• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
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• pp.607-612
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• 1998

In this paper, a controller using fuzzy-genetic algorithms is proposed for pat-tracking of WMR. A fuzzy controller is implemented so as to adjust appropriate crossover rate and mutation rate. A genetic algorithms is also implemented to have adaptive adjustment of control gain during optimizing process. To check effectiveness of this algorithms, computer simulation is applied.

• 한국통신학회논문지
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• 제29권10A호
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• pp.1223-1229
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• 2004

본 논문에서 ETRI 0.5$\mu\textrm{m}$ MESFET 라이브러리 공정을 이용하여 동작 주파수 5GHz대 저전압구동 가변이득 저잡음 증폭기 MMIC를 설계 및 제작하였다. 이 저잡음 증폭기는 HIPERLAN/2의 Adaptive Antenna Arrays와 함께 사용할 수 있도록 이득조절이 가능하도록 설계하였다. 가변이득 저잡음 증폭기는 2단 캐스케이드 구조이며, 게이트전압에 따라 채널저항이 제어되는 증가형 MESFET과 저항으로 구성된 부귀환 회로를 제안하였다. 제작된 가변이득 저잡음 증폭기의 측정값은 $V_{DD}$ =1.5V, $V_{GG1}$=0.4V, $V_{GG2}$=0.5V일때 5.5GHz의 중심 주파수, 14.7dB의 소신호 이득, 10.6dB의 입력 반사손실, 10.7dB의 출력 반사손실, 14.4dB의 가변이득, 그리고 잡음지수 2.98dB이다. 또한, 가변이득 저잡음 증폭기는 -19.7dBm의 입력 PldB, -10dBm의 IIP3, 52.6dB의 SFBR, 그리고 9.5mW의 전력을 소비한다.다.다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.186-189
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• 2005

In a clinical setting, developing a reliable method for the automated drug infusion system would improve a drug therapy under the unexpected and acute changes of hemodynamics. The conventional proportional-integral-derivative (PID) controller might not be able to achieve maximum performance because of the unexpected change of the intra- and inter-patient variability. The fuzzy PID control and the conventional PID control were tested under the unexpected response of mean arterial blood pressure (MAP) to a vasopressor agent during acute hypotension. Compared with the conventional PID control, the fuzzy PID control performed the robust MAP regulation regardless of the unexpected MAP response (average absolute value of the error between target value and actual MAP: 0.98 vs. 2.93 mmHg in twice response of the expected MAP and 2.59 vs. 9.75 mmHg in three-times response of the expected MAP). The result was due to the adaptive change of the proportional gain in PID parameters.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권1호
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• pp.49-53
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• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회논문지
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• 제11권3호
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• pp.233-239
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• 2005

This paper presents the design and evaluation of a tiltrotor attitude controller. The implemented response type of the command augumentation system is Attitude Command Attitude Hold. The controller architecture can alleviate the need for extensive gain scheduling and thus has the potential to reduce development time. The control algorithm is constructed using the feedback linearization technique. And an on-line adaptive architecture that employs a neural network compensating the model inversion error caused by the deficiency of full knowledge tiltrotor aircraft dynamics is applied to augment the attitude control system. The use of Lyapunov stability analysis guarantees boundedness of the tracking error and network parameters. The performance of the controller is evaluated against ADS-33E criteria, using the nonlinear tiltrotor simulation code for Bell TR301 developed by KARI. (Korea Aerospace Research Institute)

• 한국산업융합학회 논문집
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• 제27권4_1호
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• pp.753-758
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• 2024

Trajectory tracking of the AMR robot is one research for the AMR robot navigation. For the control system of the Autonomous mobile robot(AMR) being in non-honolomic system and the complex relations among the control parameters, it is d ifficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive tracking controller based on the PID for AMR robot trajectory tracking. The method uses a non-linear model of AMR robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven non-holonomic AMR robot is carried out in the velocity and orientation tracking control of the non-holonomic AMR. The simulation results of wheel type AMR robot platform show that the proposed controller is more robust than the conventional back-stepping controller to show the effectiveness of the proposed algorithm.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2004년도 학술대회지
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• pp.819-822
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• 2004

To transmit MPEG-2 video on an erroneous channel, a number of error control techniques He needed. Especially, error concealment techniques which can be implemented on receivers independent of transmitters are essential to obtain good video quality. In this paper, a motion adaptive boundary matching algorithm (MA-BMA) is presented for temporal error concealment. Before carrying out BMA, we perform error concealmmt by a motion vector prediction using neighboring motion vectors. If the candidate of error concealment is rot satisfied, search range and reliable boundary pixels are selected by the motion activity or motion vectors ane a damaged macroblock is concealed by applying the MA-BMA. This error concealment technique reduces the complexity and maintains PSNR gain of 0.3 0.7dB compared to the conventional BMA.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -3
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• pp.1960-1963
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• 2002

Transmit diversity schemes we an effective capacity improvement method for down link of wideband code division multiple access (W-CDMA) systems. In this paper, we propose to use transmit antenna subset selection scheme in conjunction with closed loop transmit adaptive array (TxAA). The proposed scheme selects N$\_$s/ optimum antennas among N$\_$${\gamma}$/(>N$\_$s/) transmit antennas in order to maximize diversity gain from selected antennas, and also reduces the cost of RE chains by employing two different types of RF modules fur the selected and the unselected antenna group, respectively. Computer simulation results show performance improvement by the proposed scheme over the conventional TxAA when considering up link control information feedback.

• 대한음성학회:학술대회논문집
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• 대한음성학회 2003년도 10월 학술대회지
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• pp.109-112
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• 2003

In real time packetized voice applications, missing frames is a major source of voice quality degradation. Thus packet loss concealment(PLC) algorithms are needed to guarantee the QoS of the VoIP. Still current speech codecs for VoIP work poor when consecutive packet losses are issued. In this paper, we proposed a new PLC algorithm for the G.729 codec. Our algorithm works better especially when the consecutive packet loss occurs mainly because it adopts an adaptive gain controller utilizing the number of missing packet information combined with a fixed codebook vector estimation algorithm and LPC bandwidth expansion.

• 한국정밀공학회지
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• 제14권12호
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• pp.174-181
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• 1997

A proposed hybrid self-tuning control scheme for single rod hydraulic cylinder which has varying loads is presented here. An adaptive controller is developed for the system that use feedforward and P feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the hybrid self-tuning controller with a constant gain P contro- ller clearly shows its superior ability in handling load changes in quiescent states.