• Title/Summary/Keyword: Adaptive mechanism

Search Result 592, Processing Time 0.031 seconds

A study on Adaptive Multi-level Median Filter using Direction Information Scales (방향성 정보 척도를 이용한 적응적 다단 메디안 필터에 관한 연구)

  • 김수겸
    • Journal of Advanced Marine Engineering and Technology
    • /
    • v.28 no.4
    • /
    • pp.611-617
    • /
    • 2004
  • Pixel classification is one of basic image processing issues. The general characteristics of the pixels belonging to various classes are discussed and the radical principles of pixel classification are given. At the same time. a pixel classification scheme based on image direction measure is proposed. As a typical application instance of pixel classification, an adaptive multi-level median filter is presented. An image can be classified into two types of areas by using the direction information measure, that is. smooth area and edge area. Single direction multi-level median filter is used in smooth area. and multi-direction multi-level median filter is taken in the other type of area. What's more. an adaptive mechanism is proposed to adjust the type of the filters and the size of filter window. As a result. we get a better trade-off between preserving details and noise filtering.

Adaptive Fuzzy Control for High Performance Speed Control of Induction Motor Drive (유도전동기의 고성능 속도제어를 위한 적응퍼지제어)

  • Lee Hong-Gyun;Lee Jung-Chul;Jung Tack-Gi;Chung Dong-Hwa
    • Proceedings of the KIPE Conference
    • /
    • 2002.07a
    • /
    • pp.222-224
    • /
    • 2002
  • This paper investigates the adaptive control of a fuzzy logic based speed and flux controller for a vector controlled induction motor drive. A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and change of error measured between the motor speed and output of a reference model. The control performance of the model reference adaptive control(mAC) fuzzy controller is evaluated by simulation for various operating conditions. The validity of the proposed MRAC fuzzy controller is confirmed by performance results for induction motor drive system.

  • PDF

Robust Adaptive Law in Adaptive Mechanism Showing Chaotic Phenomenon (혼돈 현상을 보이는 적응기구에서의 강인한 적응법칙)

  • 전상영;임화영
    • The Journal of Korean Institute of Communications and Information Sciences
    • /
    • v.19 no.7
    • /
    • pp.1414-1420
    • /
    • 1994
  • In this paper the existence of chaotic signal is probed in adaptive dead beat control law for nonlinear dynamic system. These chaotic signal makes the system unstable and difficult to control, but it broaden the range of application, confirms the robustness of system and gives a lot of information. Considering of low correlation between chaotic signals, robust adaptive control method which uses for parameter estimation is proposed. With this algorithm the parameters converges stable rapidly. Finally the superiority of it is proved by computer simulation.

  • PDF

A study on an adaptive gait for a quadruped walking robot under external forces (외력 대처 기능을 갖는 사각 보행 로보트 적응 걸음새에 관한 연구)

  • ;;;;Zeungnam Bien
    • Journal of the Korean Institute of Telematics and Electronics B
    • /
    • v.33B no.9
    • /
    • pp.1-12
    • /
    • 1996
  • In this paper, we propose an adaptive gait by which a quadruped walking robot can walk against external disturbances. This adaptive gait mechanism makes it possible for a quadruped walking robot to change its gait and accommodate external disturbances form various external environmental factors. Under the assumption that external disturbances can be converted to an external force acting on the body of a quadruped walking robot, we propose a new criterion for the stability margin of a waling robot by using an effective mass center based on the zero moment point under unknown external force. And for a solution of an adaptive gait against external disturbances, an method of altitude control and reflexive direction control is suggested. An algorithmic search method for an optimal stride of the quadruped mehtod, the gait stability margin of a quadruped walking robot is optimized in changing its direction at any instance for and after the reflexive direction control. To verify the efficiency of the proposed approach, some simulaton results are provided.

  • PDF

Study on the Design of a Novel Adaptive Gripper (적응형 그리퍼 설계 연구)

  • Kim, Gi Sung;Kim, Han Sung
    • Journal of the Korean Society of Industry Convergence
    • /
    • v.22 no.3
    • /
    • pp.325-335
    • /
    • 2019
  • In this paper, a novel adaptive gripper with underactuation is presented, which can change its configuration to parallel or power grip mode according to object shapes. Differently from the commercial adaptive gripper by RobotiQ, the proposed gripper includes an actual parallelogram inside a five-bar mechanism, which allows the free selection of actuator locations and can reduce actuation torques effectively. The forward and inverse kinematics for two grip modes and statics analysis have been analyzed. From the comparative design, the proposed gripper has about 20% smaller size, 3.7% larger stroke, and 30.5% smaller average actuation torque than the commercial one.

