• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1609-1612
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• 1997

Kinematically redundantant manipulators have a nimber of potential advantages over nonredundant ones. Questions associated with manipulability measures for (non)redundant manipulators derived by minimum 2-norm solution and minimum infinity-norm solution in unit joint velocity are examined in detail.

• ETRI Journal
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• 제21권2호
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• pp.9-21
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• 1999

In this paper, to enhance the performance of ${\pi}$/4-DQPSK (${\pi}$/4-differential quadrature phase shift keying), the scheme using nonredundant multiple error correction is proposed and investigated. This scheme for the differential detection of ${\pi}$/4-DQPSK uses the signal output which is delayed for more than two time slots as the parity check bit and applies it to nonredundant multiple error correction. The proposed system was used for studying the performance of ${\pi}$/4-DQPSK with Nonredundant Error Correction (NEC) in additive white Gaussian noise (AWGN) and Nakagami fade modeled mobile communication channel, and it was observed that the performance increased as the error correction capability increased.

• International Journal of Control, Automation, and Systems
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• 제4권4호
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• pp.486-494
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• 2006

In this paper, we present the complete isotropy analysis of a caster wheeled omnidirectional mobile robot (COMR) with nonredundant/redundant actuation. It is desirable for robust motion control to keep a COMR close to the isotropy but away from the singularity as much as possible. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which specify the wheel configuration. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived so as to identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations, the isotropic characteristic length, and the optimal initial configuration are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2356-2361
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• 2005

In this paper, we present a complete isotropy analysis of a caster wheeled omnidirectional mobile robot(COMR) with nonredundant/redundant actuation. The motivation of this work is that the omnidirectional mobility loses significance in motion control unless the isotropy characteristics is maintained well. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which describe the wheel configurations. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived to completely identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations and the characteristic length required for the isotropy are discussed.

• 한국통신학회논문지
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• 제24권12A호
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• pp.1948-1959
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• 1999

본 논문에서는 비용장 다중오류정정을 갖는 $\pi$/4-QPSK의 차동검파 시스템을 이용하여 가산성 가우시안 백색잡음(additive white Gaussian noise: AWGN)과 나카가미 늦은 페이딩(Nakagami slow fading)채널로 모델링된 이동통신채널에서 성능이 분석연구되었다. 비용장 다중오류정정은 두 개 이상의 타임스롯(time slots)만큼 지연되어 수신된 신호를 이용하여 형성된 출력이 패리티체크 비트가 되어 오류정정에 이용되었으며, 비용장연속 다중오류정정(NEC)의 차수가 증가함에 따라 성능이 증가됨을 보이고 나카가미 페이딩 변수가 증가함에 따라도 성능이 증가됨을 보였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.120.2-120
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• 2001

This paper presents the analysis on the manipulability of a wheeled mobile manipulator which consists of a wheeled mobile platform and a manipulator atop. It is assumed that the mobile platform is a deficient system and the manipulator is a nonredundant system, but the mobile manipulators as a whole is a redundant system. First Yoshikawa´s definition of the manipulability ellipsoid for a redundant/nonredundant system is extended to a deficient system. Second, the effects of the nonholonomic constraint of the mobile platform and the location the mobile platform and the manipulator is analyzed.

• 대한전자공학회논문지
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• 제26권4호
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• pp.138-144
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• 1989

본 논문에서는 게이트레벨회로 최적화를 위한, 논리적 redundancy를 제거하는 새로운 방법을 제안한다. 본 방법은 회로내의 모든 신호선에 대한 redundancy 조사를 피하여 일부의 신호선-fanout branch 신호선에 한정하여 조사를 행한다. 또 조사한 신호선이 nonredundant 할 경우에는, 그 신호선에 대한 조사 과정에 생성된 정보만을 이용하여, 다른 nonrodundant한 신호선을 유효하는 효율적인 procedure을 사용한다. 그리고, 한 신호선에 대한 redundancy 재조사를 피하기 위해, 신호선의 조사순서를 결정하는 휴리스틱한 방법을 제안한다. 본 방법은 기존의 테스팅이론을 응용한 휴리스틱한 방법으로, 각 신호선에 대한 redundancy 재조사를 행하지 않기 때문에 기존의 방법에 비해 실행시간이 매우 빠르다.

• 한국통신학회:학술대회논문집
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• 한국통신학회 1991년도 추계종합학술발표회논문집
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• pp.291-295
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• 1991

• 한국통신학회:학술대회논문집
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• 한국통신학회 1990년도 추계종합학술발표회논문집
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• pp.52-57
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• 1990

• 한국통신학회논문지
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• 제17권3호
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• pp.240-246
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• 1992

In the paper, the differential detection techniques of 3-h CPM signals whose modulation index is varied periodically are proposed and their error performances are analyzed. We select the modulation index sets which are proper to the differential detection and propose the differential detectors which detect symbol with 3 bits per smapling period of 3T and detect a bit per sampling period of T. Applying the nonredundant error correction circuit and viterbi algorithm to differential detection of 3-h CPM. We ascertain the error performances are improved.