• Speech Sciences
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• v.11 no.2
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• pp.227-235
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• 2004

In this paper, we proposed a new practical implementation method of the lattice transversal joint (LTJ) adaptive filter using speech codec's information. And it was applied to the adaptive echo cancellation problem to verify the efficiency of the proposed method. Realtime implementation of the LTJ adaptive filter is very difficult due to high computational complexity for the filter coefficients compensation. However, in case of using speech codec, complexity can be reduced since linear predictive coding (LPC) coefficients are updated each frame or sub-frame instead of every sample. Furthermore, LPC coefficients can be acquired from speech decoder and transformed to the reflection coefficients. Therefore, the computational complexity for updates of the reflection coefficients can be reduced. The effectiveness of the proposed LTJ adaptive filter was verified by the experiments about convergence and tracking performance of the adaptive echo canceller.

• Proceedings of the Optical Society of Korea Conference
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• 1991.06a
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• pp.35-40
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• 1991

In this paper, a new adaptive learning algorithm, Training by Adaptive Gain (TAG) for optical implementation of large-sized neural networks has been developed and its electro-optical implementation for 2-dimensional input and output neurons has been demostrated. The 4-dimensional global fixed interconnections and 2-dimensional adaptive gain-controls are implemented by multi-facet computer generated holograms and LCTV spatial light modulators, respectively. When the input signals pass through optical system to the output classifying layer, the TAG adaptive learning algorithm is implemented by a personal computer. The system classifies three 5$\times$5 input patterns correctly.

• Journal of the Institute of Convergence Signal Processing
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• v.11 no.3
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• pp.238-243
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• 2010

A new implementation method for MPDSAP(Maximally Polyphase Decomposed Subband Affine Projection) adaptive filter is proposed. The affine projection(AP) adaptive filter achieves fast convergence speed, however, its implementation is so expensive because of the matrix inversion for a weight-updating of adaptive filter. The maximally polyphase decomposed subband filtering allows the AP adaptive filter to avoid the matrix inversion, moreover, by using a pipelining technique, the simple subband structured AP is suitable for VLSI implementations concerning throughput, power dissipation and area. Computer simulations are presented to verify the performance of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1379-1382
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• 1997

We introduce a fast implementation of the adaptive transversal filter which uses least-mean-square(LMS) algorithm. The fast Hadamard transform(FHT) is used for the implementation of the filter. By using the proposed filter we can get the significant time reduction in computatioin over the conventional time domain LMS filter at the cost of a little performance. By computer simulation, we show the comparison of the propsed Hadamard-domain filter and the time domain filter in the view of multiplication time, mean-square error and robustness for noise.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.419-423
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• 1996

These days, industrial robots are required to have high speed and high precision in doing various tasks. Recently, the adaptive control algorithms for those nonlinear robots have been developed. With spatial vector space, these adaptive algorithms including recursive implementation are simply described. Without sensing joint acceleration and computing the inversion of inertia matrix, these algorithms which include P.D. terms and feedforward terms have global tracking convergence. In this paper, the feasibility of the proposed control method is illustrated by applying to 2 DOF SCARA robot in DSP(Digital Signal Processing).

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2540-2545
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• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.2
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• pp.38-47
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• 2001

In this paper, a new scheme of adaptive-neuro control system is presented to implement real-time control of robot manipulator using Digital Signal Processors. Digital signal processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of therir prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust perfor-mance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method.The proposed adaptive-neuro control scheme is illustrated to be a efficient control scheme for the implementation of real-time control of robot system by the simulation and experi-ment.

• Speech Sciences
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• v.8 no.2
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• pp.73-81
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• 2001

In this paper, we focus on the real time implementation of the single channel adaptive noise canceller(ANC) by using TMS320C30 EVM board. The implemented single channel adaptive noise canceller is based on a reference paper [1] in which it is simulated by using the recursive average magnitude difference function(AMDF) to get a properly delayed input speech on a sample basis as a reference signal and normalized least mean square(NLMS) algorithm. To certify results of the real time implementation, we measured the processing time of the ANC and enhancement ratio according to various signalto-noise ratios(SNRs). Experimental results demonstrate that the processing time of the speech signal of 32ms length with delay estimation of every 10 samples is about 26.3 ms, and almost the same performance as given in [1] is obtained with the implemented system.

• Proceedings of the Acoustical Society of Korea Conference
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• 1991.06a
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• pp.129-132
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• 1991

In this paper, the active noise controll system in duct is analyzed with real time implementation. The primary noise signal detected by microphone is modeled using adaptive algorithm and the secondary signal which has the same amplitude and 180$^{\circ}$phase shift with the primary noise signal is generated in the controller. We used the DSP56001 as a real-time processor and LMS algorithm as a adaptive technique, the experimental results shows that our system can reduce the noise level in duce to 15~40[db].