/Samurai-Shodown-with-Reinforcement-Learning-PPO.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.557-558
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• 2009