• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.11
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• pp.2011-2020
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• 1992

This paper discusses about real time control applying sliding mode to robot manipulators whose nonlinear terms, which are inertia term, Corilis term and centrifugal force mterm, are regarded as disturbances. We could simplify the dynamic equations of a manipulator and servo system, which are composed of linear elements and nonlinear elements, by assuming that non-linear terms are external disturbance. By simplifying that equation, we could easily obtain a control input which satisfy sliding mode. We proposed a new control input algorithm to decrease chattering in the application of sliding mode control of manipulator whose nonlinear elements are regarded as disturbances. We could take impulse response of linear elements of dynamic equations of a robot manipulator and servo system by Signal Compression Method. So then, we could obtain the unknown parametes of its linear lements, which are used to obtain switching parameter satisfying sliding mode, by Signal Compression Method. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by obtaining a switching speed and to carry out real time control.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1652-1653
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• 2007

가변제어구조로 동작하는 슬라이딩모드제어(SMC)는 플렌트의 파라미터 변동과 부하왜형에 관계없이 스위칭 제어 알고리즘에 의해 위상 평면에서 미리 예측된 궤적 또는 기준모델을 따라 구동응답을 주어진 슬라이딩 면을 따라 강제로 추종시키는 것이다. 여기서 슬라이딩 평면을 찾아내는 방법의 하나로 SVM(Suppot Vector Machine) 을 사용한다. 그런데 SVM을 사용하여 슬라이딩 평면을 찾아내는 과정에서, 초기치의 변동이 있을 경우, SVM 모델을 재구성해야 해야 한다. 이에 본 논문에서는 SVM 모델을 재구성할 필요 없이, 기존 초기치에 의한 SVM 모델에서, 원하는 초기치의 SVM모델로 변경할 수 있는 방법을 제안한다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.12
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• pp.1817-1825
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• 2021

Omnidirectional mobile robots can be mobile in any direction without changing the robot's direction, making them easy to apply in many applications and providing excellent maneuverability. Omnidirectional mobile robots have non-linear dynamic components such as friction, making them difficult to model accurately. In this paper, we linearize the mobile robot system using the mobile robot's inverse dynamics and integral sliding mode control method to remove these nonlinear components. And the position and velocity gains are optimized using a genetic algorithm to realize the optimal performance of the proposed system control method. As a result of the performance evaluation, the genetic algorithm's control method showed superior performance than the control method with an arbitrary gain. And the proposed inverse dynamic and integral sliding mode control method can be applied to other control methods. It can be beneficial for designing a linear control system.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.4
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• pp.424-429
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• 2014

This paper investigates the problem of synchronization of the Pehlivan chaotic system based on sliding mode control and GA. For this, a brief overview of the Pehlivan chaotic system is given. Then, the conventional sliding mode control technique is described and a synchronization method using GA strategy is proposed. The proposed method is that the GA searched the parameters including sliding plane and control gains) selected by the designer in the sliding mode control are searched optimally through the GA. The GA in the MATLAB Toolbox was used and simulation work is shown to illustrate the effectiveness of the synchronization schemes for the chaotic system.

• Journal of KIISE:Software and Applications
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• v.32 no.9
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• pp.912-919
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• 2005

When we apply binary classification to multi-class classification for text categorization, we use the One-Against-All method generally, However, this One-Against-All method has a problem. That is, documents of a negative set are not labeled by human. Thus, they can include many noisy documents in the training data. In this paper, we propose that the Sliding Window technique and the EM algorithm are applied to binary text classification for solving this problem. We here improve binary text classification through extracting noise documents from the training data by the Sliding Window technique and re-assigning categories of these documents using the EM algorithm.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2006.11a
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• pp.15-18
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• 2006

비디오를 내용 별로 분할하기 위한 최소 단위는 비디오의 샷이다. 따라서 비디오 내용 정보를 분석함에 있어서 비디오의 샷 경계 검출은 필수적인 과정이다. 이러한 샷 전환 과정은 급격한 샷 전환 과정과 점진적인 샷 전환 과정으로 구분할 수 있다. 점진적인 샷 전환 과정의 경우 전환 과정이 여러 프레임들에 걸쳐 발생되는 관계로 점진적인 샷 전환 과정을 검출하기 위하여, 기존 샷 경계 검출 알고리즘은 일정 간격을 슬라이딩한 윈도우 프레임들 간의 차이를 비교하는 방식을 이용하였다. 기존 슬라이딩 윈도우 방법은 점전적인 샷 전환 과정을 검출하기 위하여 고정된 크기의 윈도우 하나만을 이용하였다. 이 경우, 슬라이딩 윈도우의 길이가 점진적인 샷 전환 과정에 비해 짧으면, 샷 전환을 검출하지 못 한다. 슬라이딩 윈도우의 길이가 샷의 길이보다 길면 샷을 점진적인 샷 전환으로 검출하는 오류가 발생된다. 상기 문제점을 개선하기 위하여 본 논문에서는 서로 다른 크기의 다수의 슬라이딩 윈도우들과 적응적 경계치를 적용한 샷 경계 검출 방법을 제안한다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.5A
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• pp.426-432
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• 2007

The MAP algorithm is designed and implemented through the sliding window method for turbo decoding. First, the implementation issues, which are the length of the sliding window and the normalization method of state metrics are reviewed, and their optimal values are obtained by the simulation. All component schemes of the decoder including the branch metric evaluator are also presented. The proposed MAP architecture can be easily redesigned according to the size of sliding window, that is, sub-frame length because of its simplicity on buffer control.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.38 no.6
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• pp.28-36
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• 2001

A robust adaptive sliding mode robot control algorithm is derived, which consists of a feed-forward compensation part and discontinuous control part. The unknown parameters is categorized into two groups, with group containing the parameters estimated on-line, and group containing the parameters not estimated on-line. Then a sliding control term is incorporated into the torque input in order to account for the effects of uncertainties on the parameters not estimated on-line and of disturbances. Moreover, the algorithm is computationally simple, due to an effective exploitation of the structure of manipulator dynamics. It is shown that, despite the existence of the parameter uncertainty and external disturbances, the controller is globally asymptotically stable and guarantees zero tracking errors.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.5
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• pp.527-532
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• 2005

In this paper, we proposed an adaptive fuzzy sliding control for unknown nonlinear systems using estimation of bounds for approximation errors. Unknown nonlinearity of a system is approximated by the fuzzy logic system with a set of IF-THEN rules whose consequence parameters are adjusted on-line according to adaptive algorithms for the purpose of controlling the output of the nonlinear system to track a desired output. Also, using assumption that the approximation errors satisfy certain bounding conditions, we proposed the estimation algorithms of approximation errors by Lyapunov synthesis methods. The overall control system guarantees that the tracking error asymptotically converges to zero and that all signals involved in controller are uniformly bounded. The good performance of the proposed adaptive fuzzy sliding mode controller is verified through computer simulations on an inverted pendulum system.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.9 no.6
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• pp.768-775
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• 1998

The equalizer is the central part of the receiver and its performance significantly affects the overall performance of the system in the mobile communication. A proposed equalizer is composed of the channel estimator, MLSE based on the Viterbi algorithm and GMSK decoder. The approximation of GMSK with QPSK has great impact on the equalizer design, because it allows us to use the existing simple and efficient algorithms for designing optimal QPSK equalizer. In order to estimate efficiently channel, we use a sliding window algorithm based on energy calculation and cross-correlator. And also a tuning scheme is presented in order to improve the equalizer performance. Simulation results indicate that a proposed equalizer meets the GSM standards easily in terms of performance.