• Journal of Advanced Marine Engineering and Technology
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• v.23 no.6
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• pp.731-737
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• 1999

This paper describes the path tracking control for a mobile robot which has two casters at the front and rear to keep balance and two driving wheels on the left and right sides of its body. Power wheeled steering method is adapted to control heading of the robot. It is very difficult to find appropriate feedback gains when linear regulator control scheme is adapted to path tracking con-trol of this type of robot. Therefore in this paper we propose the path tracking control algorithm using the fuzzy logic control scheme for this type of root. Simulation to prove the validity of the proposed two algorithms is performed. The results are reported as last part in this paper.

• The Journal of the Acoustical Society of Korea
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• v.22 no.1E
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• pp.33-42
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• 2003

Kuo et al proposed an on-line method for an adaptive prediction error filter for improving secondary path modeling performance in the modeling method of the secondary path. This method have some disadvantages, namely having to use additive noise with the result that noise control performance is not good since it is focused on the estimated performance of the secondary path. In this paper, we proposes a modified Kuo model using gain control parameter and delay. It uses a reference signal for additive noise to improve the problems in the existing Kuo model.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1824-1827
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• 1997

Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.

• Proceedings of the Korean Information Science Society Conference
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• 2003.10c
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• pp.199-201
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• 2003

Ad hoc network은 stationary infrastructure의 도움 없이 이동 노드들이 필요 시 network 형태을 구성하여 통신이 이루어지게 하는 network으로 ad hoc network 환경에 맞는 다양한 라우팅 프로토콜들이 개발되었고 크게는 table­driven, on­demand 방식으로 나눌 수 있는데 on­demand 방식의 AODV 프로토콜은 routing overhead가 적다는 장점이 있는 반면 single path로 data forwarding을 진행하여 중간노드의 이동에 의한 path가 broken되는 경우 local routing을 하거나 새로이 source­initialed route rediscovery을 수행하여 전송 delay 및 control traffic overhead 등을 높이는 결과를 발생 시켰다. 본 논문은 single path로 구성되는 AODV 프로토콜의 route failures시 문제점을 보완한 Associativity Based Redundancy path Routing(ABRR) 및 Alternate Redundancy path Routing(ARR) schemes을 제안한다. 첫째, ABRR은 main path상에 있는 각 노드들은 associativity based stable node 정보를 이용하여 path broken 이전에 local redundancy path을 구성하여 path broken시 local routing없이 route을 복구할 수 있게 하고 둘째, ARR은 source­initialed route discovery에 의해 alternate path을 구성하여 ABRR 그리고 local routing에 의해 main route recovery 실패 시 alternate path을 main path로 전환하여 control traffic overhead 및 전송 delay을 줄이게 한다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.7B
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• pp.481-488
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• 2005

As the demand on the multimedia application increases, the congestion control algorithm for the multimedia applications becomes an important research issue. The ultimate goal of congestion control is to adapt the trans-mission rate at the sender to the mont of network resource available on the forward path. In general, the congestion control algorithms use the round trip time(RTT) to estimate the network congestion on the forward path. however, since the RTT includes the delay on both forward and backward paths, it is possible for the algorithms using the RTT to make a wrong decision such as deciding the congestion on the forward path due to the congestion built on the backward path. In this paper, we enhance the performance of RRC-OTT(Receiver-based rate control with one-way Trip Time) algorithm, which uses the one-way trip time(OTT) to estimate the network congestion. By separating the estimation mechanism on the forward path from the backward path, the performance of RRC-OTT algorithm is hardly affected by the congestion built on the backward path.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.8
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• pp.73-82
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• 2004

In this paper, implementation of obstacle avoidance of a nonholonomic mobile robot in unstructured environment is introduced. To avoid obstacles, first, a reference collision-free path for the MR is generated off-line using HJB-based optimal path planning method. A controller is designed using integrator backstepping method for tracking the generated reference path. To implement the designed controller, a control system are needed and composed of camera system and PIC-based controller. The workspace is observed by a ceiling-mounted USB camera as part of an un-calibrated camera system. Thus the positional information of the MR is updated frequently and the MR can get the useful inputs for its tracking controller. The whole control system is realized by integrating a computer with PIC-based microprocessor using wireless communication: the image processing control module and path planning module serve as high level computer control while the device control serves as low level PIC microprocessor control. The simulation and experimental results show the effectiveness of the designed control system.

