• 대한전자공학회논문지SP
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• 제46권5호
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• pp.162-166
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• 2009

본 논문은 적응 반향 제거기인 parametric wiener filter (PWF)의 반향신호 제거 파라미터를 구간 조건에 따라 차등적으로 적용시키는 새로운 음향학적 반향제거 (Acoustic Echo Suppression, AES) 알고리즘을 제안한다. PWF는 반향 신호 추정의 부정확성을 보상하고자 반향신호 제거 파라미터를 사용한다. 기존의 방법은 단일통화 구간과 동시통화 구간에 관계없이 동일한 반향신호 제거파라미터 값을 적용하여 동시통화 환경에서 근단 신호의 왜곡을 발생 시킨다. 본 논문에서는 상관계수 (Correlation Coefficient)를 이용한 동시통화(Double-Talk) 검출 알고리즘과 음성구간검출기 (Voice Activity Detector, VAD)의 결과로부터, 원단 화자만 있는 구간과 동시통화 구간을 구분하고 각각의 경우에 반향제거 파라미터를 달리 적용하여 동일한 반향신호 제거 파라미터를 사용함에 따른 동시통화 구간내의 근단 화자신호의 음질 저하 없이 반향신호를 보다 효과적으로 제거하는 방법을 제안한다. 제안된 방법의 결과는 객관적인 실험을 통해 비교 평가한 결과 우수한 성능을 보였다.

• 드라이브 ㆍ 컨트롤
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• 제17권1호
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• pp.13-20
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• 2020

Adaptive neural networks based lateral controller is presented to guarantee path following performance for vehicle lane keeping in the presence of parameter time-varying characteristics of the vehicle lateral dynamics due to the road surface condition, load distribution, tire pressure and so on. The proposed adaptive controller could compensate vehicle lateral dynamics deviated from nominal dynamics resulting from parameter variations by incorporating it with neural networks that have the ability to approximate any given nonlinear function by adjusting weighting matrices. The controller is derived by using Lyapunov-based approach, which provides adaptive update rules for weighting matrices of neural networks. To show the superiority of the presented adaptive neural networks controller, the simulation results are given while comparing with backstepping controller chosen as the baseline controller. According to the simulation results, it is shown that the proposed controller can effectively keep the vehicle tracking the pre-given trajectory in high velocity and curvature with much accuracy under parameter variations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 추계학술대회 논문집 학회본부
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• pp.421-424
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• 1990

An iterative learning control scheme for exact-tracking control and parameter estimation of uncertain robotic systems is presented. In the learning control structure, tracking and feedforward input converge globally and asymptotically as iteration increases. Since convergence of parameter errors depends only on the persistent exciting condition of system trajectories along the iteration independently of length of trajectories, it may be achieved with only system trajectories of small duration. In addition, these learning control schemes are expected to be effectively applicable to time-varying parametric systems as well as time-invariant systems, for the parameter estimation is performed at each fixed time along the iteration. Finally, no usage of acceleration signal and no in version of estimated inertia matrix in the parameter estimator makes these learning control schemes more feasible.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.560-564
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• 1996

A mixed H$^{2}$/$H^{\infty}$ controller design method for linear systems with time delay in all variables and parameter uncertainties in all system matrices is proposed. Robust $H^{\infty}$ performance and H$^{2}$ performance condition that accounts for model-matching of closed loop system and disturbance rejection is also derived. With expressing uncertain system with linear fractional transformation form, we transform the robust stability and performance problem to the H$^{2}$/$H^{\infty}$ optimization problem and design a mixed H$^{2}$/$H^{\infty}$ controller. Using the proposed method, mixed H$^{2}$/$H^{\infty}$ controller for underwater vehicle with time delay and parameter variations are designed. Simulations of a design example with hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.t performance.ance.

• 대한수학회지
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• 제50권4호
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• pp.829-845
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• 2013

In this paper, we firstly establish a family of curvature invariant conditions lying between the well-known 2-nonnegative curvature operator and nonnegative curvature operator along the Ricci flow. These conditions are defined by a set of inequalities involving the first four eigenvalues of the curvature operator, which are named as 3-parameter ${\lambda}$-nonnegative curvature conditions. Then a related rigidity property of manifolds with 3-parameter ${\lambda}$-nonnegative curvature operators is also derived. Based on these, we also obtain a strong maximum principle for the 3-parameter ${\lambda}$-nonnegativity along Ricci flow.

