• Proceedings of the IEEK Conference
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• 2000.07a
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• pp.171-174
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• 2000

This paper proposes a pipelined adaptive filter based on affine projection algorithm with order 2. This filter gives a better convergence performance than that of LMS or NLMS pipeline algorithm and has same latency with the pipeline algorithm based on equivalent transformation. Compared to the critical path of the pipeline NLMS implementation, only 2 additions are increased in that of the proposed implementation.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.139-149
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• 2015

In this paper, we describe a new approach to perform real-time implementation of an robust controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs 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 robot manipulator consisting of dual arm with eight degrees of freedom at the joint space and cartesian space.

• Proceedings of the IEEK Conference
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• 2003.11a
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• pp.95-98
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• 2003

To provide high-quality media streaming service over the best-effort Internet, an efficient streaming system with a network-adaptive transport is essential. By adopting FEC-based adaptive transport and by matching it to the priority of media packets, in this paper, an enhanced MPEG-4 streaming system is implemented. The implemented adaptive transport can complement the existing MPEG-4 streaming server with components such as elementary stream provider, sync layer and DMIF layer. Sync layer packets of each MPEG-4 elementary stream are prioritized and then selectively dropped at the sender to match the currently available bandwidth. Also, with the proposed adaptive transport module, the level of FEC protection is dynamically adjusted based on the underlying network condition. With preliminary verification over the emulated network testbed, it is shown that the proposed implementation can mitigate the impact of network fluctuation and thus improve the quality of streaming.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.135-139
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• 1992

Control of tool-environment interaction force to comply the robot system to an environment is of vital in many automated process. This paper presents the implementation of an adaptive force control with commercial robot system in two dimensional contour following task. A model reference adaptive control system, combined with the linear compensators, is implemented. That is, a use of adaptive control is to provide an auxiliary control system so that the contour following performance can be improved from that of using linear control system only. Hyperstability is used to derive the adaptive control law. Experimental verification of the proposed control system is obtained using PUMA 560 robot system. Data obtained experimentally shows that the use of additional adaptive control system improves the contour following performance about 30% in RMS contact force errors upon that of the system controlled by the linear compensators only.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.1
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• pp.104-110
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• 2009

In this paper, we suggest a new technique which employ the pipelined architecture for the implementation of the SAP adaptive filter using variable step size. According as SAP adaptive filter is sufficiently decomposed, a simplified SAP adaptive filter can be derived, and the weights of adaptive sub-filters can be updated by a simple formular without a matrix inversion. The convergence speed and the steady state error of the simplified SAP adaptive filter are improved by using variable step size. For practical implementation, the simplified SAP adaptive sub-filters are transformed by the pipeline technique.

• ETRI Journal
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• v.4 no.3
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• pp.18-29
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• 1982

In a block adaptive filtering procedure, the filter coefficients are adjusted once per each output block while maintaining performance comparable to that of widely used LMS adaptive filtering in which the filter coefficients are adjusted once per each output data sample. An efficient implementation of block adaptive filter is possible by means of discrete transform technique which has cyclic convolution property and fast algorithms. In this paper, the block adaptive filtering using Fermat Number Transform (FNT) is investigated to exploit the computational efficiency and less quantization effect on the performance compared with finite precision FFT realization. And this has been verified by computer simulation for several applications including adaptive channel equalizer and system identification.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.353-356
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• 1991

This paper proposes a robust direct adaptive control system implementation using a 80286 microprocessor-based system for controlling the speed of a DC servo motor. In this paper, assuming that the unmodeled dynamics of the plant are sufficiently small in the low-frequency range, the plant as linear time-invariant system is the second relative degree, we construct the direct adaptive control system with the algorithm considering plant unmodeled dynamics and execute the experiment, and compare the characteristics with those of PI algorithm's. It shows that an easy implementation of the built controller is due to the usage of software for the algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.4
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• pp.479-486
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• 1998

In this paper, the design and the implementation of a robust adaptive controller for trajectory tracking of robot manipulator is presented. The proposed control scheme ensures that tracking errors are converged to some boundaries in the presence of a state-dependent input disturbances as well as the ideal case without any prior knowledge of the robot manipulator parameters. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking of the robot manipulator.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.3
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• pp.387-393
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• 1987

The introduction of a digiral subscriber loop transmission system necessitates an optimized line interface solution. To meet this objective an adaptive line equalizer has been developed. The equalizer can be compensated up to 42 dB line loss at 200KHz, and operated up to 3.2 Km transmission length (0.4 mm\ulcornercable)at a rate of 400Kb/s. This has been builted using a variable \ulcorner equalizer to compensate a frequency-attenuation characteristics of metallic cable, an AGC (automatic gain control) circuits with simple control algorithm, and various filters to minimize a transmission constraints over subscriber loop. The purpose of this paper is to present a short description of a design of the adaptive line equalizer with a summary of implementation results. Some design concepts and considerations which results in an implementation of the equalizer are also given.

• Proceedings of the IEEK Conference
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• 2002.07c
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• pp.1940-1943
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• 2002

In this paper, we presented the design and implementation of 155Mbps satellite Modem adaptively compensated against the rain attenuation. In order to compensate the rain attenuation over high-speed satellite ink, the adaptive coding schemes with variable coding rates and the pragmatic TCM that can be decoded both the QPSK and TC-8PSK using same Viterbi decoder was studied and analyzed. The pragmatic TCM with rate 213, selected to the optimal parameters for implementation, was modeled by VHDL in this paper. The key design issues are how to achieve a high data rate and how to integrated into a single ASIC chip various functions such as the different data rates, Scrambler/descrambler, Interleaver, Encoder/decoder, and BPSK/QPSK/8PSK modulator/demodulator. The implemented 155M0ps adaptive MODEM has the simplified interface circuits among the many functional blocks, and parallel processing architecture to achieve the high data rate. This 155Mbps adaptive MODEM was designed and implemented by single ASIC chip with the 0.25 $\mu\textrm{m}$ CMOS standard cell technology.