• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1905-1910
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• 2003

It is well known that parameter uncertainties and time-delays cannot be avoided in practice and result in poor performance and even instability. Nevertheless, to the authors' best knowledge, there exist few results on model predictive control (MPC) handling explicitly uncertain time-delayed systems. In this paper, we present an MPC algorithm for uncertain time-varying systems with input constraints and state-delay. An optimization problem is suggested to find a memoryless state-feedback MPC law and the closed-loop stability is established under feasibility and certain conditions.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.43 no.5 s.311
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• pp.62-71
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• 2006

Development of an artificial reverberation algorithm with low memory requirements has been an issue of importance in applications such as mobile multimedia devices. One possible solution to this problem is to embed a time-varying all-pass filter to the feedback loop of the comb filter. In this paper, theoretical and perceptual analyses of reverberators embedding time-varying all-pass filters are presented. The analyses are to iud a perceptually acceptable degree of phase variation by the all-pass filter. Based on the analyses, we propose a new methodology of designing reverberators embedding time-varying all-pass filters. Through the subjective tests, we showed that, even with smaller memory, the proposed method is capable of providing perceptually comparable sound quality to the conventional methods involving time-invariant parameters.

• Bulletin of the Korean Chemical Society
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• v.23 no.2
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• pp.309-314
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• 2002

The ablation dynamics and cluster formation of $C_n^+$ ions ejected from 355 nm laser ablation of a graphite target in vacuum are investigated using a reflectron time-of-flight (RTOF) mass spectrometer. At low laser fluence, odd-numbered cluster ions with $3{\leq}n{\leq}15$ are predominantly produced. Increasing the laser fluence shifts the maximum size distribution towards small cluster ions, implying the fragmentation of larger clusters within the hot plume. The temporal evolution of $C_n^+$ ions was measured by varying the delay time of the ion extraction pulse with respect to the laser irradiation, providing significant information on the characteristics of the ablated plume. Above a laser fluence of $0.2J/cm^2$ , large cluster ions ($n{\geq}30$) are produced at relatively long delay times, indicating that atoms or small carbon clusters aggregate during plume propagation. The dependence of the intensity of ablated $C_n^+$ ions on delay time after laser irradiation shows that the most probable velocity of each cluster ion decreases with cluster size.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.3
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• pp.29-36
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• 2005

With the rapid growth of the Internet, the Internet-based robot has been realized by connecting off-line robot to the Internet. However, because the Internet is often irregular and unreliable, the varying time delay in data transmission is a significant problem for the construction of the Internet-based robot system. Thus, this paper is concerned with the development of an Internet-based robot system, which is insensitive to the Internet time delay. For this purpose, the PPS (Position Prediction Simulator) is suggested and implemented on the system. The PPS consists of two parts : the robot position prediction part and the projective virtual scene part. In the robot position prediction part, the robot position is predicted for more accurate operation of the mobile robot, based on the time at which the user's command reaches the robot system. The projective virtual scene part shows the 3D visual information of a remote site, which is obtained through image processing and position prediction. For the verification of this proposed PPS, the robot was moved to follow the planned path under the various network traffic conditions. The simulation and experimental results showed that the path error of the robot motion could be reduced using the developed PPS.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.4
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• pp.1376-1391
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• 2015

In bus delay-tolerant networks, the route of bus is determinate but its arrival time is indeterminate. However, most conventional approaches predict future contact without considering its uncertainty, which makes a limitation on routing performance. A novel approach is proposed by employing interval algebra to characterize the contact's uncertainty and time-varying nature. The contact is predicted by using the Bayesian estimation to achieve a better routing performance. Simulation results show that this approach achieves a good balance between delivery latency and delivery ratio.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.8
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• pp.1592-1598
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• 2011

