• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.125-129
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• 1987

The stability margin of the LQ regulator is investigated in the time domain. it is shown that the same guaranteed gain margin as that of the frequency domain analysis can be obtained with simple assumptions for the continuous time systems. It is also shown that the allowable modelling error bound can be expressed in terms of system matrices and Riccati equation solution. Guaranteed qain. margin and the allowable modelling error bound for the discrete time systems are also obtained by the similar procedures. In this case, through the some examples, the gain margin is shown to be less conservative than the frequency domain analysis result.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.04a
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• pp.229-236
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• 2003

In this study, for efficient replacemen of sensor modelling of high-resolution satellite imagery, image segmentation method is applied to the test area of the SPOT-3 satellite imagery. After that, a third-order polynomial model in the sectioned area is compared with the RFM which is to the entire in the test area. As results, plane error of the third-order polynomial model is lower(approximately 0.8m) than that of RFM. On the other hand, height error of RFM is lower(approximately 1.0m).

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.420-422
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• 1998

In this paper, we propose a position-speed control of servo system with a state estimator. And also we utilized two mass modelling in order to deals with real system accurately. The overall control system consists of two parts: the position-speed controller and state estimator. The Kalman filter applied as state - feedback controller is an optimal state estimator applied to a dynamic system that involves random perturbations and gives a linear,unbiased and minimun error variance recursive algorithm to estimate the unknown state optimally. Therefore we consider the error problem about the servo system modelling, the measurement noise at low-speed ranges a stochastic system, and implement a optimal state observer. Performance of the proposed state estimator are demonstrated by computer simulations.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1205-1207
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• 1996

The computed-torque method (CTM) shows good trajectory tracking performance in controlling robot manipulator if there is no disturbance or modelling errors. But with the increase of a payload or the disturbance of a manipulator, the tracking errors become large. So there have been many researchs to reduce the tracking error. In this paper, we propose a new control algorithm based on the CTM that decreases a tracking error by generating new reference trajectory to the controller. In this algorithm we used a fuzzy system based on the rule bases. For the numerical simulation, we used a 2-link robot manipulator. To simulate the disturbance due to a modelling uncertainty, we added errors to each elements of the inertia matrix and the nonlinear terms and assumed a payload to the end-effector. In the simulations of several cases, our method showed better trajectory tracking performance compared with the CTM.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.71.2-71
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• 2001

This paper deals with nonlinear system modelling using neural network and genetic algorithm. Application of neural network to control and identification is actively studied because of their approximating ability of nonlinear function. It is important to design the neural network with optimal structure for minimum error and fast response time. Genetic algorithm is getting more popular nowadays because of their simplicity and robustness. In this paper, We optimize neural network structure using genetic algorithm. The genetic algorithm uses binary coding for neural network structure and search for optimal neural network structure of minimum error and response time. Through extensive simulation, Optimal neural network structure is shown to be effective for ...

• Journal of Animal Science and Technology
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• v.59 no.2
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• pp.3.1-3.7
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• 2017

Background: The modelling of lactation curve provides guidelines in formulating farm managerial practices in dairy cows. The aim of the present study was to determine the suitable non-linear model which most accurately fitted to lactation curves of five lactations in 134 Gir crossbred cows reared in Research-CumDevelopment Project (RCDP) on Cattle farm, MPKV (Maharashtra). Four models viz. gamma-type function, quadratic model, mixed log function and Wilmink model were fitted to each lactation separately and then compared on the basis of goodness of fit measures viz. adjusted $R^2$, root mean square error (RMSE), Akaike's Informaion Criteria (AIC) and Bayesian Information Criteria (BIC). Results: In general, highest milk yield was observed in fourth lactation whereas it was lowest in first lactation. Among the models investigated, mixed log function and gamma-type function provided best fit of the lactation curve of first and remaining lactations, respectively. Quadratic model gave least fit to lactation curve in almost all lactations. Peak yield was observed as highest and lowest in fourth and first lactation, respectively. Further, first lactation showed highest persistency but relatively higher time to achieve peak yield than other lactations. Conclusion: Lactation curve modelling using gamma-type function may be helpful to setting the management strategies at farm level, however, modelling must be optimized regularly before implementing them to enhance productivity in Gir crossbred cows.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.664-667
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• 1996

This paper presents the error parameter estimation technique for IMU(Inertial Measurement Unit) which is core sensor of INS(Inertial Navigation System) and verifies it via laboratory test. Firstly the error characteristic of gyroscope and accelerometer which is contained in IMU is examined and the error modelling is executed. The error of IMU can be divided into deterministic and random part, and the deterministic error can be divided into static and dynamic part. This paper consider the random part as constant. Secondly the error parameter estimation technique and following procedure for laboratory test is explained. Thirdly according to the test procedure the IMU test for static error is executed using 2-axis rate table and estimation result is presented with discussion about its validity.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.7 no.8
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• pp.1612-1620
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• 2003

This papers describes a nonlinear transfer function modelling of designed GaAs FET power amplifier by measured and simulated values of designed PA amplifier for multi­carrier transmission system, With the results of PA nonlinearity characteristic, we can estimates AM­AM and AM­PM of designed PA. According to the estimated nonlinear characteristics, we can analysis the ACPR of PA for spectral regrowth, the error vector measurement(EVM) of constallation signals and bit error rate of QPSK and 64­QAM. The suggested nonlinear modelling results are used to get an accurate estimate of digital characteristics between PA amplifier and wireless multi­carrier transmission system using OFDM.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.52 no.2
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• pp.74-80
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• 2003

In this paper, a robust two-degree-of-freedom(TDF) the speed control system using $H_{\infty}$ optimization method and real genetic algorithm is proposed for the robust stability and the robust performance in dc servo motor system. This control system composed of feedback and feedforward controller. The feedback(FB) controller with $H_{\infty}$ optimization method is designed for real genetic algorithm that is model matching problem using mixed sensitivity function. The feedforward(FF) controller with $H_{\infty}$optimization method is minimized the error between transfer function of the optimal model and the overall transfer function. The proposed robust two-degree-of-freedom speed control system is simulated to the dc servo motor. By the simulation, feedback controller can obtain the robust stability property and feedforward controller can obtain the robust performance property under modelling error. The performance of the dc servo motor is analyzed by the experiment setting. The validity of the proposed method is verified through being compared with pid(proportional integrated differential)control system design method for the dc servo motor.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.4
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• pp.428-433
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• 1999

The errors of IMU(Inertial Measurement Unit) can be divided into deterministic and random errors. Since the required accuracy of the IMU is very high, the errors must be compensated by using an accurate error mode. In this paper, we present a method to get a more accurate error model in a laboratory test. This was done by considering the setting misalignment in the laboratory test in the IMU error model. We considered here the IMU which consits of DTG(dynamically tuned gyroscope) and pendulum type accelerometer. First, it was shown that the estimation result from the model which does not contain the setting misalignment gives considerable estimation error at the validation test. Second, a new model considering the setting misalignment was derived. Finally, by validation test using the estimation results from new model the validity of it was proved.