• 한국산업융합학회 논문집
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• 제18권3호
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• pp.139-149
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• 2015

In this paper, we describe a new approach to perform real-time implementation of an robust controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for robot manipulator consisting of dual arm with eight degrees of freedom at the joint space and cartesian space.

• 한국통신학회논문지
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• 제30권7C호
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• pp.666-674
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• 2005

이동국에서 받은 되먹임 정보를 바탕으로 하는 차단 적응 전송 기법을 쓸 때, 여러 반송파 부호분할 다중접속/주파수분할 다중방식의(multi carrier code division multiple access/frequency division multiplexing: MC CDMA/FDM 내림 연결 성능을 알아본다. 셀이 하나일 때 직교 서명수열을 쓰면, 제안한 기법은 여러 반송파 직접 수연 부호분할 다중접속(direct sequence/code division multiple access: MC DS/CDMA) 방식과 적응 주파수 뜀/직접 수열(frequency hopping/direct sequence: FH/DS) 방식보다 성능이 더 좋다. 셀이 여럿일 때에도 직교 서명수열이나 확률 서명수열을 쓰면, 제안한 기법이 적응 주파수 뜀/직접 수열 방식보다 성능이 더 좋다.

• 한국공작기계학회논문집
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• 제18권1호
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• pp.50-58
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• 2009

For precise tracking control of a servo system with nonlinear friction, a robust friction compensation scheme is presented in this paper. The nonlinear friction is difficult to identify the friction parameters exactly through experiments. Friction parameters can be also varied according to contact conditions such as the variation of temperature and lubrication. Thus, in order to overcome these problems and obtain the desired position tracking performance, a robust adaptive back-stepping control scheme with a dual friction observer is developed. In addition, to estimate lumped friction uncertainty due to modeling errors, a DEKF recurrent neural network and adaptive reconstructed error estimator are also developed. The feasibility of the proposed control scheme is verified through the experiment fur a ball-screw system.

• 한국전산구조공학회논문집
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• 제23권6호
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• pp.659-665
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• 2010

The finite element method(FEM) is proven to be an effective approximate method of structural analysis if proper element types and meshes are chosen, and recently, the method is often applied to solve complex dynamic and nonlinear problems. A properly chosen element type and mesh yields reliable results for dynamic finite element structural analysis. However, dynamic behavior of a structure may include unpredictably large strains in some parts of the structure, and using the initial mesh throughout the duration of a dynamic analysis may include some elements to go through strains beyond the elements' reliable limits. Thus, the finite element mesh for a dynamic analysis must be dynamically adaptive, and considering the rapid process of analysis in real time, the dynamically adaptive finite element mesh generating schemes must be computationally efficient. In this paper, a computationally efficient dynamically adaptive finite element mesh generation scheme for dynamic analyses of structures is described. The concept of representative strain value is used for error estimates and the refinements of meshes use combinations of the h-method(node movement) and the r-method(element division). The shape coefficient for element mesh is used to correct overly distorted elements. The validity of the scheme is shown through a cantilever beam example under a concentrated load with varying values. The example shows reasonable accuracy and efficient computing time. Furthermore, the study shows the potential for the scheme's effective use in complex structural dynamic problems such as those under seismic or erratic wind loads.

• International Journal of Automotive Technology
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• 제8권5호
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• pp.637-650
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• 2007

A new on-line fault detection and isolation(FDI) scheme has been proposed for engines using an adaptive neural network classifier; this paper investigates the robustness of this scheme by evaluating in a wide range of operational modes. The neural classifier is made adaptive to cope with the significant parameter uncertainty, disturbances, and environmental changes. The developed scheme is capable of diagnosing faults in the on-line mode and can be directly implemented in an on-board diagnosis system(hardware). The robustness of the FDI for the closed-loop system with crankshaft speed feedback is investigated by testing it for a wide range of operational modes, including robustness against fixed and sinusoidal throttle angle inputs, change in load, change in an engine parameter, and all changes occurring simultaneously. The evaluations are performed using a mean value engine model(MVEM), which is a widely used benchmark model for engine control system and FDI system design. The simulation results confirm the robustness of the proposed method for various uncertainties and disturbances.

• 한국지능시스템학회논문지
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• 제17권1호
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• pp.130-135
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• 2007

In this paper, a direct model reference adaptive fuzzy control (MRAFC) scheme is developed for the plant model whose structure is represented by the MIMO Takagi-Sugeno fuzzy model. The MRAFC scheme is proposed to provide asymptotic tracking of a reference signal lot the systems with uncertain or slowly time-varying parameters. The developed control law and adaptive law guarantee that all signals in the closed-loop system are bounded. In addition, the plant state tracks the state of the reference model asymptotically with time tot any bounded reference input signal.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.376-379
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• 1989

In this paper a direct adaptive control scheme which minimizes N-step cost function is proposed. It is derived via GPC control algorithm under the assumption that we know N-step unit step response of the given system. The proposed adaptive scheme is shown to have the same stability properties with the RHTC control, and require very small amount of calculation compared with other adaptive algorithms which minimize N-step cost function. And it is shown through simulations that the proposed adaptive algorithm is robust to the variation of the unit step response which is assumed to be known.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제17권4호
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• pp.295-306
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• 2013

In this paper, we consider the adaptive multigrid method for solving the Black-Scholes equation to improve the efficiency of the option pricing. Adaptive meshing is generally regarded as an indispensable tool because of reduction of the computational costs. The Black-Scholes equation is discretized using a Crank-Nicolson scheme on block-structured adaptively refined rectangular meshes. And the resulting discrete equations are solved by a fast solver such as a multigrid method. Numerical simulations are performed to confirm the efficiency of the adaptive multigrid technique. In particular, through the comparison of computational results on adaptively refined mesh and uniform mesh, we show that adaptively refined mesh solver is superior to a standard method.

• Structural Engineering and Mechanics
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• 제28권4호
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• pp.461-477
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• 2008

An adaptive finite element method for analyzing two-dimensional and axisymmetric nonlinear elastic fracture mechanics problems with cracks is presented. The J-integral is used as a parameter to characterize the severity of stresses and deformation near crack tips. The domain integral technique, for which all relevant quantities are integrated over any arbitrary element areas around the crack tips, is utilized as the J-integral solution scheme with 9-node degenerated crack tip elements. The solution accuracy is further improved by incorporating an error estimation procedure onto a remeshing algorithm with a solution mapping scheme to resume the analysis at a particular load level after the adaptive remeshing technique has been applied. Several benchmark problems are analyzed to evaluate the efficiency of the combined domain integral technique and the adaptive finite element method.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.85-88
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• 2009

In this paper, we propose a DRF-based object detection method using the object adaptive patch in the satellite imagery. It is a Discriminative Random Fields (DRF) based work, so the detection is done by labeling to the possible patches in the image. For the feature information of each patch, we use the multi-scale and object adaptive patch and its texton histogram, instead of using the single scale and fixed grid patch. So, we can include contextual layout of texture information around the object. To make object adaptive patch, we use "superpixel lattice" scheme. As a result, each group of labeled patches represents the object or object's presence region. In the experiment, we compare the detection result with a fixed grid scheme and shows our result is more close to the object shape.