• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.647-651
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• 1992

This paper presents a model-based control scheme for a robot manipulator to track a desired trajectory as closely as possible in spite of a wide range of manipulator motions and parameter uncertainties of links and payload. The scheme has two components: a nominal control and a variational control. The nominal control, generated from direct calculation of the manipulator dynamics along a desired trajectory, drives the manipulator to a neighborhood of the trajectory. Then a discrete-time PID regulator is designed based on the linearized dynamic model and Linear Quadratic(LQ) method, which generates the variational control that regulates perturbations in the vicinity of the desired trajectory.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2849-2852
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• 1999

This paper describes the fuzzy PD controller using simplified indirect inference method. First, the fuzzy PD controller is derived from the conventional continuous time linear PD controller. Then the fuzzification, control-rule base, and defuzzification using SIIM in the design of the fuzzy controller are discussed in detail. The resulting controller is a discrete time fuzzy version of the conventional PD controller. which has the same linear structure. but are nonlinear functions of the input signals. The proposed controller enhances the self-tuning control capability. particularly when the process to be controlled is nonlinear. As the SIIM is applied, the fuzzy Inference results can be calculated with splitting fuzzy variables into each action component and are determined as the functional form of corresponding variables. So the Proposed method has the capability of the high speed inference and extending the fuzzy input variables easily. Computer simulation results have demonstrated the superior to the control Performance of the one Proposed by D. Misir et at. Final)y. we simulated the contour control of the X-Y tables with direct control strategies using the proposed fuzzy PD controller.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.3
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• pp.332-340
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• 2019

Electronic warfare systems are needed to be advantageous in the modern war. Many radar threat signals with various frequency spectrums and complicated techniques exist. For detecting the threats, a receiver with wide and narrow-band digital processing is needed. To process a wide-band searching mode, a polyphase filter bank has become the architecture of choice to efficiently detect threats. A polyphase N-path filter aligns the re-sampled time series in each path, and a discrete Fourier transform aligns phase and separates the sub-channel baseband aliases. Multiple threats and CW are detected or rejected when the signals are received in different sub-channels. And also, to process a narrow-band precision mode, a direct down converter is needed to reduce aliasing by using a decimation filter. These digital logics are designed in a FPGA. This paper shows how to design and develop a wide and narrow-band digital receiver that is capable to detect the threats.

• Science of Emotion and Sensibility
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• v.20 no.3
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• pp.13-22
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• 2017

Emotion has a direct influence such as decision-making, perception, etc. and plays an important role in human life. For the convenient and accurate recognition of high-arousal negative emotion, the purpose of this paper is to design an algorithm for analysis using the bio-signal. In this study, after two emotional induction using the 'normal' / 'fear' emotion types of videos, we measured the Galvanic Skin Response (GSR) signal which is the simple of bio-signals. Then, by decomposing Tonic component and Phasic component in the measured GSR and decomposing Skin Conductance Very Slow Response (SCVSR) and Skin Conductance Slow Response (SCSR) in the Phasic component associated with emotional stimulation, extracting the major features of the components for an accurate analysis, we used a discrete wavelet transform with excellent time-frequency localization characteristics, not the method used previously. The extracted features are maximum value of Phasic component, amplitude of Phasic component, zero crossing rate of SCVSR and zero crossing rate of SCSR for distinguishing high-arousal negative emotion. As results, the case of high-arousal negative emotion exhibited higher value than the case of low-arousal normal emotion in all 4 of the features, and the more significant difference between the two emotion was found statistically than the previous analysis method. Accordingly, the results of this study indicate that the GSR may be a useful indicator for a high-arousal negative emotion measurement and contribute to the development of the emotional real-time rating system using the GSR.