• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.39.1-39
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• 2001

Impedance tomography (EIT) is a relatively new imaging modality in which the internal impedivity distribution is reconstructed based on the known sets of injected currents through the electrodes and induced voltages on the surface of the object. We describe a dynamic EIT imaging technique for the case where the resistivity distribution inside the object changes rapidly within the time taken to acquire a full set of independent measurement data, In doing so, the inverse problem is treated as the nonlinear state estimation problem and the unknown state (resistivity) is estimated with the aid of extended Kalman filter in a minimum mean square error sense. In particular, additional electrodes are attached to the known internal structure of the object ...

• Journal of Power System Engineering
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• v.16 no.2
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• pp.66-74
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• 2012

In this paper, the authors propose a new approach to control a barge type surface vessel. It is based on the Dynamic Positioning System(DPS) design. The main role of barge ship is to carry and supply the materials to the floating units and other places. To carry out this job, it should be positioned in the specified area. However sometimes the thrust systems are installed on it, and in general the rope control by mooring winch system is used. It may be difficult to compare the control performances of two types. If we consider this problem in point of usefulness, we can easily find out that the winch control system is more useful and applicable to the real field than the thrust control system except a special use. Therefore, in this paper we consider a DPS design problem which can be extended to the many application fields. The goal of this paper is twofold. First, the sliding mode controller (SMC) for positioning the our vessel is proposed. Especially, in this paper, a robust stability condition is given based on descriptor system representation. In the result, the sliding mode control law guarantees to keep the vessel in the defined area in the presence of environmental disturbances. And second, the thrust allocation problem is solved by using redistributed pseudo-inverse (RPI) algorithm to determine the thrust force and direction of each individual actuator. The proposed approach has been simulated with a supply vessel model and found work well.

• Proceedings of the Korea Water Resources Association Conference
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• 2004.05b
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• pp.209-214
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• 2004

Time Domain Reflectometry with multiplex system has been installed to configure the spatial and temporal characteristics of soil moisture in a mountainous hillslope. An intensive surveying was performed to build a refined digital elevation model and flow determination algorithms with inverse surveying have been applied to establish an efficient soil monitoring system. Steady state wetness index, quasi-dynamic wetness index and fully dynamic wetness index have been calculated. Continuous monitoring of soil moisture data were analyized with wetness indices. Limitations and hydrological interpretations of this approach have beer discussed.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.5
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• pp.2236-2257
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• 2020

Ransomware is malicious software that encrypts the user-related files and data and holds them to ransom. Such attacks have become one of the serious threats to cyberspace. The avoidance techniques that ransomware employs such as obfuscation and/or packing makes it difficult to analyze such programs statically. Although many ransomware detection studies have been conducted, they are limited to a small portion of the attack's characteristics. To this end, this paper proposed a framework for the behavioral-based dynamic analysis of high survivable ransomware (HSR) with integrated valuable feature sets. Term Frequency-Inverse document frequency (TF-IDF) was employed to select the most useful features from the analyzed samples. Support Vector Machine (SVM) and Artificial Neural Network (ANN) were utilized to develop and implement a machine learning-based detection model able to recognize certain behavioral traits of high survivable ransomware attacks. Experimental evaluation indicates that the proposed framework achieved an area under the ROC curve of 0.987 and a few false positive rates 0.007. The experimental results indicate that the proposed framework can detect high survivable ransomware in the early stage accurately.

• Structural Monitoring and Maintenance
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• v.3 no.3
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• pp.195-214
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• 2016

Monitoring of impact loads is a very important technique in the field of structural health monitoring (SHM). However, in most cases it is not possible to measure impact events directly, so they need to be reconstructed. Impact load reconstruction refers to the problem of estimating an input to a dynamic system when the system output and the impulse response function are usually known. Generally this leads to a so called ill-posed inverse problem. It is reasonable to use prior knowledge of the force in order to develop more suitable reconstruction strategies and to increase accuracy. An impact event is characterized by a short time duration and a spatial concentration. Moreover the force time history of an impact has a specific shape, which also can be taken into account. In this contribution these properties of the external force are employed to create a sample-force-dictionary and thus to transform the ill-posed problem into a sparse recovery task. The sparse solution is acquired by solving a minimization problem known as basis pursuit denoising (BPDN). The reconstruction approach shown here is capable to estimate simultaneously the magnitude of the impact and the impact location, with a minimum number of accelerometers. The possibility of reconstructing the impact based on a noisy output signal is first demonstrated with simulated measurements of a simple beam structure. Then an experimental investigation of a real beam is performed.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Journal of Korea Society of Industrial Information Systems
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• v.24 no.5
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• pp.17-25
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• 2019

In this paper, we introduce the technology to convert a single human image into a fashion show animation video clip. The technology can help the customers confirm the dynamic fitting result when combined with the virtual try on technique as well as the interesting experience to a normal person of being a fashion model. We developed an extended technique of full human 2D to 3D inverse modeling based on SMPLify human body inverse modeling technique, and a rigged model animation method. The 3D shape deformation of the full human from the body model was performed by 2 part deformation in the image domain and reconstruction using the estimated depth information. The quality of resultant animation videos are made to be publically available for evaluation. We consider it is a promising approach for commercial application when supplemented with the post - processing technology such as image segmentation technique, mapping technique and restoration technique of obscured area.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.10-20
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• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.144-150
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• 2000

In this paper, we introduce a modified six-degrees-of-freedom parallel-link manipulator, which will be applied to the human vibration experiments. We analyze the inverse kinematics and workspace of this manipulator and comprehend the characteristics of kinematics analyzed. Additionally, solutions of forward kinematics are obtained through the iterative Newton-Raphson method known as one of the most used numerical analysis. Finally, dynamic equation of the manipulator is derived in closed form through the Newton-Euler approach, which will be used for the development of control software.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.591-601
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• 2006

In this paper, we present a new control methodology for perturbed crane systems. Nonlinear crane systems are transformed to linear models by feedback linearization. An inverse dynamic equation is applied to compute the system PD control force. The PD control parameters are selected based on a nominal model and are therefore suboptimal for a perturbed system. To achieve the desired performance despite model perturbations, we construct a neural network auxiliary controller to compensate for modeling errors and disturbances. The overall control input is the sum of the nominal PD control and the neural auxiliary control. The neural network is iteratively trained with a perturbed system until acceptable performance is attained. We apply the proposed control scheme to 2- and 3-degree-of-freedom (D.O.F.) crane systems, with known bounds on the payload mass. The effectiveness of the control approach is numerically demonstrated through computer simulation experiments.