In this paper, a formation control method based on the leader-following approach for nonholonomic mobile robots is proposed. In the previous works, it is assumed that the followers know the leader's velocity by means of communication. However, it is difficult that the followers correctly know the leader's velocity due to the contamination or delay of information. Thus, in this paper, an adaptive approach based on the parameter projection algorithm is proposed to estimate the leader's velocity. Moreover, the adaptive backstepping technique is used to compensate the effects of a dynamic model with the unknown time-invariant and time-varying parameters. From the Lyapunov stability theory, it is proved that the errors of the closed-loop system are uniformly ultimately bounded. Simulation results illustrate the effectiveness of the proposed control method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.3
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• pp.458-465
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• 2008

In this paper, we propose a non-fragile guaranteed cost controller design method for uncertain linear systems with constant delyas in state. The norm bounded and time-varying uncertainties are subjected to system and controller design matrices. A quadratic cost function is considered as the performance measure for the system. Based on the Lyapunov method, an LMI(Linear Matrix Inequality) optimization problem is established to design the controller which uses information of delayed state and minimizes the upper bound of the quadratic cost function for all admissible system uncertainties and controller gain variations. Numerical examples show the effectiveness of the proposed method.

• Journal of the Institute of Convergence Signal Processing
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• v.12 no.1
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• pp.44-49
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• 2011

The need of data transmission in oceans and other underwater mediums are increasing day by day, so as the research. The underwater medium is very different from that of air. Propagation of electromagnetic wave in water or underground is very difficult because of the conductivity of the propagation materials. In this case, we usually use acoustic signals as ultrasonic but, they are not easy to transfer long distance with coherent method because of time varying multipaths, Doppler effects and attenuations. So, we use non-coherent methods such as FSK or ASK to communicate between long distances. But, as the propagation speed of acoustic wave is very slow, BW of the channel is narrow. It is very hard to guaranty the enough speed for the transmission of digital image data. In previous studies, we proposed this data communication protocol theoretically. In this paper, an underwater channel is modeled and this protocol is tested in this channel condition. The results show that the protocol is 4-6 times faster than ASK. Some relations and results are shown depending on the data length, channel length, bit rate etc.

• Bulletin of the Korean Chemical Society
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• v.20 no.12
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• pp.1501-1505
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• 1999

Expansion dynamics of C$^{+}$ ions ejected from 355-nm laser ablation of graphite target in vacuum has been investigated by pulsed-field time-of-flight (TOF) mass spectrometry. A strong nonlinear dependence of the amount of desorbed C$^{+}$ ions on laser fluence is interpreted by the mechanism that C$^{+}$ ions are produced directly from the graphite via conversion of the multiphoton energy into thermal energy. The temporal evolution of C$^{+}$ ions was measured by varying the delay time of the ion repelling pulse with respect to the laser irradiation, which provides significant information on the ablated plume characterization. The TOF distributions of ablated ions showed a bimodal shape and could be fitted by shifted Maxwell-Boltzmann distributions. The velocity of the fast component increases with the delay time, whereas the slow component (< 500 m/s) exhibits a constant velocity. Also studied were the effects of the laser fluence on the energetics of C$^{+}$ ions.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.3
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• pp.326-333
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• 2003

In the measurement using DMA and CPC in series, there is some time delay for particles classified in DMA to detect in CPC. During this time, the DMA time-response changes due to the velocity profile of sampling tube and the diffusion of particles in the volume that exists between the DMA exit and the detector of ultra-fine CPC. This is called mixing effect. In the accelerated measurement methods like the TSI -SMPS, the size distribution is obtained from the correlation between the time-varying electrical potential of the DMA and the corresponding particle concentrations sampled in DMA. If the DMA time -response changes during this delay time, this can cause the error of a size distribution measured by this accelerated technique. The kernel function considering this mixing effect using the residence time distribution is proposed by Russell et al. In this study, we obtained a size distribution using this kernel to compare to the result obtained by the commercial accelerated measurement system, TSI -SMPS for verification and considered the errors that result from the mixing effect with the geometric mean diameters of originally sampled particles, using virtually calculated responses obtained with this kernel as input data.