• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.795-797
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• 1998

This paper suggests a design method of the optimal PD control system having robust performance. This PD control system is designed by applying genetic algorithm(GA) with reference model to the optimal determination of proportional(P) gain and derivative(D) gain that are given by PD servo controller. These proportional and derivative gains are simultaneously optimized in the search domain guaranteeing the robust performance of closed-loop system. This PD control system is applied to the fuel-injection control system of diesel engine and compared with ${\mu}$ -synthesis control system for robust performance. The effectiveness of this PD control system is verified by computer simulation.

• Communications for Statistical Applications and Methods
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• v.24 no.6
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• pp.673-683
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• 2017

The least absolute shrinkage and selection operator (LASSO) has been a popular regression estimator with simultaneous variable selection. However, LASSO does not have the oracle property and its robust version is needed in the case of heavy-tailed errors or serious outliers. We propose a robust penalized regression estimator which provide a simultaneous variable selection and estimator. It is based on the rank regression and the non-convex penalty function, the smoothly clipped absolute deviation (SCAD) function which has the oracle property. The proposed method combines the robustness of the rank regression and the oracle property of the SCAD penalty. We develop an efficient algorithm to compute the proposed estimator that includes a SCAD estimate based on the local linear approximation and the tuning parameter of the penalty function. Our estimate can be obtained by the least absolute deviation method. We used an optimal tuning parameter based on the Bayesian information criterion and the cross validation method. Numerical simulation shows that the proposed estimator is robust and effective to analyze contaminated data.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.7
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• pp.1186-1192
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• 1994

This paper presents an algorithm to design a robust digital model following servo control system in which optimal linear quadratic regulator problem is used to design the control system that make the step/ramp response of the plant kept close to a specified ideal step/ramp response of the model. The quadratic criterion function for a continuous system is used to design the robust digital servo control system. The feasibility of the design technique is shown by the simulation and the proposed method is applied to the speed control of DC servo motor.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.12
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• pp.980-984
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• 2001

When robot manipulatros as mathematically modeled. uncetainties may not be avoided. The uncertain factors come from imperfect knowledge of system parameters, payload change. friction, external disturbance and etc. In this work, we proposed a class of robust hybrid control of manipulatosrs. We propose a class of expanded robust hybrid control with the separated bound function and the simulation results are provided to show the effectiveness of the algorithm.

• Journal of the Semiconductor & Display Technology
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• v.12 no.3
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• pp.59-64
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• 2013

Accurate and robust image registration is important task in many applications such as image retrieval and computer vision. To perform the image registration, essential required steps are needed in the process: feature detection, extraction, matching, and reconstruction of image. In the process of these function, feature extraction not only plays a key role, but also have a big effect on its performance. There are two representative algorithms for extracting image features, which are scale invariant feature transform (SIFT) and speeded up robust feature (SURF). In this paper, we present and evaluate two methods, focusing on comparative analysis of the performance. Experiments for accurate and robust feature detection are shown on various environments such like scale changes, rotation and affine transformation. Experimental trials revealed that SURF algorithm exhibited a significant result in both extracting feature points and matching time, compared to SIFT method.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3073-3076
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• 1999

In this paper, $H_{\infty}$ two-degree-of freedom(2-DOF) model following control method is applied for the control of a brushless servo motor to achieve high robust performance. The proposed robust control algorithm designed to meet the robust stability and performances present that the robust control method is superior to conventional control methods in controlling the speed and position of a servo motor. The designed controller is implemented as an outer loop controller to a factory designed motor-servopack system. It is illustrated by simulations that the proposed method is effective to control servo systems.

• Annual Conference of KIPS
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• 2012.11a
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• pp.552-555
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• 2012

The main goal of this paper is to develop a robust visual tracking algorithm with particle filtering. Visual Tracking with particle filter technique is not easy task due to cluttered environment, illumination changes. To deal with these problems, we develop an efficient observation model for target tracking with particle filter. We develop a robust phase correlation combined with motion information based observation model for particle filter framework. Phase correlation provides straight-forward estimation of rigid translational motion between two images, which is based on the well-known Fourier shift property. Phase correlation has the advantage that it is not affected by any intensity or contrast differences between two images. On the other hand, motion cue is also very well known technique and widely used due to its simplicity. Therefore, we apply the phase correlation integrated with motion information in particle filter framework for robust tracking. In experimental results, we show that tracking with multiple cues based model provides more reliable performance than single cue.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.1
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• pp.57-64
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• 2013

In this paper, we propose the classification method of medicine bottle images using the features with color and size information. It is difficult to classify with size feature only, because there are many similar sizes of bottles. Therefore, we suggest a classification method based on color information, which robust to illumination variations. First, we extract MBR(Minimum Boundary Rectangle) of medicine bottle area using Binary Threshold of Red, Green, and Blue in image and classify images with size. Then, hue information and RGB color average rate are used to classify image, which features are robust to lighting variations. Finally, using SURF(Speed Up Robust Features) algorithm, corresponding image can be found from candidates with previous extracted features. The proposed method makes to reduce execution time and minimize the error rate and is confirmed to be reliable and efficient from experiment.

• Journal of the Korea Society of Computer and Information
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• v.16 no.4
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• pp.15-22
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• 2011

Principal component analysis (PCA) is a well-known method for dimensionality reduction and feature extraction while maintaining most of the variation in data. Although PCA has been applied in many areas successfully, it is sensitive to outliers and only valid for Gaussian distributions. Several variants of PCA have been proposed to resolve noise sensitivity and, among the variants, improved robust fuzzy PCA (RF-PCA2) demonstrated promising results. RF-PCA, however, is still a linear algorithm that cannot accommodate non-Gaussian distributions. In this paper, a non-linear algorithm that combines RF-PCA2 and kernel PCA (K-PCA), called improved robust kernel fuzzy PCA (RKF-PCA2), is introduced. The kernel methods make it to accommodate non-Gaussian distributions. RKF-PCA2 inherits noise robustness from RF-PCA2 and non-linearity from K-PCA. RKF-PCA2 outperforms previous methods in handling non-Gaussian distributions in a noise robust way. Experimental results also support this.

• Journal of IKEEE
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• v.5 no.1 s.8
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• pp.1-7
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• 2001

In this paper, we have investigated the CDMA(Code Division Multiple Access) Cellular System with non-linear equalizer in reverse link channel. In general, due to unknown characteristics of channel in the wireless communication, the distribution of the observables cannot be specified by a finite set of parameters; instead, we partitioned the m-dimensional sample space Into a finite number of disjointed regions by using quantiles and a vector quantizer based on training samples. The algorithm proposed is based on a piecewise approximation to regression function based on quantiles and conditional partition moments which are estimated by Robbins Monro Stochastic Approximation (RMSA) algorithm. The resulting equalizers and detectors are robust in the sense that they are insensitive to variations in noise distributions. The main idea is that the robust equalizers and robust partition detectors yield better performance in equiprobably partitioned subspace of observations than the conventional equalizer in unpartitioned observation space under any condition. And also, we apply this idea to the CDMA system and analyze the BER performance.