• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.215-224
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• 2013

This paper proposes a robust lane detection algorithm for bumpy or slope changing roads by estimating extrinsic camera parameters, which represent the pose of the camera mounted on the car. The proposed algorithm assumes that two lanes are parallel with the predefined width. The lane detection and the extrinsic camera parameter estimation are performed simultaneously by utilizing B-snake in motion compensated and merged feature map with consecutive sequences. The experimental results show the robustness of the proposed algorithm in various road environments. Furthermore, the accuracy of extrinsic camera parameter estimation is evaluated by calculating the distance to a preceding car with the estimated parameters and comparing to the radar-measured distance.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.169-175
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• 2002

A sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is performed for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• Journal of the Korean Statistical Society
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• v.22 no.2
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• pp.235-247
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• 1993

The predictive density function of a potential future observation and its first four moments are obtained in this paper to study the effects of a non-normal prior of the unknown mean of a normal population. The derived predictive density function is modified to study changes in utility curves, used to choose the optimum treatment from a given set of treatments, at a given level of stimulus due to slight deviations from normality of the prior distribution. Numerical illustrations are provided to exhibit some effectsl.

• Proceedings of the KIEE Conference
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• 1986.07a
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• pp.140-144
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• 1986

In this paper an FIR(finite impulse response) filter and smoother are introduced for discrete time-invariant state-space models with driving noises. The FIR structure not only quarantees the BIBO stability and the robustness to parameter changes but also improves the filter divergence problem. It is shown that the impulse responses of the FIR filter and the smoother are obtained by Riccati-type difference equations and that they are to be time-invariant and reduced to very simple forms. For implementational purpose, recursive forms of the FIR filler and smoother are derived with each other used as the adjoint variable.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1379-1382
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• 1997

We introduce a fast implementation of the adaptive transversal filter which uses least-mean-square(LMS) algorithm. The fast Hadamard transform(FHT) is used for the implementation of the filter. By using the proposed filter we can get the significant time reduction in computatioin over the conventional time domain LMS filter at the cost of a little performance. By computer simulation, we show the comparison of the propsed Hadamard-domain filter and the time domain filter in the view of multiplication time, mean-square error and robustness for noise.

• Proceedings of the KIEE Conference
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• 2006.10b
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• pp.131-135
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• 2006

In this paper, a new estimation algorithm for the rotor speed for SRM drives is described. The algorithm is implemented by the binary observer. The stability and robustness of the binary observer for the parameter variations of the SRM are Proved by variable structure control theory. Variable speed control of the SRM is accomplished by the estimated speed. Experiment results verify that the MRAS observer is able to estimate the speed.

• Journal of the Korean Data and Information Science Society
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• v.13 no.1
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• pp.47-53
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• 2002

A new redescending M-estimating function is introduced. The estimators by this new redescending function attain the same level of robustness as the existing redescending M-estimators, but have less asymptotic variances than others except few cases. We have focused on estimating a location parameter, but the method can be extended for a scale estimation.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1671-1676
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• 1991

Direct digital design of computed torque controllers for a robot manipulator is discussed in this paper. A simple discrete-time model of the robot manipulator obtained by Euler's method is used for the design. Taking account of computation delay in the digital processor, we propose predictor-based designs of the PD and PID type controllers. The PID type controller is designed based on a modified version of the discrete-time integral controller proposed by Mita. For both controllers, the same formulas can be used to determine the feedback gains. A simulation example is presented to compare the robustness of the proposed controllers against physical parameter variations.

• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.2
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• pp.79-85
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• 1995

In this paper, a fuzzy logic is applied to a model-following control(MFC) to form a fuzzy model following control(FMFC). The feedback gain the MFC is adjusted continuously through the fuzzy logic rule. The proposed fuzzy-MFC is applied to synthesize controllers for linear time inveriant(LTI) systems with parameter uncertainties, and the robustness results of the proposed designs are compared.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.127-130
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• 1991

A magnetic levitation system with hybrid magnets, which is composed of permanent magnets and electromagnets, consumes less power than the conventional attraction type system. A parallel complementary controller on the lift controller is proposed to reduce the sensitivity for parameter variation and force disturbance. Simulation and experiment show that the lift system has robustness to force disturbance.