A Design of Adaptive Controller based on Immune System (면역시스템에 기반한 적응제어기 설계에 관한 연구)

  • Lee Kwon Soon;Lee Young Jin
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.10 no.12
    • /
    • pp.1137-1147
    • /
    • 2004
  • In this paper, we proposed two types of adaptive control mechanism which is named HIA(Humoral Immune Algorithm) PID and CMIA(Cell-Mediated Immune Algorithm) controller based on biological immune system under engineering point of view. The HIA PID which has real time control scheme is focused on the humoral immunity and the latter which has the self-tuning mechanism is focused on the T-cell regulated immune response. To verify the performance of the proposed controller, some experiments for the control of AGV which is used for the port automation to carry container without human are performed. The experimental results for the control of steering and speed of an AGV system illustrate the effectiveness of the proposed control scheme. Moreover, in that results, proposed controllers have better performance than other conventional PID controller and intelligent control method which is the NN(neural network) PID controller.

Layered Media Data Transmission Mechanism Of Considering Adaptive Dynamic QoS Control (동적 QoS 적응을 고려한 계층적 미디어 데이터의 전송 기법)

  • 나윤주;이승하;박준호;남지승;마평수
    • Proceedings of the IEEK Conference
    • /
    • 2001.06c
    • /
    • pp.97-100
    • /
    • 2001
  • A common network such as internet does not provide a guaranteed network bandwidth to accommodate multimedia service in a reliable fashion. In this paper, we propose a new rate control mechanism for multimedia service on the internet which is adaptive to the dynamic QoS in real-time. Also we adapt an QoS monitoring module and real-time transmission control module to adapt dynamic network bandwidth. To do this, we used layer attribution of media data and also considered loss rate and buffer threshold in receiver side for measurement of dynamic QoS.

  • PDF

Memory Information Extension Model Using Adaptive Resonance Theory

  • Kim, Jong-Soo;Kim, Joo-Hoon;Kim, Seong-Joo;Jeon, Hong-Tae
    • Proceedings of the Korean Institute of Intelligent Systems Conference
    • /
    • 2003.09a
    • /
    • pp.652-655
    • /
    • 2003
  • The human being receives a new information from outside and the information shows gradual oblivion with time. But it remains in memory and isn't forgotten for a long time if the information is read several times over. For example, we assume that we memorize a telephone number when we listen and never remind we may forget it soon, but we commit to memory long time by repeating. If the human being received new information with strong stimulus, it could remain in memory without recalling repeatedly. The moments of almost losing one's life in on accident or getting a stroke of luck are rarely forgiven. The human being can keep memory for a long time in spite of the limit of memory for the mechanism mentioned above. In this paper, we will make a model explaining that mechanism using a neural network Adaptive Resonance Theory.

  • PDF

HBPI Controller of IPMSM using fuzzy adaptive mechanism (피지적응 메카니즘을 이용한 IPMSM의 HBPI 제어기)

  • Lee, Jung-Ho;Choi, Jung-Sik;Ko, Jae-Sub;Kim, Jong-Kwan;Park, Ki-Tae;Park, Byung-Sang;Chung, Dong-Hwa
    • Proceedings of the KIEE Conference
    • /
    • 2006.04a
    • /
    • pp.210-212
    • /
    • 2006
  • This paper presents Hybrid PI(HBPI) controller of IPMSM drive using fuzzy adaptive mechanism control. In general, PI controller in computer numerically controlled machine process fixed gain. They may perform well under some operating conditions, but not all. To increase the robustness, fixed gain PI controller, HBPI controller proposes a new method based self tuning PI controller. HBPI controller is developed to minimize overshoot and settling time following sudden parameter changes such as speed, load torque, inertia, rotor resistance and self inductance. The results on a speed controller of IPMSM are presented to show the effectiveness of the proposed gain tuner. And this controller is better than the fixed gains one in terms of robustness, even under great variations of operating conditions and load disturbance.

  • PDF

Adaptive Fuzzy Controller for Speed Control of Servo Motor (서보 전동기 속도 제어를 위한 적응 퍼지 제어기)

  • Son, Jae-Hyun;Roh, Cheung-Min;Kim, Lark-Kyo;Nam, Moon-Hyon
    • Proceedings of the KIEE Conference
    • /
    • 1995.07b
    • /
    • pp.947-949
    • /
    • 1995
  • In this paper, model reference adaptive fuzzy controller (MRAFC) was proposed in order to overcome the difficulty of extracting rules and defects of the adaptation performance in the FLC. MRAFC comprised inner feedback loop consisting of the FLC and plant, and outer loop consisting of an adaptation mechanism which is designed for tuning a control rule of the FLC. A reference-model was used for design criteria of a fuzzy controller which characterizes and quantizes the control performance required in the overall control system. Tuning control rules of FLC is performed by the adaptation mechanism. For this, the fuzzy model for tuning the contorl rules is designed in accordance with the feature of error information. And DC servo motor was selected for case study of actual industrial plant and tested on various loads.

  • PDF