• Journal of Advanced Navigation Technology
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• v.27 no.4
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• pp.365-373
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• 2023

Unmanned aerial vehicles are widely used in various fields, and real-time path replanning is a critical factor in enhancing the safety and efficiency of these devices. In this paper, we propose a real-time path replanning technique based on RRT* and LOSPO. The proposed technique first generates an initial path using the RRT* algorithm and then optimizes the path using LOSPO. Additionally, the optimized path can be converted into a trajectory that considers actual time and the dynamic limits of the aircraft. In this process, environmental changes and collision risks are detected in real-time, and the path is replanned as needed to maintain safe operation. This method has been verified through simulation-based experiments. The results of this paper make a significant contribution to the research on real-time path replanning for UAVs, and by applying this technique to various situations, the safety and efficiency of UAVs can be improved.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.45-55
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• 1998

In this paper, a robust path tracker and depth controller of Autonomous Underwater Vehicle based on sliding mode control is presented. We have also designed augmented equivalent control inputs by analyzing the sliding mode with the reaching mode. This can enhance the reaching rate, and improve chattering problems, that is, noise caused by the control plane actuator of the vehicle, which is one of the problems that occur when sliding mode control is used. Also to resolve the steady state error generated in the path tracker under current effect, a modified sliding plane is constructed. Also a redesigned sliding plane and control input using transformation matrix is proposed to do easy design of MIMO depth controller. For state variables that cannot be measured directly, reduced order sliding mode control is used to design an observer. The performance of designed path tracker and depth controller is investigated by computer simulation. The results show that the proposed control system has robust performance to parameter variation, modelling error and disturbance.

• International Journal of Control, Automation, and Systems
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• v.2 no.1
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• pp.107-117
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• 2004

A new algorithm for planning a collision-free path based on an algebraic curve as well as the concept of path space is developed. Robot path planning has so far been concerned with generating a single collision-free path connecting two specified points in a given robot workspace with appropriate constraints. In this paper, a novel concept of path space (PS) is introduced. A PS is a set of points that represent a connection between two points in Euclidean metric space. A geometry mapping (GM) for the systematic construction of path space is also developed. A GM based on the 2$^{nd}$ order base curve, specifically Bezier curve of order two is investigated for the construction of PS and for collision-free path planning. The Bezier curve of order two consists of three vertices that are the start, S, the goal, G, and the middle vertex. The middle vertex is used to control the shape of the curve, and the origin of the local coordinate (p, $\theta$) is set at the centre of S and G. The extreme locus of the base curve should cover the entire area of actual workspace (AWS). The area defined by the extreme locus of the path is defined as quadratic workspace (QWS). The interference of the path with obstacles creates images in the PS. The clear areas of the PS that are not mapped by obstacle images identify collision-free paths. Hence, the PS approach converts path planning in Euclidean space into a point selection problem in path space. This also makes it possible to impose additional constraints such as determining the shortest path or the safest path in the search of the collision-free path. The QWS GM algorithm is implemented on various computer systems. Simulations are carried out to measure performance of the algorithm and show the execution time in the range of 0.0008 ~ 0.0014 sec.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1088-1094
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• 2006

In this paper, an auto path generation and an active compliance grinding control using 3-axis farce sensor are presented. These control algorithms enable the grinding robot to follow unknown path of various workpiece shape pattern. The robot is able to go grinding along unknown paths by position controller managing tangential direction angle and cutting speed, with only information about the start position and the end position. Magnitude and direction of normal force are calculated using force data that go through low pass filter. Moreover, normal and tangential directions are separated for force control and velocity control, respectively.