• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.786-795
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• 2000

In this paper, a new impedance force control method for deburring and polishing process is proposed. The proposed method is robust to deal with unknown environment stiffness as unknown well as environment location. An adaptive technique is used to minimize the force error occurred due to unknown environment surface profile. A robust position control algorithm based on time-delayed information is used to cancel out uncertainties in robot dynamics. A three link robot manipulator is used to demonstrate performances of the proposed control on deburring and polishing tasks. Stability analysis for the adaptive control is presented and its results are confirmed by simulations.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.32 no.4
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• pp.136-144
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• 1983

In this paper, a new scheme of implicit MRAC is presented for single input single output discrete system. The MRAC can be applied to the nonminimum phase system, too. They have simple structure because the parameters of the controller are estimated directly by changing the plant output equation properly. In this scheme, the observation process is well seperated from the adaptation process, so the adaptation algorithm is derived from the exponentially weighted least square method which has fast convergence characteristics and can deal with the time varying plant. The consistency of the estimated parameter is proved. And it is also proved the whole system has the stabilizing property. The effectiveness of the algorithm and the structure is illustrated by the computer simulation of the model reference adaptive control for a third order plant. It is proposed how to select the selectable parameters in the adaptive control system from the simulation results.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.7
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• pp.696-705
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• 1991

This paper describes the procedures for pre-tuning and re-tuning the gains of PI controller based on output patterns -output error integral- of the unknown process which may not have any information, for example, system order, deadtime, time constant, etc. The key ideas of the proposed adaptive scheme are as follows. The scheme determines the initial gains by using ZNM (Ziegler-Nichols Method) with relay feedback, and then the adaptive algorithms by pattern recognition are introduced for re-runing the PI gains with on-line scheme whenever control conditions are changed. Because, among the various auto-tuning procedures, ANM with relay feedback has the difficulty in re-tuning with on-line and Bristol method has no comment on initial settings and has variables to pre-determine, which makes the algorithm comples, the proposed methods have the combined scheme with above two procedures to recover those problems. And this paper proposes a simple way to determine adaptive constant in Bristol method. To show the validity of the proposed method, an example is illustrated by computer simulation and a laboratory process, heat exchanger, is experimented.

• Proceedings of the Korean DIstribution Association Conference
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• 2007.08a
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• pp.127-158
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• 2007

This study discusses salespersons' emotional intelligence, one of the key abilities necessary to meet customers' needs effectively, and express positive emotions in frequent interactions with customer. Emotional intelligence refers to self-controllability and social ability emphasizing pro-social aspect and understanding of others. This study investigates how salespersons' emotional intelligence affects adaptive selling and positive emotional expression during the process of interaction with customers, and how such adaptive selling and positive emotional expression affects the quality of service perceived by customers. The results show that greater salespersons' emotional intelligence results in better adaptive selling and positive emotional expression. Such adaptive selling and positive emotional expression had significant effects on the quality of service perceived by customers. These results are important in that they address emotional intelligence as salespersons' emotional ability, which has been overlooked as an antecedent variable for improving adaptive selling and display of positive emotion, consequently provide another factor to help salespersons improve their selling behavior.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.135-139
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• 1992

Control of tool-environment interaction force to comply the robot system to an environment is of vital in many automated process. This paper presents the implementation of an adaptive force control with commercial robot system in two dimensional contour following task. A model reference adaptive control system, combined with the linear compensators, is implemented. That is, a use of adaptive control is to provide an auxiliary control system so that the contour following performance can be improved from that of using linear control system only. Hyperstability is used to derive the adaptive control law. Experimental verification of the proposed control system is obtained using PUMA 560 robot system. Data obtained experimentally shows that the use of additional adaptive control system improves the contour following performance about 30% in RMS contact force errors upon that of the system controlled by the linear compensators only.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.658-663
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• 1987

The new controller developed here, which is the facility with only one measurement, is a new concept for the level controller of the existing nuclear steam generator. A MACS (Microcomputer-based Adaptive Control System of a Steam Generator) is quite practical and efficient, and has also simple structure and higher flexibility in the installment for actual plant. A key ingredient of this system is adaptive regulator which can calculate adaptive, optimal valve position in response to changes in the dynamics of the process and the disturbances. In spite of many difficulties in the steam generator water level control at low power, it can be concluded from the experimental and simulation results, that the MACS can provide optimal, robust steam generator level control from zero to full power. The amount of the control input effort can be reduced by adjusting the weighting factor. However, the steady state water level errors are generated. To avoid the steady errors, the different adaptive algorithm should be investigated in the future. The 3 second sampling time is acceptable for this system. However, action should be taken to shorten the sampling time for better digital control.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.1731-1734
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• 2003

In this paper, we describe an approach for image denoising using the lifting construction, with the spatial adaptive wavelet transform. The adaptive lifting scheme is implemented in spatial domain to be adjusted thresholds to reduce noise. In this approach we represent adaptive characteristics of biorthogonal wavelets for choosing predictors effectively. Predict filter is changed from sample to sample according to local signal features with their vanishing moments. We in this approach have implemented and applied to image denoising by finding a relevant minimax threshold. Experimental results show that the adaptive method of denoising process is compared with existing ones, such as non-adaptive wavelet, CRF(13, 7) and SWE(13, 7) wavelets used by JPEG2000.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.11
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• pp.2932-2943
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• 1994

An efficient approach to the automatic construction of effective quadrilateral finite element meshes for two-dimensional analysis is presented. The procedure is composed of, firstly, an initial mesh generation and, secondly, an h-version of adaptive refinement based on error analysis. As for an initial mesh generation scheme, a modified looping algorithm has been employed. For the adaptive refinement process, an error indicator obtained by computing the residual error of the equilibrium equations in the energy norm with a relaxation factor has been employed. Examples of mesh generation and self-adaptive mesh improvements are given. These example solutions demonstrate that an effective mesh for a given error tolerance can be obtained in a few steps of the analysis processes.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.06b
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• pp.67-74
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• 2006

In this paper, an adaptive neural network controller and its application to automatic berthing control of ship is presented. The neural network controller is trained online using adaptive interaction technique without any teaching data and off-line training phase. Firstly, the neural networks used to control rudder and propeller during automatic berthing process are presented. Finally, computer simulations of automatic ship berthing are carried out to verify the proposed controller with and without the influence of wind disturbance and measurement noise.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.44 no.2 s.314
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• pp.37-45
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• 2007

We propose an adaptive image enhancement method for epigraphic images, which is based on local statistics. Local statistics of the image are utilized for adaptive realization of the enhancement, that controls the contribution of the smoothing or sharpening paths. Image contrast enhancement occurs in details and noises are suppressed in smooth areas. For modeling the epigraphic image, pre~process is achieved by HSDI(Hanzi squeezed digital image). We have calculated the local statistics from this HSDI model. Application of this approach to HSDI has shown that processing not only smooths the background areas but also improves the subtle variations of edges, so that the word regions can be enhanced. Experimental results show that the proposed algorithm has better performance than the conventional image enhancement ones.