• Journal of the Korean Society for Precision Engineering
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• v.20 no.6
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• pp.55-61
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• 2003

Control of multi-link robot arms is a challenging and difficult problem because of the highly nonlinear dynamics. Independent joint adaptive scheme is developed for control of robot manipulators based on Sugeno-type of fuzzy logic. Fuzzy logic system is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional forces. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for three-axis PUMA robot are included to show the effectiveness of controller.

• Journal of the Korean Society for Precision Engineering
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• v.6 no.4
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• pp.108-118
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• 1989

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonliearity and parameter uncertainty in robot dynamics model. In this paper, an adaptive control scheme for a robot manipulator is proposed to design robust controller using model reference adaptive control technique and hyperstability theory but it does away with] assumption that the process is characterized by a linear model remaining time invariant during the adaptation process. The performance of controller is demonstrated by the simulation about position and speed control of a six-link manipulator with disturbance and payload variation.

• JSTS:Journal of Semiconductor Technology and Science
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• v.7 no.4
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• pp.235-240
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• 2007

A current-balancing segmented group-inverting transmitter is presented for multi-Gb/s single-ended parallel links. With an additional increase of 4 pins, 16-bit data is efficiently encoded to 20 pins to achieve the current balancing and eliminate the simultaneous switching noise. Since the proposed coding is a simple inversion-or-not transformation of pre-defined groups of binary data, it can be implemented with simplified logic circuits. The transmitter is designed with a $0.18{\mu}m$ CMOS technology, and simulated eye diagrams at 5Gb/s show dramatic improvements in signal integrity.

• Journal of electromagnetic engineering and science
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• v.6 no.4
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• pp.222-228
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• 2006

In this paper, the performance of a multiuser diversity system combined with a multi-element transmit antenna system is analyzed under the assumption of independent Rayleigh fading. A measure of system .level performance is an average channel capacity as a function of the number of users and antennas. Average channel capacity is obtained from the instantaneous signal-to-noise ratio(SNR) distribution combined by both transmit diversity(TD) at each link and multiuser diversity at system level. Numerical results show that closed-loop antenna techniques provide an additional gain with multiuser diversity system due to array gain, even though space diversity gain reduces multiuser diversity gain. On the other hand, the space-time block coding(STBC) that provides full order space diversity gain only has a destructive influence on multiuser diversity.

• Convergence Security Journal
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• v.7 no.3
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• pp.71-78
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• 2007

We proposed a simple and efficient routing protocol designed specifically for multi-hop ad-hoc networks. The proposed protocol is composed of the two routing tables which work together to allow nodes to send and receive packets. All aspects of the protocol can be operated on networks entirely consisting bidirectional links and networks with unidirectional links. Finding unidirectional link is embedded in the routing protocol since we considered not only bidirectional links but also unidirectional links when we developed a routing method.

• Progress in Superconductivity and Cryogenics
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• v.14 no.2
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• pp.32-35
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• 2012

The objective of the present work is to develop a precise instrument for measuring the thermal property of insulating material over a temperature range from 30 K to near room temperature by utilizing a cryocooler. The instrument consists of two thermal links, a test sample, heat sink, heat source and vacuum vessel. The cold head of the cryocooler as a heat sink is thermally anchored to the thermal link and used to bring the apparatus to a desired temperature in a vacuum chamber. An electric heater as a heat source is placed in the middle of test sample for generating uniform heat flux. The entire apparatus is covered by thermal shields and wrapped in multi-layer insulation to minimize thermal radiation in a vacuum chamber. For a supplied heat flux the temperature distribution in the insulating material is measured in steady and transient state. The thermal conductivity of insulating material is measured from temperature difference for a given heat flux. In addition, the specific heat of insulating material is obtained by solving one-dimensional heat diffusion equation.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.28 no.8
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• pp.82-89
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• 2014

The industrial products to use single phase inverter are raised the necessity of power quality improvement, such as AC Motor Driver, Lighting, Renewable energy power converter. Also, it is increasing that applied the single phase multilevel inverter for high quality power at renewable energy power converter. Especially, the photovoltaic multilevel inverters have at least more than two DC_Link and more than one DC/DC Converter. This paper proposes a triple output DC/DC Converter with one switch for photovoltaic multilevel inverter. The proposed converter has advantages of low cost and volume because it has one switch. The operation principle of the converter is analyzed and verified. A prototype is implemented to verify of the proposed converter.

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.372-373
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• 2010

본 논문에서는 멀티레벨 인버터의 토폴로지로서 H-bridge 토폴로지를 기본으로 하여 2개의 전력용 스위치와 2개의 diode를 DC링크에 연결한 변형된 구조를 제안한다. 제안된 방식은 계통 연계형 단상 멀티레벨 인버터로서 기존의 단상 인버터에 비하여 출력 전압 파형이 정현파에 가깝고, 고압 대용량 시스템용 멀티레벨 인버터로의 확장도 용이할 뿐만 아니라 cascade연결을 통하여 간단히 전압레벨을 확장 할 수 있다는 장점을 가진다. 제안된 토폴로지의 타당성은 시뮬레이션과 실험을 통하여 검증하였다.

• Journal of Power Electronics
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• v.12 no.3
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• pp.509-517
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• 2012

This paper presents control strategies for cascaded H-bridge multilevel active power filters (APFs). A current loop controller is implemented using a proportional-resonant (PR) regulator, which achieves zero steady-state error at target frequencies. The power balancing mechanism for the dc-link capacitor voltages is analyzed and a voltage balancing controller is presented. To mitigate the picket-fence effect of the conventional FFT algorithm under asynchronous sampling conditions, the Hanning Windowed-FFT algorithm is proposed for reference current generation (RCG). This calculates the frequency, amplitude and phase of individual harmonic components accurately and as a result, selective harmonic compensation (SHC) is achieved. Simulation and experimental results are presented, which verify the validity and effectiveness of the devised control algorithms.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.504-509
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• 1990

This paper presents a decentralized adaptive control scheme for multi-Joint robot manipulators based on the independent joint control scheme. The control object is to achieve accurate tracking of desired Joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simple by a feedback controller which ensure stable and also a position-velocity-acceleration feedforward controller and also auxiliary signal, with adjustable gains. Simulation results are given for a two-link manipulator under independent control, proposed decentralized adaptive control of manipulator is feasible. In spite of a pay load variation and strong static and dynamic couplings that exist between the joints.