• 한국정밀공학회지
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• 제15권10호
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• pp.148-155
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• 1998

For products of various shapes, compound surfaces are used. Blending surfaces are essential to the products of the compound surfaces. In this paper a method of making shape of blending surface flexible with parameter control is discussed. The parameter has quantitative control of shape of the blend. The blending surface is applied to NURBS and simple primitives in solid model. Intersection curves of surfaces is used to provide the blend with generality. Rail curve are found with the intersection curves. The blend is generated by rail curves and parameter control. Also, In strict constraint condition, blending surface with flexible shapes is discussed, keeping ;${GC}^1$ and ;${GC}^2$ continuity between free-formed surfaces and solids. Joining blending ,bridge blending and blending surface at corner are generated.

• 대한전기학회논문지
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• 제40권4호
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• pp.427-438
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• 1991

An iterative learning control scheme for exact-tracking control and parameter estimation of uncertain robotic system is preented. In the learning control structure, the control input converges globally and asymtotically to the desired input as iteration increases. Since convergence of parameter errors depends only on the persistent exciting condition of system trajectories along the iteration independently of the time-duration of trajectories, it may be achieved with system trajectories with small duration. In addition, the proposd learning control schemes are applicable to time-varying parametric systems as well as time-invariant systems, because the parameter estimation is performed at each fixed time along the iteration. In the parameter estimator, the acceleration information as well as the inversion of estimated inertia matrix are not used at all, which makes the proposed learning control schemes more feasible.

• Computers and Concrete
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• 제30권4호
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• pp.269-276
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• 2022

In this paper, frequency vibrations of double-walled carbon nanotubes (CNTs) has been investigated based upon nonlocal elastic theory. The inference of small scale is being perceived by establishing nonlocal Love shell model. The wave propagation approach has been operated to frame the governing equations as eigen value system. An innovational nonlocal model to examine the scale effect on vibrational behavior of armchair, zigzag and chiral of double-walled CNTs. An appropriate selection of material properties and nonlocal parameter has been considered. The influence of dimensionless nonlocal parameter has been studied in detail. The dominance of end condition via nonlocal parameter is explained graphically. The results generated furnish the evidence regarding applicability of nonlocal shell model and also verified by earlier published literature.

• Structural Engineering and Mechanics
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• 제22권4호
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• pp.401-418
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• 2006

Solutions to the problems of structural parameter estimation from modal response using leastsquares minimization of force or displacement residuals are generally sensitive to noise in the response measurements. The sensitivity of the parameter estimates is governed by the physical characteristics of the structure and certain features of the noisy measurements. It has been shown that the regularization method can be used to reduce effects of the measurement noise on the estimation error through adding a regularization function to the parameter estimation objective function. In this paper, we adopt the regularization function as the Euclidean norm of the difference between the values of the currently estimated parameters and the a priori parameter estimates. The effect of the regularization function on the outcome of parameter estimation is determined by a regularization factor. Based on a singular value decomposition of the sensitivity matrix of the structural response, it is shown that the optimal regularization factor is obtained by using the maximum singular value of the sensitivity matrix. This selection exhibits the condition where the effect of the a priori estimates on the solutions to the parameter estimation problem is minimal. The performance of the proposed algorithm is investigated in comparison with certain algorithms selected from the literature by using a numerical example.

• 대한기계학회논문집A
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• 제35권12호
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• pp.1593-1598
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• 2011

본 연구의 목적은 LCD 공정에서 사용되는 반송로봇의 상태감시 파라미터를 선정하고 이를 이용하여 상태감시 방법을 제안하는데 있다. LCD 반송로봇의 주행부 진동특성을 파악하기 위하여 주행부 감속기의 기어물림주파수(GMF)를 구하고, 주파수분석을 통해 이를 확인하였다. 취득데이터의 재연성을 확보하기 위하여 데이터 취득 운행 패턴을 선정하고 실험을 통해 재연성을 확인하였다. 무선데이터 취득 시스템을 구축하고 이를 이용하여 반송로봇의 상태를 감시하기 위한 기어물림 주파수를 중심으로 파라미터로 선정하였다. 취득된 데이터의 표준편차를 이용하는 상태감시 방법과 진폭의 배수를 이용하는 상태감시 방법을 제안하였다.