• Journal of Satellite, Information and Communications
• /
• v.11 no.2
• /
• pp.23-28
• /
• 2016

In this paper, we proposed the novel algorithm which controls the resolution of the HDMI(High Definition Multimedia Interface) by the channel estimation from WiFi-AP(Access Point) in the ISM(Industry-Science-Medical) band. The 2.4 and 5 GHz channel models are widely used since they have identical RF property as RSSI(Received Signal Strength Indication). Especially, the performance degradation of signal-transmission and streaming of WiFi will be occurred by the co-channel interference between AP(Access Point) and increased number of smart devices. Therefore, the optimization scheme of video format timing was designed by HDMI-CEC(Consumer Electronics Control) which considers the transmission speed of radio channel. The HDMI resolution, video quality of home-gateway and digital TV and the decision of PIP position can be maintained by the protocols between smart devices and DLNA(Digital Living Network Alliance) via proposed technique.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.59-64
• /
• 1989

In this paper, the launch trajectory of the Japan scientific satellite M-3H-3 from launch to orbit injection is investigated. For the terminal conditions at a guidance target point, a guidance and control system is used. An open-loop and a closed-loop guidance schemes are used simultaneously. For the closed-loop guidance scheme, the velocity polynomial algorithm represented by the velocity difference between the target point and present velocity is used. A PD control system is used for activating gimbal type engines. The simulation result shows that all the terminal position and velocity conditions are satisfied and the trajectory for the M-3H-3 scientific satellite is reasonable.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.599-606
• /
• 1992

A manipulator system that needs significantly large workspace volume and high payload capacity has greater link flexibility than typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator's end-effector exhibits the nonminimum phase, noncollocated, and flexible structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a flexible manipulator. The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, the inverse dynamic method calculates the feedforward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-Unk flexible manipulator, the effectiveness of the inverse dynamic method has been demonstrated.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.1
• /
• pp.82-89
• /
• 2003

A robust motion control method is proposed fur the point-to-point position control of a XY positioning system which consists of a base cart, elastic ben and moving mass. The horizontal motion controller consists of the feedforward controller to suppress the single mode vibration of the elastic beam and the feedback controller to get the high-accuracy positioning performance of the base cart. Input preshaping vibration suppression method based on system modeling with analytic frequency equation is proposed and integrated into the robust internal-loop compensator(RIC) to increase the robustness of the whole closed-loop system The vertical motion controller is proposed based on the dual RIC structure. Through experiments, it is shown that the proposed method can stabilize the system and suppress the vibration in the presence of uncertainties and disturbances.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.19 no.6
• /
• pp.637-642
• /
• 2013

In this paper, an analysis results of towing force and towing points which are dominating factors to determine the behavior of towed ship are introduced. The towing force and towing points to achive the desired posture and its position of the towed vessel are derived based on simplified dynamics and linearization method. LQR algorithm for posture control is applied to linearized system and numerical simulation is also executed. Force based on COG(cneter of gravity) and gain of controller to achieve desired posture for target vessel are obtained by using Riccati matrix equation and pseudo inverse matrix is applied to analyze the relation between the derived force and its towing point. Based on this analysis method, towing force need to move the towed vessel from its initial position to target position can be calculated. The towing method including towing point and direction is also considered on this method. Finally, the relation between towing force and towing point is confirmed from the analysis and the results can be applied to arrangement of tug boats during salvage works.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.124-126
• /
• 1989

Inverse kinematic problem is a crucial point for robot manipulator control. In this paper, to implement the Jacobian control technique we used the Hopfield(Tank)'s neural network. The states of neurons represent joint veocities, and the connection weights are determined from the current value of the Jacobian matrix. The network energy function is constructed so that its minimum corresponds to the minimum least square error. At each sampling time, connection weights and neuron states are updated according to current joint position. Inverse kinematic solution to the planar redundant manipulator is solved by computer simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.442-445
• /
• 1991

In the physical system, if we can precisely control an acceleration and force, we can improve the performance of their integral values, velocity and position. From this point of view, in this paper we try to use an obverser which is constructed by using Variable Structure System for estimating the acceleration in the system with the bounded unknown disturbance and the parameter mismatching. To obtain the robust control performance, the VSS with sliding mode is adopted in the design of the servo controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.648-652
• /
• 1990

In this paper, an Inverted Pendelum is made and its state equation is formulated. Inverted Pendelum position and stabilization control is performed by variable structure system. Because conventional linear controller has difficulty in controlling inverted pendelum by precise method, VSS controller is chosen as a model to stabilize the Pendelum at the unstable equiblium point. In the experiment, the controller is implemented with the PC and it can stabilize the Inverted Pendelum.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.472-475
• /
• 1997

The principle objective of this paper is to explain and demonstrate the advantage of the output-feedback controller proposed by Ailon in [61 by using simulation and experimental results. Namely, the goal of this study is to design and implement a real-time controller for set-point regulation of a one-link rigid robot manipulator with unknown parameters using only position measurement. For implementation a direct drive one-link rigid robot manipulator is constructed and a TMS320C40 DSP systems board is used in implementing real-time control algorithm.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.12
• /
• pp.1919-1925
• /
• 2001

Overhead cranes consist of trolley, girder, rope, objects, trolley motor, girder motor, and hoist motor. If objects are regarded as mass point, and the acceleration of hoisting motion for objects is neglected, analytical model of overhead cranes becomes a nonlinear model because the length of a rope changes. Equations of motion this model is derived of simultaneous differential equations fur motors and object. Positions of the model are controlled by optimal inputs which obtain from a nonlinear optimal control method. From the results of computer simulation, even if initial states of objects suing, it is founded that position of overhead cranes is controlled, and that swing of objects is suppressed.