• Journal of Advanced Marine Engineering and Technology
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• v.17 no.3
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• pp.60-69
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• 1993

The speed control associated with dc servo motors for direct-drive applications of mobile robot is considered in this study. Robot is moved by power wheeled steering of two dc servo motors mounted to it. In order to cooperate with micro-computer and to achieve the high-performance operation of dc servo motor, speed control system is composed of a digital Phase Locked Loop and H-type drive circuit. And the motor is driven by Pulse Width Modulations. In controlling PWM, it is modified to compose of H-type drive circuit with feedback diodes and switching transistor and design of control sequence so that it may show linear characteristics. As a result, speed characteristics of motor showed linear features. In order to get data on design of PLL control system, the parameters of 80[W[ motor & robot device is measured by simple software control. The PLL speed control system is schemed and designed by leaner drive circuit and measured parameters. A complete speed control system applied to 80[W] dc servo motor showed good linearity, stability and high response. Also, it is verified that the PLL speed control system has good compatibility as a mobile robot driver.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.7A
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• pp.623-631
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• 2010

In this paper, various of pilot-assisted channel estimation techniques for 3GPP LTE downlink are tested under multipath Rayleigh fading channel. At first, the conventional channel estimation techniques are applied with linear zero-forcing (ZF) equalizer, such as one dimensional least square (1-D LS) linear interpolation, two dimensional (2-D) wiener filter, the time and frequency dimension separate wiener filter and maximum likelihood estimator (MLE). Considering the practical implementation, we proposed two channel estimation techniques by combining time-dimension wiener filter and MLE in two manners, which showed a good tradeoff between system performance and complexity when comparing with conventional techniques. The nonlinear decision feedback equalizer (DFE) which can show a better performance than linear ZF equalizer is also implemented for mitigating inter-carrier interference (ICI) in our system. The complexity of these algorithms are calculated in terms of the number of complex multiplications (CMs) and the performances are evaluated by showing the bit error rate (BER).

• Journal of the Korean Society of Industry Convergence
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• v.25 no.4_1
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• pp.521-531
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• 2022

This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.

• International Journal of Control, Automation, and Systems
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• v.1 no.2
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• pp.243-251
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• 2003

In this paper, a new model for mobile soccer robot, a type of linear system, is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and plant be well conditioned and the outer loop is a well-known PI controller designed for tracking the reference input, is suggested. Because the plant, the soccer robot, is parameter dependent, it requires the controller to be insensitive to the parameter variation. To achieve this objective, the pole-sensitivity as a pole-variation with respect to the parameter variation is defined and design algorithms for state-feedback controllers are suggested, consisting of two matrices one of which is for general pole-placement and other for parameter insensitive. This paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ cost. By using these properties, we suggest a tuning procedure for the PI controller. We that the control algorithm in this paper, based on the linear system theory, is well work by simulation, and the LPD system modeling and control are more easy treatment for soccer robot.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.978-982
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• 2007

This paper presents the velocity estimation of a mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the basic principle of the proposed velocity estimation method is explained. Second, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. Third, for a given set of optical mouse readings, the mobile robot velocity is estimated based on the least squares solution to the obtained system. Finally, simulation results are given to demonstrate the validity of the proposed velocity estimation method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.2
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• pp.308-313
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• 2018

In this paper, we propose a sampled-data model predictive tracking control deign for leader-following control of multi-mobile robot system. The error dynamics of leader-following robots is modeled as a Linear Parameter Varying (LPV) model. Also, the Lyapunov function is presented to guarantee stability of the networked control system. Based on the stabilization condition using a quadratic Lyapunov function approach, model predictive sampled-data controller is designed. Finally, the leader-following control of multi mobile robots is simulated to show effectiveness of the proposed method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.2
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• pp.154-161
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• 2012

This article presents experimental studies of fuzzy logic application to control a two-wheel mobile robot(TWMR) system. The TWMR system is composed of two systems, an inverted pendulum system and a mobile robot system. Although linear controllers can stabilize the TWMR, fuzzy controllers are expected to have robustness to uncertainties so that the resulting performances are expected to be better. Nominal fuzzy rules are used to control balance and position of TWMR. Fuzzy logic is embedded on a DSP chip to control the TWMR. Balancing performances of the PID controller and the fuzzy controller under disturbances are compared through extensive experimental studies.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2005.05a
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• pp.283-291
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• 2005

The development of mobile applications is fast in recent years. However, nearly all applications are for messaging, financial, locating services based on simple interactions with mobile users because of the limited screen size, narrow network bandwidth, and low computing power. Processing an algorithm for supporting a group decision process on mobile devices becomes impossible. In this paper, we introduce the mobile-oriented simple interactive procedure for support a group decision making process. The interactive procedure is developed for multiple objective linear programming problems to help the group select a compromising solution in the mobile Internet environment. Our procedure lessens the burden of group decision makers, which is one of necessary conditions of the mobile environment. Only the partial weak order preferences of variables and objectives from group decision makers are enough for searching the best compromising solution. The methodology is designed to avoid any assumption about the shape or existence of the decision makers's utility function. For the purpose of the experimental study of the procedure, we developed a group decision support system in the mobile Internet environment, MOBIGSS　and applied to an allocation problem of investor assets.

• International Journal of Computer Science & Network Security
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• v.23 no.5
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• pp.121-127
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• 2023

A 500 km/h linear motor high speed terrestrial transportation service is planned to launch 2027 in Japan. In order to support 5G service in the train, the Sub-carrier spacing frequency of 30 kHz is planned to be used instead of common 15 kHz sub-carrier spacing to mitigate Doppler effect in such high-speed transportation. In addition, to increase the cell size of 5G mobile system, plural Base Station antenna will transmit the identical Down Link (DL) signal to form the expanded cell size along the train rail. In this situation, forward and backward antenna signals will be Doppler shifted by reverse direction respectively and the receiver in the train might suffer to estimate accurate Channel Transfer Function (CTF) for its demodulation. In this paper, Delay and Doppler Profiler (DDP) based Channel Estimator is proposed and it is successfully implemented in signal processing simulation system. Then the simulated performances are compared with the conventional Time domain linear interpolated estimator. According to the simulation results, QPSK modulation can be used even under severe channel condition such as 500 km/h, 2 path reverse Doppler Shift condition, although QPSK modulation can be used less than 200 km/h with conventional Channel estimator.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.3
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• pp.330-338
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• 2011

Odometry is the critical factor to estimate the location of the robot. In the mobile robot with wheels, odometry can be performed using the information from the encoder. However, the information of location in the encoder is inaccurate because of the errors caused by the wheel's alignment or slip. In general, visual odometer has been used to compensate for the kinetic errors of robot. In case of using the visual odometry under some robot system, the kinetic analysis is required for compensation of errors, which means that the conventional visual odometry cannot be easily applied to the implementation of the other type of the robot system. In this paper, the novel visual odometry, which employs only the single camera toward the ground, is proposed. The camera is mounted at the center of the bottom of the mobile robot. Feature points of the ground image are extracted by using median filter and color contrast filter. In addition, the linear and angular vectors of the mobile robot are calculated with feature points matching, and the visual odometry is performed by using these linear and angular vectors. The proposed odometry is verified through the experimental results of driving tests using the encoder and the new visual odometry.