• Journal of Drive and Control
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• v.14 no.2
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• pp.16-22
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• 2017

This paper presents the algorithm of an adaptive model-free-control-based steering control for multi-axle all-terrain cranes for which the recursive least squares with forgetting are applied. To optimally control the actual system in the real world, the linear or nonlinear mathematical model of the system should be given for the determination of the optimal control inputs; however, it is difficult to derive the mathematical model due to the actual system's complexity and nonlinearity. To address this problem, the proposed adaptive model-free controller is used to control the steering angle of a multi-axle crane. The proposed model-free control algorithm uses only the input and output signals of the system to determine the optimal inputs. The recursive least-squares algorithm identifies first-order systems. The uncertainty between the identified system and the actual system was estimated based on the disturbance observer. The proposed control algorithm was used for the steering control of a multi-axle crane, where only the steering input and the desired yaw rate were employed, to track the reference path. The controller and performance evaluations were constructed and conducted in the Matlab/Simulink environment. The evaluation results show that the proposed adaptive model-free-control-based steering-control algorithm produces a sound path-tracking performance.

• Proceedings of the Optical Society of Korea Conference
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• 2000.02a
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• pp.296-297
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• 2000

프라운호퍼 회절에 의하여 주어진 세기 무늬를 발생시키는 회절광학소자(Diffractive Optical Element, DOE)는 회절무늬소자, 키노폼(kinoform), 컴퓨터 푸리에 홀로그램 (computer-generated Fourier hologram) 등으로 불리우며, 광정보처리, 광연결, 레이저가공에서 중요한 역할을 한다. 이 소자를 설계하는 매우 다양한 방법들이 제안되었는데, iterative Fourier transform 알고리즘(IFTA)과 이를 변형한 알고리즘들이 가장 널리 사용된다. IFTA는 fast Fourier transform(FFT)를 활용하므로 계산시간이 절감되지만 국소 최소점에 고착되는 stagnation문제가 있어 이를 해결하기 위한 많은 변형된 알고리즘들이 제안되었다. 본 연구에서는 최근에 제안한 new Pnoise algorithm with hybrid input-output algorithm(NPA-HIOA)$^{(1)}$ 의 설계 성능을 IFTA, hybrid input-output 알고리즘(HIOA), new Pnoise 알고리즘(NPA)$^{(2)}$ , Nonlinear Least-Square (NLS)$^{(3)}$ 등의 기존의 알고리즘들과 비교하고자 한다. (중략)

• Journal of the Korean Institute of Intelligent Systems
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• v.9 no.5
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• pp.555-565
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• 1999

The optimal identification algorithm of fuzzy systems is presented for rule-based fuzzy modeling of nonlinear complex systems. Nonlinear systems are expressed using the identification of structure such as input variables and fuzzy input subspaces, and parameters of a fuzzy model. In this paper, the rule-based fuzzy modeling implements system structure and parameter identification using the fuzzy inference methods and hybrid structure combined with two types of optimization theories for nonlinear systems. Two types of inference methods of a fuzzy model are the simplified inference and linear inference. The proposed hybrid optimal identification algorithm is carried out using both a genetic algorithm and the improved complex method. Here, a genetic algorithm is utilized for determining initial parameters of membership function of premise fuzzy rules, and the improved complex method which is a powerful auto-tuning algorithm is carried out to obtain fine parameters of membership function. Accordingly, in order to optimize fuzzy model, we use the optimal algorithm with a hybrid type for the identification of premise parameters and standard least square method for the identification of consequence parameters of a fuzzy model. Also, an aggregate performance index with weighting factor is proposed to achieve a balance between performance results of fuzzy model produced for the training and testing data. Two numerical examples are used to evaluate the performance of the proposed model.

• Journal of electromagnetic engineering and science
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• v.9 no.2
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• pp.71-77
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• 2009

OFDM(Orthogonal Frequency Division Multiplexing) signals sutler serious nonlinear distortion in the nonlinear HPA(High Power Amplifier) because of high PAPR(Peak Average Power Ratio). Nonlinear distortion can be improved by a pre-distorter, but this pre-distorter is insufficient when the PAPR is very high in an OPFDM system. In this paper, a DFT(Discrete Fourier Transform) transform technique is introduced for PAPR reduction. It is especially important to consider the memory effect of HPA for more precise predistortion. Therefore, in this paper, we consider two models, the TWTA(Traveling-Wave Tube Amplifier) model of Saleh without a memory effect and the HPA memory polynomial model that has a memory effect. We design a pre-distorter and an adaptive pre-distorter that uses the NLMS(Normalized Least Mean Square) algorithm for the compensation of this nonlinear distortion. Without the consideration of a memory effect, the system performance would be degraded, even if the pre-distorter is used for the compensation of the nonlinear distortion. From the simulation results, we can confirm that the proposed system shows an improvement in performance.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.6
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• pp.722-728
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• 1998

