• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.114-118
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• 1996

This paper proposes a new technique to the design of adaptive control system using DSPs(TMS320C50) for 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 requre an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by exeperimental reults for a SCARA robot.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.7
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• pp.2246-2260
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• 2014

In this paper, a secure multilevel quadrature amplitude modulation (MQAM) scheme is proposed for the physical layer security (PLS) of the wireless communications. In the proposed scheme, each transmitted symbol's signal constellation (SC) is hopping with the control of two unique factors: amplitude distortion (AD) factor and phase hopping (PH) factor. With unknown the two factors, the eavesdropper cannot extract effective information from the received signal. We first introduce a security metric, referred to as secrecy gain, and drive a lower bound on the gain that the secrecy capacity can be improved. Then, we investigate the relationship among the secrecy gain, the signal to noise power ratios (SNRs) of the main and wiretap channels, and the secrecy capacity. Next, we analyze the security of the proposed scheme, and the results indicate that the secrecy capacity is improved by our scheme. Specifically, a positive secrecy capacity is always obtained, whether the quality of the main channel is better than that of the wiretap channel or not. Finally, the numerical results are provided to prove the analytical work, which further suggests the security of the proposed scheme.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.162-169
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• 1999

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator using digital Signal Processors. Digital signal processors DSPs. are micro-processors that are particularly developed for variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a biable computatinal tool in digital implementation of sophisticated controllers. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be a efficient control scheme for implementation of real-time control of robot system by the simulation and experiment.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2003.06a
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• pp.177-182
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• 2003

The robust output tracking control problem of general nonlinear MIMO systems is discussed. The robustness against parameter uncertainties is considered. In this paper, we proposed the robust output tracking control scheme for a class of MIMO nonlinear dynamical systems using output feedback linearization method. The presented control scheme is based on the VSS. We assume that the nonlinear dynamical system is minimum phase, the relative degree of the system is r$_{1}$＋r$_{2}$＋…r$_{m}$$\leq$ n and zero dynamics is stable. It is shown that the outputs of the closed-loop system asymptotically track given output trajectories despite the uncertainties while maintaining the boundedness of all signals inside the loop. And we verified that the proposed control scheme is then applied to the control of a two degree of freedom (DOF) robotic manipulator with payload.d.

• Proceedings of the KIPE Conference
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• 2001.12a
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• pp.115-118
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• 2001

This paper presents a new sensorless control scheme using simple duty signal feedback technique in DC-DC converters. The proposed sensorless control scheme (DFC) has the characteristics that they show the same as operation performance of current mode control by using duty feedback technique without current sensor as well as present better dynamic response performance than conventional sensorless current mode control (SCM) in case that input source is perturbed by step change or DC input source includes the . harmonics. Also, the proposed control scheme has good noise immunity and simple control circuits since they have one feedback loop, and can be applied to all DC-DC converters. The concept and control principles of the proposed control scheme are explained in detail and the validity of the proposed control scheme is verified through several interesting simulated results.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.16-19
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• 1996

In this paper, a sliding mode control scheme that guarantees the smoothness of the control signal and the exponential error convergence is proposed for robot manipulators. The proposed method inserts a low pass filter (LPF) in front of the plant, and the virtual controller is designed for the virtual plant - the combination of the LPF and the robot manipulator. The virtual control signal contains high frequency components because of a switching function. The real control signal, however, always shows a smooth curve since it is an output of the LPF. In addition to the smoothness of the control signal is always assured, the overall system is in the sliding mode at all times, that is, its performance is always invariant under the existence of parameter uncertainties and external disturbances. The closed-loop system is shown to be globally exponentially stable.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.47 no.12
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• pp.61-68
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• 2010

In this paper, we investigate the performance of ARQ-aided Time Switched Transmit Diversity (ARQ-TSTD) applying the multi-level control signaling in the WCDMA LCR-TDD system. Proposed ARQ-TSTD system applies the multi-level control signaling scheme in which the receiver sends the response signal (ACK or NACK signal) to the transmitter and defines NACK2 signal for multi-level control. Transmitter utilize the NACK2 control signal to the postponement of transmission and multi-user scheduling scheme proposed by this paper. Simulation results demonstrate that the proposed postponement of transmission and multi-user scheduling scheme yield about 1.3dB, 1.4dB performance gain respectively, compared with the conventional ARQ-TSTD with antenna switching scheme in tenn of the frame error rate (FER) for mobile speed of 3km/h and FER value of 10%. In addition, 14% and 11.5% of throughput gain respectively is shown when Eb/N0=-3dB.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.8
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• pp.3529-3550
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• 2016

In heterogeneous networks (HetNets), energy saving is vital for a sustainable network development. Many techniques, such as spectrum allocation, network planning, etc., are used to improve the network energy efficiency (EE). In this paper, micro BSs utilizing cell range expansion (CRE) and spectrum allocation are considered in multi-channel heterogeneous networks to improve EE. Hotspot region is assumed to be covered by micro BSs which can ensure that the hotspot capacity is greater than the average demand of hotspot users. The expressions of network energy efficiency are derived under shared, orthogonal and hybrid subchannel allocation schemes, respectively. Particle swarm optimization (PSO) algorithm is used to solve the optimal ratio of subchannel allocation in orthogonal and hybrid schemes. Based on the results of the optimal analysis, we propose three service control strategies on the basis of large-scale user behaviors, i.e., adjust micro cell rang expansion (AmCRE), adjust micro BSs density (AmBD) and adjust micro BSs transmit power (AmBTP). Both theoretical and simulation results show that using shared subchannel allocation scheme in AmBD strategies can obtain maximal EE with a very small area ratio. Using orthogonal subchannel allocation scheme in AmCRE strategies can obtain maximal EE when area ratio is larger. Using hybrid subchannel allocation scheme in AmCRE strategies can obtain maximal EE when area ratio is large enough. No matter which service control strategy is used, orthogonal spectrum scheme can obtain the maximal hotspot user rates.

• Journal of the Korean Statistical Society
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• v.23 no.2
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• pp.403-420
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• 1994

An economic design of the $\bar{X}-R$ chart using variable sample size (VSS) scheme is proposed in this paper. In this design the sample size at each sampling time changes according to the values of the previous two sample statistics, sample mean and range. The VSS scheme uses large sample if the sample statistics appear near inside the control limits and smaller sample otherwise. The set of process parameters, such as the sampling interval, control limits and the sample sizes, are chosen to minimize the expected cost per hour. The efficiency of the VSS scheme is compared to the fixed sample size one for cases where there is multiple of assignable causes. Percent reductions of the expected cost in the VSS design are calculated for some given sets of cost parameters. It is shown that the VSS scheme improves the confidence of the procedure and performs statistically better in terms of the number of false alarms and the average time to signal, respectively.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.10
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• pp.1488-1497
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• 1989

In this paper, a new adaptive control scheme is proposed that uses a special form of rational function-type linear operator in the parameter adaptation and that removes the augmenting signal terms of the control input components. This adaptation scheme is applied to the MRAC of continuous-time, linear time-invariant, minimum-phase plants whose relative degrees are arbitrary. This scheme can be applied without any change of the controller structure to the adaptive systems regardless of the relative degree if it is greater than 1. And this scheme does not require any signal augmentation for arbitrary relative-degree plants if the reference model has no zeros. The asymptotic stability of the adaptive systems controlled by this scheme is shown by a hyper-stability method.