• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2540-2545
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• 2003

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.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2509-2512
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• 2005

In this paper, a position control scheme of the ink droplet is presented for the high image quality and print speed inkjet printer. The proposed scheme estimates the impact position and compensates it by control of the fire strobe time based on the dynamic equations describing the moving trajectory of the ink droplet. Compared to the conventional fire strobe control which is based on the simple synchronization the fire strobe with the position signal of the inkjet nozzle, the proposed control scheme provides more accurate impact position control during the carrier is moving with accelerated or decelerated speed as well as constant speed. The availability of printing during the acceleration and deceleration states of the carrier moving enables the print speed up and the frame size down which means the cost down.

• ETRI Journal
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• v.32 no.1
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• pp.11-21
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• 2010

A novel ultra-wideband (UWB) transceiver structure is presented to be used in wireless body area networks (WBANs). In the proposed structure, a data channel and a control channel are combined into a single transmission signal. In the signal, a modulation method mixing pulse position modulation and pulse amplitude modulation is proposed. A mathematical framework calculating the power spectrum density of the proposed pulse-based signal evaluates its coexistence with conventional radio systems. The transceiver structure is discussed, and the receiving performance is investigated in the additive white Gaussian noise channel. It is demonstrated that the proposed scheme is easier to match to the UWB emission mask than conventional UWB systems. The proposed scheme achieves the data rate requirement of WBAN; the logical control channel achieves better receiving performance than the logical data channel, which is useful for controlling and maintaining networks. The proposed scheme is also easy to implement.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.2
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• pp.85-95
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• 2000

This paper describes a sensorless control scheme for brushless dc motors(BLDCMs) using a phase shifter(FIPS) which can shift the zero-crossing point of the input signal with a specified amount of phase. The detection performance of the proposed FIPS is independent of the frequency of the input signal and quite robust with respect to the measurement noise. It is shown that the proposed sensorless control scheme using the FIPS is more effective in the respects of noise-robustness and cost than the previously known schemes. The generality and practicality of the proposed sensorless control scheme is demonstrated through performance analysis and experiments under various operating conditions.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) 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 adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed 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.

• Proceedings of the KIPE Conference
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• 1998.07a
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• pp.197-199
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• 1998

A neuro-fuzzy based torque profile model of SRM with considerably improved accuracy is obtained using the measured data for training. The inferred torque profiles, which comprise magnetic non-linearities, represent the dynamic model of SRM. Then the reference torque signal with optimized waveform and switching angle are decided to control the torque directly. Hence, the presented scheme controls the torque in an instantaneous basis, allowing powerful torque control with minimum torque ripple even during the transient operation of the motor. Simulation and experimental results demonstrating the effectiveness of the proposed torque control scheme are presented.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.3
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• pp.210-215
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• 2004

The dynamic model of ac servo motor is influenced very much due to rotor resistance change and nonlinear characteristic. By using the sliding mode control the dynamic behavior of system can be made insensitive to plant parameter change and external disturbance. This paper describes the application of the sliding mode control for position control of ac servo motor. The control scheme is derived and designed. A design method based on external load parameters has been developed for the robust control of ac induction servo drive. The proposed control scheme are given based on the variable structure controller and slip frequency vector control. Simulated results are given to verify the proposed design method by adoption of sliding mode and show robust control for a change of shaft initial J, viscous friction B and torque disturbance.

• The KIPS Transactions:PartC
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• v.12C no.3 s.99
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• pp.395-400
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• 2005

The IEEE 802.11b WLAN supports multiple transmission rates and the rate is chosen in an adaptive manner by an auto rate control algorithm. This auto rate control algorithm deeply affects the total system performance of the IEEE 802.11b WLAN. In this paper, we examine the WLAN performance with regard to the auto rate control algorithm especially the ARF scheme. The experimental results indicate that the ARF scheme works well in the face of signal noise due to node location. However, the ARF scheme severely degrades system performance when multiple nodes contend to obtain the wireless channel and the packet is lost due to signal collision. In addition, TCP prevent the performance degradation due to ARF scheme by retaining number of active nodes. However, some applications, such as transporting multimedia data, adopt the UDP. Therefore, the TCP cannot be an optimal solution for all WLAN applications.

• Journal of IKEEE
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• v.22 no.1
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• pp.143-148
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• 2018

In this paper, a novel turn signal indication scheme is proposed and implemented to handle the turn signal of a vehicle automatically. By adopting accelerometer for the motion recognition of vehicle's momentum, the proposed way could control and manage turn signals according to the moving direction of a car when a driver forgot handling turn signal lever. The designed control system is plugged into the motorbike and tested to demonstrate improved driver's safety suitable for ADAS.

• The Journal of the Acoustical Society of Korea
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• v.18 no.6
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• pp.3-8
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• 1999

In this paper, we propose a new active noise control system that cancels the only noise signal from the mixture selectively. A blind source separation realized by a dynamic recurrent neural network is used as a preprocessor of the active noise control system and separates the desired signal and the noise signal. The active noise control system adaptively generates an anti-noise signal to remove the only noise signal separated by the blind source separation. Computer simulation results show that the proposed scheme is effective to construct a selective attention system.