In this paper real-time estimation methods for identifying the tire-road friction coefficient are presented. Taking advantage of the Magic Formula Tire Model, the similarity technique and the specific model for the vehicle dynamics, a reduced order observer/filtered-regressor-based method is proposed. The Proposed method is evaluated on simulations of a full-vehicle model with an eight state nonlinear vehicle/transmission model and nonlinear suspension model. It has been shown through simulations that it is possible to estimate the tire-road friction from measurements of engine rpm, transmission output speed and wheel speeds using the proposed identification method. The proposed method can be used as a useful option as a part of vehicle collision warning/avoidance systems and will be useful in the implementation of a warning algorithm since the tire-road friction can be estimated only using RPM sensors.

• Magazine of the Korean Society of Agricultural Engineers
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• v.36 no.3
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• pp.144-154
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• 1994

An efficient tidal model, TIDE which is an iterative type, nonlinear finite element model has developed for the analysis of the tidal movement in the coastal area which is characterized by irregular boundaries and bottom topography. Traditional time domain finite element models have been in difficulties with requirement for high eddy viscosity coefficients and small time steps to insure numerical instability. These problems are overcome by operating in the frequency domain with an elaborate grid system by combining the triangular and quadrilateral shape grids. Furthermore, in order to handle non-linearity which will be more significant in the shallow region, an iterative scheme with least square error minimization algorithm has been implemented in the model. The results of TIDE model are agreed with the analytical solutions in a rectangular channel under the condition of tidal waves entering the channel closed at one end.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.17 no.3
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• pp.257-264
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• 1999

The lens distortions were corrected directly using the high-order polynomial which was offered in camera calibration data for the forward transformation and the root of Newton-Raphson's $2\times{2}$ nonlinear system for the backward transformation. The 0.04~0.08 pixels increase in accuracy was indicated through the use of direct correction of lens distortions instead of least square methods of commercial software. The least square adjustment method of high-order polynomial requires many control points which has a same weight. But this suggested method which is unnecessary to determine control points was developed and applied. The algorithm showed improved efficacy.

• The Transactions of the Korean Institute of Power Electronics
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• v.26 no.5
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• pp.364-371
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• 2021

A magnetic flux saturation model of Synchronous Reluctance Motors (SynRMs) and a parameter estimation method are proposed at standstill. The proposed magnetic flux model includes the nonlinear relationship between the current and the magnetic flux for self-saturation and cross-saturation. Voltage is injected at standstill to estimate the magnetic flux saturation model. Voltages are injected into the d-axis and q-axis to obtain data on self-saturation. Subsequently, voltages are simultaneously injected into the d-q axis to obtain data on cross-saturation. On the basis of the measured current and the calculated magnetic flux, the parameters of the proposed model are estimated using the least square method (LSM). Simulation and experiment were performed on a 1.5-kW SynRM to verify the proposed method. The proposed model can be used to create a high-efficiency operation table, a sensorless algorithm, and a current controller to improve the control performance of a motor.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.1 no.3
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• pp.69-76
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• 2008

This paper concerns Fuzzy Radial Basis Function Neural Network (FRBFNN) and automatic rule generation of extraction of the FRBFNN by means of mountain clustering. In the proposed network, the membership functions of the premise part of fuzzy rules do not assume any explicit functional forms such as Gaussian, ellipsoidal, triangular, etc., so its resulting fitness values (degree of membership) directly rely on the computation of the relevant distance between data points. Also, we consider high-order polynomial as the consequent part of fuzzy rules which represent input-output characteristic of sup-space. The number of clusters and the centers of clusters are automatically generated by using mountain clustering method based on the density of data. The centers of cluster which are obtained by using mountain clustering are used to determine a degree of membership and weighted least square estimator (WLSE) is adopted to estimate the coefficients of the consequent polynomial of fuzzy rules. The effectiveness of the proposed model have been investigated and analyzed in detail for the representative nonlinear function.

• Proceedings of the KIPE Conference
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• 2018.07a
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• pp.237-239
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• 2018

This paper proposes an on-line estimation algorithm of internal resistance of Li-ion battery based on the recursive least squares method to prevent the overvoltage and undervoltage casing degradation of life cycle of battery. An equivalent circuit model with single time constant is adopted, and under assumptions that the terminal voltage, current and SOC are measured accurately, the discrete time based nonlinear equation of the model can be converted to the linear equation which can be applied to recursive least squares method. Since the coefficients of the discrete time linear equation can be expressed by the parameters of the equivalent circuit model, it is shown that an internal resistance (Ri) can be estimated in real time using the least square method.