• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.505-510
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• 2005

The RPO(randomized policy optimizer) algorithm, which utilizes probabilistic policy for the action selection, is a recently developed tool in the area of reinforcement learning, and has been shown to be very successful in several application problems. In this paper, we propose a modified RPO algorithm, whose critic network is adapted via RLS(Recursive Least Square) algorithm. In order to illustrate the applicability of the modified RPO method, we applied the modified algorithm to Kimura's robot and observed very good performance. We also developed a MATLAB-based animation program, by which the effectiveness of the training algorithms on the acceleration or the robot movement were observed.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• The Journal of the Acoustical Society of Korea
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• v.6 no.3
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• pp.60-67
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• 1987

In this paper, a phoneme classification method for Korean speech recognition has been proposed and its performance has been studied. The phoneme classification has been done based on the phonemic features extracted by the prewindowed recursive least-square (PRLS) algorithm that is a kind of adaptive filter algorithms. Applying the PRLS algorithm to input speech signal, precise detection of phoneme boundaries has been made, Reference patterns of Korean phonemes have been generated by the ordinery vector quantization (VQ) of feature vectors obtained manualy from prototype regions of each phoneme. In order to obtain the performance of the proposed phoneme classification method, the method has been tested using spoken names of seven Korean cities which have eleven different consonants and eight different vowels. In the speaker-dependent phoneme classification, the accuracy is about $85\%$ considering simple phonemic rules of Korean language, while the accuracy of the speaker-independent case is far less than that of the speaker-dependent case.

• Journal of Korea Water Resources Association
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• v.31 no.6
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• pp.675-684
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• 1998

This paper presents the empirical formulas for determining the design-width for medium rivers in the Han river basin. The design flood, the watershed ares, and the channel slope of 216 medium rivers in the Han river basin are collected. the design width formulas are then determined by 1) the least squares (LS) method, 2)the least median squares (LMS) method, and 3) the reweighted least squares method based on the LMS (RLS). The six types of formulas are considered to determine the acceptable type for medium streams in the Han river basin. The root mean squared errors (RMSE), the absolute mean (AME) errors, and the mean errors (ME) are computed to test the formulas derived by three regression methods. It si found that the equation related stream width to the watershed area and the channel slope is acceptable for determining the design width for medium streams in the Han river basin. It is expected that the equations proposed by this study be used an index for determining the design-width for medium streams in the Han river basin.

• Proceedings of the KIPE Conference
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• 2013.11a
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• pp.200-201
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• 2013

This paper investigates a new approach for Li-Ion battery state-of-charge (SOC) estimation using sliding mode observer (SMO) technique including parameters aging compensation via recursive least squares (RLS). The main advantages of this approach would be low computational load, easiness of implementation along with the robustness of the method for internal battery model parameters estimation. The proposed algorithm was first tested on a set of acquired battery data using implementation in Simulink and later developed as C-code module for firmware application.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.754-759
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• 1993

An adaptive model predictive control (AMPC) strategy using auto-regression moving-average (ARMA) models is presented. The characteristic features of this methodology are the small computer memory requirement, high computational speed, robustness, and easy handling of nonlinear and time varying MIMO systems. Since the process dynamic behaviors are expressed by ARMA models, the model parameter adaptation is simple and fast to converge. The recursive least square (RLS) method with exponential forgetting is used to trace the process model parameters assuming the process is slowly time varying. The control performance of the AMPC is verified by both comparative simulation and experimental studies on distillation column control.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.546-549
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• 2002

In this paper, a simulation system, which is almost same with the real motor-mechanical control system, is established. The real system is identified by using the data from DSP(TMS320F240). The RLS(Recursive Least Square) algorithm is used for the identification and MATLAB Simulink program is used for simulation. The exact simulation system obtained by using the proposed method is very useful for analysis and design of motor-mechanical control systems.

• Proceedings of the IEEK Conference
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• 2002.06a
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• pp.65-68
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• 2002

본 논문은 HomePNA 2.0 시스템에서 채널에 의한 왜곡을 보상하기 위한 방안을 제시하는 것으로서 심벌률과 전송 방식에 따른 등화기를 Fast RLS 알고리즘인 FTF (Fast Transversal Filter) 알고리즘을 사용하여 구현하여 그 성능을 분석하며, 또한 헤더 부분의 미결정 심벌들을 이용하는 DFE (Decision Feedback Equalizer)형태로 등화기를 구성하고 이에 대한 성능을 분석하고자한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.05a
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• pp.406-409
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• 2000

We propose the modified neural network which are paralleled to control nonlinear systems. The proposed method is a direct control method to use inverse model of the plant. Nonlinear systems are divided into two parts; linear part and nonlinear part, and it is controlled by RLS method and recursive multi-layer neural network with each other. We simulate to verify the performance of the proposed method and are compared with conventional direct neural network control method. The proposed control method is improved the control performance than the conventional method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.2C
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• pp.191-199
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• 2006

In this paper, we propose a method to implement a predistorter of the $rho$-th order inverse filter structure to prevent signal distortion and spectral re-growth due to the high PAPR (peak-to-average ratio) of the OFDM signals and the non-linearity of high-power amplifiers. We model the memory-less non-linearity of the high-power amplifier with a polynomial model and utilize the inverse of the model, the $rho$-th order inverse filter, for the predistorter. Once the non-linearity is modeled with a polynomial, since we can determine the $rho$-th order inverse filter only with the coefficients of the polynomial, large memory is not required. To update the coefficients of the non-linear high-power amplifier model, we can use LMS or RLS algorithms. The convergence speed is high since the number of coefficients is small, and the computation is simple since manipulation of complex numbers is not necessary.