• 대한수학회지
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• 제53권5호
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• pp.1149-1165
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• 2016

In this paper, we show that there exists no left invariant Riemannian metric h on the Heisenberg group H such that (H, h) is a symmetric Riemannian manifold, and there does not exist any H-invariant metric $\bar{h}$ on the Heisenberg manifold $H/{\Gamma}$ such that the Riemannian connection on ($H/{\Gamma},\bar{h}$) is a Yang-Mills connection. Moreover, we get necessary and sufficient conditions for a group homomorphism of (SU(2), g) with an arbitrarily given left invariant metric g into (H, h) with an arbitrarily given left invariant metric h to be a harmonic and an affine map, and get the totality of harmonic maps of (SU(2), g) into H with a left invariant metric, and then show the fact that any affine map of (SU(2), g) into H, equipped with a properly given left invariant metric on H, does not exist.

• 전력전자학회논문지
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• 제23권1호
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• pp.66-71
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• 2018

We propose an online parameter estimation method for surface-mounted permanent-magnet synchronous motor (SPMSM) using an affine projection algorithm (APA). The proposed method estimates parameters with two APAs based on the discrete-time model equation of SPMSM during motor operation. The first APA is designed to estimate inductance, and the second APA is designed to estimate resistance and flux linkage. However, in case when the d-axis current is controlled to 0A, the second APA cannot estimate resistance and flux linkage simultaneously because the matrix rank in APA becomes deficient. To overcome this problem, we temporarily inject a negative reference current input to the d-axis control loop, and the matrix in the APA then becomes full rank, which enables the simultaneous estimation of resistance and flux linkage. The proposed method is verified by PSIM simulation and an actual experiment, and the results reveal that SPMSM parameters can be estimated online during motor operation.

• 전기학회논문지
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• 제56권3호
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• pp.615-622
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• 2007

In general, Harris detector is commonly used for finding salient points in watermarking systems using feature points. Harris detector is a kind of combined comer and edge detector which is based on neighboring image data distribution, therefore it has some limitation to find accurate salient points after watermark embedding or any kinds of digital attacks. In this paper, we have used cross reference points which use not data distribution but geometrical structure of a normalized image in order to avoid pointing error caused by the distortion of image data. After normalization, we find cross reference points and take inverse normalization of these points. Next, we construct a group of triangles using tessellation with inversely normalized cross reference points. The watermarks are affine transformed and transformed-watermarks are embedded into not normalized image but original one. Only locations of watermarks are determined on the normalized image. Therefore, we can reduce data loss of watermark which is caused by inverse normalization. As a result, we can detect watermarks with high correlation after several digital attacks.

• 전기학회논문지
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• 제66권4호
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• pp.666-671
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• 2017

A disturbance-observer-based adaptive neural tracker design problem is investigated for a class of perturbed uncertain non-affine nonlinear systems with unknown control direction. A nonlinear disturbance observer (NDO) design methodology using neural networks is presented to construct a tracking control scheme with the attenuation effect of an external disturbance. Compared with previous control results using NDO for nonlinear systems in non-affine form, the major contribution of this paper is to design a NDO-based adaptive tracker without the sign information of the control coefficient. The stability of the closed-loop system is analyzed in the sense of Lyapunov stability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.221-225
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• 1998

This paper is to present a method for recognizing an image of a tracking object by processing the image from a camera, whose attitude is controlled in inertial space with inertial co-ordinate system. In order to recognize an object, a pseudo-random M-array is attached on the object and it is observed by the camera which is controlled on inertial coordinate basis by inertial stabilization unit. When the attitude of the camera is changed, the observed image of M-array is transformed by use of affine transformation to the image in inertial coordinate system. Taking the cross-correlation function between the affine-transformed image and the original image, we can recognize the object. As parameters of the attitude of the camera, we used the azimuth angle of camera, which is de-fected by gyroscope of an inertial sensor, and elevation an91e of camera which is calculated from the gravitational acceleration detected by servo accelerometer.

• 대한수학회지
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• 제61권4호
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• pp.743-760
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• 2024

In this paper, we are devoted to study a forth order curve flow for a smooth closed curve in centro-affine geometry. Firstly, a new evolutionary equation about this curve flow is proposed. Then the related geometric quantities and some meaningful conclusions are obtained through the equation. Next, we obtain finite order differential inequalities for energy by applying interpolation inequalities, Cauchy-Schwartz inequalities, etc. After using a completely new symbolic expression, the n-order differential inequality for energy is considered. Finally, by the means of energy estimation, we prove that the forth order curve flow has a smooth solution all the time for any closed smooth initial curve.

• 한국음향학회지
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• 제31권2호
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• pp.79-86
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• 2012

NLMS 알고리즘의 수렴 특성을 개선하기 위해 제안된 인접 투사 알고리즘의 성능을 향상시킨 알고리즘을 제안하였다. 기존의 인접 투사 또는 의사 인접 투사 알고리즘은 지연된 입력 신호 벡터 및 오차 신호 벡터를 기반으로 하기 때문에 복잡할 뿐만 아니라, 기존의 스칼라 오차를 기반으로 하는 LMS 형 알고리즘에서 개발된 기법을 적용하는데 어려움이 있다. 본 논문에서는 의사 인접 투사 알고리즘의 경우, 스칼라 오차 신호를 이용한다는 사실과 수렴 후 입력 신호가 오차 신호에 직교한다는 직교 원리에 근거하여 적은 연산량으로도 우수한 수렴 성능을 보이는 가변 스텝 사이즈 알고리즘을 제안하였다. 시스템 확인 모델 하에서 컴퓨터 모의 실험을 통하여 제안된 알고리즘이 기존의 알고리즘들에 비하여 적은 연산량에도 불구하고 정상 및 비정상 환경에서 수렴 특성이 우수함을 보였다.

• Journal of Mechanical Science and Technology
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• 제18권8호
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• pp.1297-1305
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• 2004

In this paper, we propose a new scheme for the discretization of nonlinear systems using Taylor series expansion and the zero-order hold assumption. This scheme is applied to the sampled-data representation of a non-affine nonlinear system with constant input time-delay. The mathematical expressions of the discretization scheme are presented and the ability of the algorithm is tested for some of the examples. The proposed scheme provides a finite-dimensional representation for nonlinear systems with time-delay enabling existing controller design techniques to be applied to them. For all the case studies, various sampling rates and time-delay values are considered.

• Journal of Multimedia Information System
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• 제5권2호
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• pp.83-86
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• 2018

Owing to high speed internet technologies, video conferencing systems are exploited in our home as well as work places using a laptop or a webcam. Although eye contact in the video conferencing system is significant, most systems do not support good eye contact due to improper locations of cameras. Several ideas have been proposed to solve the eye contact problem; however, some of them require complicated hardware configurations and expensive customized hardwares. In this paper, we propose a simple eye gaze correction method using the three-dimensional (3D) affine transformation. We also apply an image in-painting method to fill empty holes that are caused by round-off errors from the coordinate transformation. From experiments, we obtained visually improved results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1140-1145
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• 2003

Image normalization is one of the important areas in pattern recognition. Also, log-polar images are useful in the sense that their image data size is reduced dramatically comparing with conventional images and it is possible to develop faster pattern recognition algorithms. Especially, the log-polar image is very similar with the structure of human eyes. However, there are almost no researches on pattern recognition using the log-polar images while a number of researches on visual tracking have been executed. We propose an image normalization technique of log-polar images using momentums applicable for affine-invariant pattern recognition. We handle basic distortions of an image including translation, rotation, scaling, and skew of a log-polar image. The algorithm is experimented in a PC-based real-time vision system successfully.