• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.14-19
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• 1993

In this paper, we proposed an indirect learning and direct adaptive control schemes using neural networks, i.e., composite adaptive neural control, for a class of continuous nonlinear systems. With the indirect learning method, the neural network learns the nonlinear basis of the system inverse dynamics by a modified backpropagation learning rule. The basis spans the local vector space of inverse dynamics with the direct adaptation method when the indirect learning result is within a prescribed error tolerance, as such this method is closely related to the adaptive control methods. Also hash addressing technique, similar to the CMAC functional architecture, is introduced for partitioning network hidden nodes according to the system states, so global neuro control properties can be organized by the local ones. For uniform stability, the sliding mode control is introduced when the neural network has not sufficiently learned the system dynamics. With proper assumptions on the controlled system, global stability and tracking error convergence proof can be given. The performance of the proposed control scheme is demonstrated with the simulation results of a nonlinear system.

• Journal of Environmental Science International
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• 제21권2호
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• pp.263-266
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• 2012

To compare the effects of two external forcing on track of typhoon, TWRF(Typhoon WRF) based ensemble experiments are carried out in the case of Typhoon Morako which is the 8th typhoon at Northwest Pacific region in 2009. The two forcing are tropical SST and topography induced thermal and mechanical forcing, respectively. According to the result of numerical experiment for five-day forecast, the effect of mechanical forcing is about two times stronger than thermal forcing on the track error of the typhoon. More case study for other typhoon will be done as a next paper.

• IEIE Transactions on Smart Processing and Computing
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• 제2권4호
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• pp.208-215
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• 2013

Early iterations of the existing Global Positioning System (GPS)-based or radio lateration technique-based vehicle localization algorithms suffer from flip ambiguities, forged relative location information and location information exchange overhead, which affect the subsequent iterations. This, in turn, results in an erroneous neighbor-vehicle map. This paper proposes an extended information overlap measure (EIOM) algorithm to reduce the flip error rates by exchanging the neighbor-vehicle presence features in binary information. This algorithm shifts and associates three pieces of information in the Moore neighborhood format: 1) feature information of the neighboring vehicles from a vision-based environment sensor system; 2) cardinal locations of the neighboring vehicles in its Moore neighborhood; and 3) identification information (MAC/IP addresses). Simulations were conducted for multi-lane highway scenarios to compare the proposed algorithm with the existing algorithm. The results showed that the flip error rates were reduced by up to 50%.

• Journal of Institute of Control, Robotics and Systems
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• 제12권6호
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• pp.561-567
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• 2006

This paper deals with a fuzzy controller using IA(Immune Algorithm) for Trajectory Tracking of 2-DOF WMR(Wheeled Mobile Robot). The global inputs to the WMR are reference position and reference velocity, which are time variables. The global output of WMR is a current position. The tracking controller makes position error to be converged 0. In order to reduce position error, a compensation velocities on the track of trajectory is necessary. Therefore, a FIAC(Fuzzy-IA controller) is proposed to give velocity compensation in this system. Input variables of fuzzy part are position errors in every sampling time. The output values of fuzzy part are compensation velocities. IA are implemented to adjust the scaling factor of fuzzy part. The computer simulation is performed to get the result of trajectory tracking and to prove efficiency of proposed controller.

• Proceedings of the Korean Information Science Society Conference
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• 한국정보과학회 2006년도 가을 학술발표논문집 Vol.33 No.2 (A)
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• pp.197-202
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• 2006

멀티미디어 응용 환경에서 데이터 메모리에 오류가 있는 경우에 이를 복원시키는 간단하고 효율적인 영상 복원 방식을 제안한다. H.264 복호화기의 예를 이용하여 최대 BER=0.1%인 메모리 결함율의 환경에서 본 논문에서 개발한 방식의 효율성을 기존의 메모리 결함 복원 방식과 비교하였다. 실험 결과 제안된 방식에 의하여 복원된 영상의 질은 거의 원본과 같은 수준으로 뛰어나다. 본 방식을 구현하기 위하여 추가된 하드웨어가 소비하는 전력은 전체 시스템 전력량의 약 0.05%이지만, 면적 요구량은 기존 방식의 1/56 이하에 불과하다. 따라서, 멀티미디어 제품 설계에 제안된 방식을 사용한다면, 결함이 존재하는 메모리를 재활용할 수 있게 됨으로써 관련 제품의 질을 유지하면서도 단가를 낮출 수 있게 될 것으로 기대된다.

