• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.13-17
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• 1990

In this paper we propose the force controller using a neural network for a redundant manipulator. Jacobian transpose matrix of a redundant manipulator constructed by a neural network is trained by using a feedback torque as an error signal. If the neural network is sufficiently trained well, the kinematic inaccuracy of a manipulator is automatically compensated. The effectiveness of the proposed controller is demonstrated by computer simulation using a three-link planar robot.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.1125-1128
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• 1998

A new architecture for high-speed implementation of adaptive decision-feedback equalizer (ADFE) applicable to wide-band digital wireless modems is described. Rather than using conventional two's complement arithmetic, a novel complex-valued filter structure is devised, which is based on redundant binary (RB) arithmetic. The proposed RB complex-valued filter reduces the critical path delay of ADFE, as well as leads to a more compact implementation than conventional methods. Also, the carry-propagation free (CPF) operation of the RB arithmetic enhances its speed. To demonstrate the proposed method, a prototype chip set is designed. They are designed to contain two complexvalued filter taps along with their coefficient updating circuits, and can be cascaded to implement loger filter taps for high bit-rate applications.

• Journal of Communications and Networks
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• v.16 no.3
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• pp.322-334
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• 2014

Multimedia content is very sensitive to packet loss and therefore multimedia streams are typically protected against packet loss, either by supporting retransmission requests or by adding redundant forward error correction (FEC) data. However, the redundant FEC information introduces significant additional bandwidth requirements, as compared to the bitrate of the original video stream. Especially on wireless and mobile networks, bandwidth availability is limited and variable. In this article, an adaptive FEC (A-FEC) system is presented whereby the redundancy rate is dynamically adjusted to the packet loss, based on feedback messages from the client. We present a statistical model of our A-FEC system and validate the proposed system under different packet loss conditions and loss probabilities. The experimental results show that 57-95%bandwidth gain can be achieved compared with a static FEC approach.

• Journal of Electrical Engineering and Technology
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• v.11 no.1
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.963-969
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• 2002

Design method of a robust impedance control is proposed for the kinematically redundant manipulators. To achieve this objective, we first use the momentum feedback disturbance observer(MFDOB) scheme which can handle the nonlinear dynamics of a manipulator in Joint space. An extended task space formulation to describe the behaviors of task and null spaces of redundant manipulator is employed. Using the extended task space formulation and disturbance observer scheme, a robust impedance control method is designed. The performance of the proposed extended impedance controller is verified through experiments with a planar three links direct-drive manipulator.

• Journal of the Ergonomics Society of Korea
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• v.24 no.3
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• pp.29-34
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• 2005

Little research has been performed regarding auditory icons even though auditory icons have great potentials as a strategy for creating informative, intuitively accessible, and unobtrusive interface. Therefore, this study was conducted to design new auditory icons through the iconic mapping for ten most frequently used mobile phone menus, and to show the usability of auditory icons. Two most familiar auditory sounds for each menu were collected and compared to the current button-pressing sound. The results show that the newly designed auditory icons had shorter recognition times, better satisfaction than the current icons. In other words, auditory icons could be an effective interface to provide a redundant feedback along with visual feedbacks in navigating mobile devices.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.3
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• pp.301-311
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• 1990

A multiple controller structure consisting of a typical feedback controller and an additive redundant controller is proposed for enhancing the reliability of the control system. For the case where the main controller is chosen as a pole assignment controller with input/output measurements and the redundant controller as the Model Reference Adaptive Controller (MRAC) whose reference model is the closed-loop combination of the plant and the main controller, it is proven that the tracking error between the command input and plant output converges to zero under failure in one of the controllers or parameter perturbations of the plant, and further that the reliability measured by Mean Time To Failure (MTTF) is greater than that of the system with only a single main controller. A simulation Example is provided to illustrate reliable operation of the proposed control system against the controller failure.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.1
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• pp.27-34
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.1
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• pp.35-42
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• 2013

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.37 no.12
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• pp.60-69
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• 2000

This paper describes a single-chip full-custom implementation of pipelined adaptive decision-feedback equalizer(PADFE) using a 0.25-${\mu}m$ CMOS technology for wide-band wireless digital communication systems. To enhance the throughput rate of ADFE, two pipeline stages are inserted into the critical path of the ADFE by using delayed least-mean-square(DLMS) algorithm. Redundant binary (RB) arithmetic is applied to all the data processing of the PADFE including filter taps and coefficient update blocks. When compared with conventional methods based on two's complement arithmetic, the proposed approach reduces arithmetic complexity, as well as results in a very simple complex-valued filter structure, thus suitable for VLSI implementation. The design parameters including pipeline stage, filter tap, coefficient and internal bit-width, and equalization performance such as bit error rate (BER) and convergence speed are analyzed by algorithm-level simulation using COSSAP. The single-chip PADFE contains about 205,000 transistors on an area of about $1.96\times1.35-mm^2$. Simulation results show that it can safely operate with 200-MHz clock frequency at 2.5-V supply, and its estimated power dissipation is about 890-mW. Test results show that the fabricated chip works functionally well.