• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.7-11
• /
• 1991

The adaptive control of flexible joint manipulator is the focus of this paper. The full order flexible joint manipulator dynamic system does not allow the determination of a feedback linearization control as for rigid manipulators. This drawback is overcome by a model order reduction based on a singular perturbation strategy. The full order flexible joint manipulator dynamic model is adopted for derivation of the adaptive control law to damp out the elastic oscillations at the joints. It is shown that the joint position error will converge to zero asymptotically and that other signals remain bounded without precise knowledge of parameters of the manipulator and its joint flexibility.

• ETRI Journal
• /
• v.29 no.4
• /
• pp.527-529
• /
• 2007

In this paper, a decision-tree-based Markov model for phrase break prediction is proposed. The model takes advantage of the non-homogeneous-features-based classification ability of decision tree and temporal break sequence modeling based on the Markov process. For this experiment, a text corpus tagged with parts-of-speech and three break strength levels is prepared and evaluated. The complex feature set, textual conditions, and prior knowledge are utilized; and chunking rules are applied to the search results. The proposed model shows an error reduction rate of about 11.6% compared to the conventional classification model.

• Proceedings of the KSPS conference
• /
• 2005.04a
• /
• pp.103-106
• /
• 2005

The goal of our research is to build a text independent speaker recognition system that can be used in any condition without any additional adaptation process. The performance of speaker recognition systems can be severally degraded in some unknown mismatched microphone and noise conditions. In this paper, we show that PCA(Principal component analysis) without dimension reduction can greatly increase the performance to a level close to matched condition. The error rate is reduced more by the proposed augmented PCA, which augment an axis to the feature vectors of the most confusable pairs of speakers before PCA

• MALSORI
• /
• no.67
• /
• pp.79-102
• /
• 2008

In this paper, we investigate the relation between Bayes factor and likelihood ratio test (LRT) approaches and apply the neighborhood information of Bayes factor to building an alternate hypothesis model of the LRT system. To consider the neighborhood approaches, we contemplate a distance measure between models and algorithms to be applied. We also evaluate several methods to improve performance of utterance verification using neighborhood information. Among these methods, the system which adopts anti-models built by collecting mixtures of neighborhood models obtains maximum error rate reduction of 17% compared to the baseline, linear and weighted combination of neighborhood models.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.686-691
• /
• 1992

Implicit guidance algorithm can deal with the trajectory error rapidly, but it has to save much data. If, however, the control variable is represented by a specific function form, a few parameters will suffice to define the control variable. In this paper, we study the method of updating the parameters of the control function for the reduction of trajectory errors. The method proposed here does not require much memory for guidance.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.581-585
• /
• 1992

A unified approach to continuous and discrete-time Nehari problems, based on recently developed results by the authors for the one-block and Hankel-norm model reduction problems, is proposed. First, we derive discrete-time solutions in delta domain where numerical error is small and then we show that the derived form becomes same as the continuous form when the sampling interval approaches to zero.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.1277-1283
• /
• 1990

The iterative learning control synthesized in the frequency domain has been utilized for temperature control of a batch reactor. For this purpose, a feedback-assisted generalized learning control scheme was constructed first, and the convergence and robustness analyses were conducted in the frequency domain. The feedback-assisted learning operation was then implemented in a bench scale batch reactor where reaction heat is simulated using an electric heater. As a result, progressive reduction of temperature control error could be obviously observed as batch operation is repeated.

• Proceedings of the IEEK Conference
• /
• 1999.11a
• /
• pp.1155-1158
• /
• 1999

In this paper, we consider the optimal control of detection threshold to minimize the conditional mean-square state estimation error for the probabilistic data association (PDA) filter. Earlier works on this problem involved the cumbersome graphical optimization algorithm or time-consuming numerical optimization algorithm. Using the numerical approximation of information reduction factor, we obtained the closed-form optimal detection threshold. This results are very useful for real-time implemenation.

• Proceedings of the IEEK Conference
• /
• 2003.07a
• /
• pp.477-480
• /
• 2003

Packet losses in the Internet can dramatically degrade quality of multimedia streams. Forward Error Correction (FEC) is one of the best methods that can protect data from packet erasures by means of sending additional redundant information. Proposed control algorithm provides the possibility of receiving real-time multimedia streams of given quality wifth minimal traffic overhead. The traffic optimization is reached by adjusting packet size as well as block code parameters. Calculations and simulation results show that for non-bursty network conditions traffic optimization can lead to more than 50% bandwidth reduction.

• Journal of applied mathematics & informatics
• /
• v.6 no.1
• /
• pp.51-64
• /
• 1999

We give a new characterization of the solutions set of the general (inconsistent) linear least-squares problem using the set of linit-points of an extended version of the classical Daczmarz's pro-jections method. We also obtain a "step error reduction formula" which in some cases can give us apriori information about the con-vergence properties of the algorithm. Some numerical experiments with our algorithm and comparisons between it and others existent in the literature are made in the last section of the paper.