• Journal of Advanced Navigation Technology
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• 제21권6호
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• pp.601-607
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• 2017

This study performed fault test on global positoining system (GPS) carrier phase measurements, which is a preprocessing step to generate the positioning correction information based on the global navigation satellite system (GNSS) infrastructure. The existing carrier acceleration ramp step test (CARST) method affects the test result by using the mean value to eliminate the receiver clock error. In this regard, this study applied differencing and compared its results with those of the existing CARST. The fault simulation that applied artificial faults to the actual data found that the fault could be detected independently on each satellite when difference method was applied, and the single difference CARST and the double difference CARST produced similar results. The comparison with the existing method using actual data demonstrated the strengths and weaknesses of satellite and station single difference. Nevertheless, it is our understanding that it would require an additional analysis to determine whether the results were affected by the satellite or receiver clock error.

• The Transactions of the Korean Institute of Electrical Engineers D
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• 제50권7호
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• pp.350-353
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• 2001

In general, the Least Square Error method is used for signal classification to measure distance in the $l^2$ metric or the $L^2$ metric space. A defect of the Least Square Error method is that it does not classify properly some waveforms, which is due to the property of the Least Square Error method: the global analysis. This paper proposes a new linear operator, the Integra-Normalizer, that removes the problem. The Integra-Normalizer possesses excellent property that measures the degree of relative similarity between signals by expanding the functional space with removing the restriction on the functional space inherited by the Least Square Error method. The Integra-Normalizer shows superiority to the Least Square Error method in measuring the relative similarity among one dimensional waveforms.

• The Transactions of the Korean Institute of Electrical Engineers
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• 제38권1호
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• pp.22-28
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• 1989

This paper describes error estimate mothod for adaptive finite element analysis of two dimensional electrostatic and magnetostatic field problems. To estimate the local errors, divergence theorem is used for electrostatic field and Ampere's circuital law for magnetostatic field. To confirm the effectiveness of the proposed error estimators, adaptive finite element computations are performed using the proposed error estimators. The rates of convergence of global errors are comparable with those of existing adaptive finite element schemes which make use of field continuity conditions between element boundaries. This algorithm of error estimate can be easily implemented because of its simplicity. Especially, when the value of charge in electrostatic field and the value of current in magnetostatic field are to be figured out, this method is considerded to be preferable to other approaches.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.58-58
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• 2001

This paper shows a practical approach that is robust to the errors causing path-delay in mobile wireless location, and analyzes its performance by comparing with other methods. NLOS(non-line-of-sight) error and multipath are two big sources of positioning error in wireless location. Contrary to GPS(global positioning system), they result from the terrestrial propagation of a signal. Especially, since LOS(line-of-sight) path between a transceiver and a receiver is blocked by intermediate buildings and topography, NLOS causes a signal to be reflected and diffracted. This path-delay error is very localized, and so, it is not easy to be estimated and mitigated. To treat such localized error, therefore ...

• IEIE Transactions on Smart Processing and Computing
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• 제1권2호
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• pp.78-87
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• 2012

In this paper, we address the tracking problem caused by camera motion and rolling shutter effects associated with CMOS sensors in consumer handheld cameras, such as mobile cameras, digital cameras, and digital camcorders. A modified particle filtering method is proposed for simultaneously tracking objects and compensating for the effects of camera motion. The proposed method uses an elastic registration algorithm (ER) that considers the global affine motion as well as the brightness and contrast between images, assuming that camera motion results in an affine transform of the image between two successive frames. By assuming that the camera motion is modeled globally by an affine transform, only the global affine model instead of the local model was considered. Only the brightness parameter was used in intensity variation. The contrast parameters used in the original ER algorithm were ignored because the change in illumination is small enough between temporally adjacent frames. The proposed particle filtering consists of the following four steps: (i) prediction step, (ii) compensating prediction state error based on camera motion estimation, (iii) update step and (iv) re-sampling step. A larger number of particles are needed when camera motion generates a prediction state error of an object at the prediction step. The proposed method robustly tracks the object of interest by compensating for the prediction state error using the affine motion model estimated from ER. Experimental results show that the proposed method outperforms the conventional particle filter, and can track moving objects robustly in consumer handheld imaging devices.