This paper proposes a method for the global optimization of redundancy over the whole task period for a kinematically redundant robot. The necessary conditions based on the calculus of variations for an integral type cost criterion result in a second-order differential equation. For a cyclic task, the periodic boundary conditions due to conservativity requirements are discussed. We refine the two-point boundary value problem to an initial value adjustment problem and suggest a numerical search method for providing the conservative global optimal solution using the gradient projection method. Since the initial joint velocity is parameterized with the number of the redundancy, we only search the parameter value in the space of as many dimensions as the number of degrees of redundancy. We show through numerical examples that multiple nonhomotopic extremal solutions and the generality of the proposed method by considering the dynamics of a robot.

In this paper, we solve the problem of designing a robust optimal controller which minimizes the H$\infty$-norm of the mixed sensitivity function matrix for linear multivariable systems. For a given minimized value, ${\gamma}$>o, an algorithm of finding all stabilizing controllers, such that the H$\infty$-norm of the mixed sensitivity function matrix is less than ${\gamma}$, is developed. The proposed algorithm, which is based on the model-matching and the interpolation theory, can be used for the H$\infty$-optimization problem.

This paper proposes a Self-Tuning control algorithm for tracking the reference trajectory by measuring the end-point of robot manipulator whose links are light and flexible, and the performance of it is tested through the computer simulation. As an object of system, a flexible robot manipulator with two-links is considered and an assumed mode shape method including gravity force is adopted to analyze the vibration modes for each links and dynamics equation is derived. The controller is designed as a combined form which consists of dynamic feedforward compensator and self-tuning feedback controller. The one supplies nominal torque and the other supplies variational torque to manipulator. Apart from the, K-incremental predictor is also proposed in order to eliminate the offset error. and it shows that the result of simulation adapted well to load change and rapid velocity.

Recently, the fuzzy theory has been adopted broadly to the applications of image processing. Especially the fuzzy clustering algorithm is adopted to image segmentation to reduce the ambiguity and the influence of noise in an image.But this needs lots of memory and execution time because of the great deal of image data. Therefore a new image segmentation algorithm is needed which reduces the memory and execution time, doesn't change the characteristices of the image, and simultaneously has the same result of image segmentation as the conventional fuzzy clustering algorithm. In this paper, for image segmentation, an extended fuzzy clustering algorithm is proposed which uses the occurence of data of the same characteristic value as the weight of the characteristic value instead of using the characteristic value directly in an image and it is proved the memory reduction and execution time reducted in comparision with the conventional fuzzy clustering algorithm in image segmentation.

This paper presents an image processing method which emphasizes a certain perception feeling on a color image. A series of fuzzy image processing schemes are proposed, which transform an color image represented in the LCH coordinate system to the image with a certain perception feeling based on the rules and fuzzy inference. To obtain the rules, results of the sensory perception tests are applied to the quantification theory. The proposed schemes can be effectively utilized in the color copy system, since printed outputs possibly look better than originals.