• Journal of the Korean Society of Mechanical Technology
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• v.20 no.6
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• pp.809-817
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• 2018

The model predictive controller performance of the mobile robot is set to an arbitrary value because it is difficult to select an accurate value with respect to the controller parameter. The general model predictive control uses a quadratic cost function to minimize the difference between the reference tracking error and the predicted trajectory error of the actual robot. In this study, we construct a predictive controller by transforming it into a quadratic programming problem considering velocity and acceleration constraints. The control parameters of the predictive controller, which determines the control performance of the mobile robot, are used a simple weighting matrix Q, R without the reference model matrix $A_r$ by applying a quadratic cost function from which the reference tracking error vector is removed. Therefore, we designed the predictive controller 1 and 2 of the mobile robot considering the constraints, and optimized the controller parameters of the predictive controller using a genetic algorithm with excellent optimization capability.

• JSTS:Journal of Semiconductor Technology and Science
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• v.12 no.2
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• pp.175-185
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• 2012

Predictive watershed transform is a popular object segmentation algorithm which achieves a speed-up by identifying image regions that are different from the previous frame and performing object segmentation only for those regions. However, incorrect segmentation is often generated by the predictive watershed transform which uses only local information in merge-split decision on boundary regions. This paper improves the predictive watershed transform to increase the accuracy of segmentation results by using the additional information about the root of boundary regions. Furthermore, the proposed algorithm is processed in a block-based manner such that an image frame is decomposed into blocks and each block is processed independently of the other blocks. The block-based approach makes it easy to implement the algorithm in hardware and also permits an extension for parallel execution. Experimental results show that the proposed watershed transform produces more accurate segmentation results than the predictive watershed transform.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.53 no.3
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• pp.206-211
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• 2004

In phase controlled rectifier, it's been known that a fast response is achieved by predictive current control without any overshoot. The frequent sampling period is essential to improve the firing accuracy in conventional predict current control. However, improving the firing accuracy if difficult to reduce the period of sampling efficiently because current sampling and predictive current control is carried out in every period and the ON-OFF current control is performed by comparing two different one. To improve the firing accuracy at the predictive current control, the calculated firing angle is loaded into the high-accuracy hardware timer. So the calculation of exact crossing point between the predictive and actual current is the most important. In this paper, the flow chart for proposed firing angle calculation algorithm is obtained for the fastest current control performance in transient state. The performance of proposed algorithm is verified through simulations and experiments.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.746-750
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• 2001

During the last decades several proposals have been made in literature to use predictive control for inverter control-especially in electrical drives. These algorithms are completely different to the recursive but linear predictive algorithms known from information theory, where closed mathematical equations are used (e.g. Kalman-filters). Only few of the presented schemes have been realized in industrial applications so far. After some further progress, however, the advantage of predictive algorithms might lead to an increased number of industrial implementations in the future. Besides the common basic idea - to use the well-known but strongly non-linear behaviour of inverters to precalculate the best switching times - there are many differences in the details of these proposals. This contribution shows similarities and differences and attempts to design a 'family tree' of predictive control algorithms. This might grow to a first step to a theoretical approach to deal with predictive control schemes in a more generalised way.

• Communications for Statistical Applications and Methods
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• v.23 no.4
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• pp.355-362
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• 2016

Ensemble methods often help increase prediction ability in various predictive models by combining multiple weak learners and reducing the variability of the final predictive model. In this work, we demonstrate that ensemble methods also enhance the accuracy of prediction under kernel ridge regression and kernel logistic regression classification. Here we apply bagging and random forests to two kernel-based predictive models; and present the procedure of how bagging and random forests can be embedded in kernel-based predictive models. Our proposals are tested under numerous synthetic and real datasets; subsequently, they are compared with plain kernel-based predictive models and their subsampling approach. Numerical studies demonstrate that ensemble approach outperforms plain kernel-based predictive models.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.156-159
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• 1996

An adaptive predictive control for steam-reforming plant which consist of a steam-gas reformer and a waste heat steam-boiler was studied by using MIMO bilinear model. The simulation experiments of the process identification were performed by using linear and bilinear models. From the simulation results it was found that the bilinear model represented the dynamic behavior of a steam-reforming plant very well. ARMA model was used in the process identification and the adaptive predictive control. To verify the performance and effectiveness of the adaptive predictive controller proposed in this study the simulation results of steam-reforming plant control based on bilinear model were compared to those of linear model. The simulation results showed that the adaptive predictive controller based on bilinear model provides better performance than those of linear model.

• ICROS
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• v.2 no.1
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• pp.59-71
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• 1996

In the last decade, the model predictive control methods have enjoyed many industrial applications with successful results. Although the general predictive control methods for nonlinear chemical processes are not yet formulated, the promising features of the model predictive control methods attract attentions of many researchers who are involved with difficult but important nonlinear process control problems. Recently, the class of bilinear model has been introduced as an useful tool for examining many nonlinear phenomena. Since their structural properties are similar to those of linear models, it is not difficult to develop a robust adaptive model predictive control method based on bilinear model. We expect that the model predictive control method based on bilinear model will expand its region in the world of nonlinear systems.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.1
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• pp.64-76
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• 2015

This paper suggests applying pseudospectral model predictive method for exo-atmospheric guidance. The method is a fusion of pseudospectral law and model predictive control, in which a two point boundary value problem is formulated using model predictive approach and solved by applying pseudospectral law. In this work, the method is applied to exo-atmospheric guidance with specific target requirement. The existing exo-atmospheric guidance methods suffice general requirements for guidance, but cannot ensure specific target constraints; whereas, the presented method is able to do so. The proposed guidance law is assessed through simulation of perturbed cases, and the tests suggest that the method is able to operate semi-autonomously under control and thrust vector perturbations.

• Proceedings of the Korea Society for Simulation Conference
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• 1998.03a
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• pp.101-105
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• 1998

A large system predictor, which can perform prediction of sales trend in a huge number of distribution centers, is presented using neural predictive model. There are 20,000 number of distribution centers, and each distribution center need to forecast future demand in order to establish a reasonable inventory policy. Therefore, the number of forecasting models corresponds to the number of distribution centers, which is not possible to estimate that kind of huge number of accurate models in ERP (Enterprise Resource Planning)module. Multilayer neural net as universal approximation is employed for fitting the prediction model. In order to improve prediction accuracy, a sequential simulation procedure is performed to get appropriate network structure and also to improve forecasting accuracy. The proposed simulation procedure includes neural structure identification and virtual predictive model generation. The predictive model generation consists of generating virtual signals and estimating predictive model. The virtual predictive model plays a key role in tuning the real model by absorbing the real model errors. The complement approach, based on real and virtual model, could forecast the future demands of various distribution centers.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.4
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• pp.698-707
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• 2017

This paper deals with predictive control methods of mobile robots for reference trajectory tracking control. Predictive control methods using predictive model are known as effective schemes that minimize the future errors between the reference trajectories and system states; however, the amount of real-time computation for the predictive control are huge so that their applications were limited to slow dynamic systems such as chemical processing plants. Lately with high computing power due to advanced computer technologies, the predictive control methods have been applied to fast systems such as mobile robots. These predictive controllers have some control parameters related to control performance. But these parameters have not been optimized. In this paper we employed the genetic algorithm to optimize the control parameters of the predictive controller for mobile robots. The improved performances of the proposed control method are demonstrated by the computer simulation studies.