• 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.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.5
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• pp.330-339
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• 2015

Power quality (PQ) problems are becoming a big issue, since delicate complex electronic devices are widely used. We present a new denoising technique using discrete wavelet transform (DWT), where a modified correlation thresholding is used in order to reliably detect the PQ disturbances. We consider various PQ disturbances on the basis of IEEE-1159 standard over noisy environments, including voltage swell, voltage sag, transient, harmonics, interrupt, and their combinations. These event signals are decomposed using DWT for the detection of disturbances. We then evaluate the PQ disturbance detection ratio of the proposed denoising scheme over Gaussian noise channels. Simulation results also show that the proposed scheme has an improved signal-to-noise ratio (SNR) over existing scheme.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.173-179
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• 2002

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) fur robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable fur implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.

• 한국전산유체공학회:학술대회논문집
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• 2004.03a
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• pp.161-165
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• 2004

In the vortex particle method based on the vorticity-velocity formulation for solving the Wavier-Stokes equations, the unsteady, incompressible, viscous laminar flow over a NACA 0012 foil is simulated. By applying an operator-splitting method, the 'convection' and 'diffusion' equations are solved sequentially at each time step. The convection equation is solved using the vortex particle method, and the diffusion equation using the particle strength exchange(PSE) scheme which is modified to avoid a spurious vorticity flux. The scheme is improved for variety body shape using one image layer scheme. For a validation of the present method, we illustrate the early development of the viscous flow about an impulsively started NACA 0012 foil for Reynolds number 550.

• The KIPS Transactions:PartA
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• v.15A no.3
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• pp.155-160
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• 2008

RFID technology has been gradually expanding its application. One of the important performance issues in RFID systems is to resolve the collision among multi-tags identification on restricted area. We consider a new anti-collision scheme based on Class Identification algorithm using Depth-First scheme. We evaluate how much performance can be improved by Class identification algorithm in the cases of Query-tree more then 17% identification rate and 150% performance.

• Journal of computational fluids engineering
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• v.9 no.3
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• pp.39-48
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• 2004

In the present study, an efficient implementation technique of the van Leer's implicit operator is suggested in accordance with the Roe's explicit operator. By using an efficient treatment of the off-diagonal terms, which occupy most of the memory requirement for the linear system of equations, it is shown that the improved scheme only requires less than 30% of memory and is approximately 10-20% faster than the baseline scheme.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.10a
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• pp.128-133
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• 2001

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) for robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.

• Proceedings of the Korean Information Science Society Conference
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• 2008.06d
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• pp.101-104
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• 2008

The intent of this paper is to present the flaws and weaknesses of Kim et al.'s timestamp-based password authentication scheme using smart cards. We prove that, in spite of the improvement of Yang-Wang-Chang's scheme, Kim et al.'s solution is still vulnerable to a type of forgery attack. We also note down how the flaw could be overcome to ensure better level of security in remote client-server communication procedure.

• Nuclear Engineering and Technology
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• v.26 no.3
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• pp.420-424
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• 1994

This paper presents an improved water level control scheme for Pressurized Water Reactor(PWR) Steam Generator(S/G) at the low power operation and transient states. To reduce fluctuations of the water level by the swell and shrink phenomena, the scheme adds feedforward terms considering S/G pressure and the feedwater temperature into the conventional proportional-integral feedback controller. The simulation results using the Compact Nuclear Simulator show that smaller level errors and much faster settling time than those of the conventional scheme can be obtained. The proposed algorithm is easily implementable and has a potential for the real applications.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.472-477
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• 1996

This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.