• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.4
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• pp.17-24
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• 2011

This paper presents a control scheme to cancel periodic disturbance with unknown frequency for optical disc drives. The control scheme consists of an output regulator and a frequency adaptive algorithm. Here, the frequency adaptive algorithm based on IMP plays a role in obtaining a frequency of periodic disturbance. The stability analysis of whole system and disturbance rejection performance are proven by the singular perturbation theory. The contribution of this paper are as follows. (1) There is no design constraints of the frequency range. (2) Ability for perfect disturbance rejection is preserved even with uncertain plant model.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.8
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• pp.1918-1924
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• 2010

This In this paper, we propose an efficient algorithm for motion estimation of the image sequences with luminance fluctuation. For such sequences, conventional motion estimation methods based on the difference of pixel values usually produce the erroneous motion information. The proposed algorithm defines the luminance fluctuation as a linear model with gain and offset parameter, and extracts motion information using gradient and phase of the corresponding local region within consecutive frames. Therefor the method is robust to the luminance change of the frames. We test our algorithm for the ground truth sequence with artificially added luminance change and motion, and real sequences corrupted by the flicker. The results shows that the proposed algorithm outperforms the conventional methods.

• Journal of Korea Multimedia Society
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• v.7 no.6
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• pp.791-797
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• 2004

We proposed a novel digital video watermarking that embeds dual watermarks in the block DCT domain to solve the deadlock problem. Daul watermarks are composed of private watermarks and robust blind watermarks. Firstly, private watermarks are embedded into the lowest AC coefficients of the P or B-frames in accordance with the motion direction gained from a previous frame. Secondly, blind watermarks that have the robustness are inserted into the DC coefficients of the I-frames using a private key made from temporal I-frame motion information. Thus, when a deadlock situation occurs, the proposed algorithm can efficiently solve the problem. Experimental results confirmed that the proposed algorithm can produce good subjective and objective results for MPEG coding with a variety of bit rates. Furthermore, the proposed watermarking algorithm can potentially be applied to broadcasting monitoring systems due to its simplicity and high robustness.

• Smart Structures and Systems
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• v.22 no.5
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• pp.547-560
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• 2018

This paper investigates the operation of the $H_{\infty}$ static output-feedback controller to reduce dynamic responses under seismic excitation on the five-story and benchmark 20 story building with parametric uncertainties. Linear matrix inequality (LMI) control theory is applied in this system and then to achieve the desired LMI formulations, some transformations of the LMI variables is used. Conversely uncertainties due to material properties, environmental loads such as earthquake and wind hazards make the uncertain system. This problem and its effects are studied in this research. Also to decrease the transition of large amount of data between sensors and controller, avoiding the disruption of whole control system and economy problems, the operation of the decentralized controllers is investigated in this paper. For this purpose the comparison between the performance of the centralized, fully decentralized and partial decentralized controllers in uncoupled and coupled cases is performed. Also, the effect of the changing the number of stories in substructures is considered. Based on the numerical results, the used control algorithm is very robust against the parametric uncertainties and structural responses are decreased considerably in all the control cases but partial decentralized controller in coupled form gets the closest results to the centralized case. The results indicate the high applicability of the used control algorithm in the tall shear buildings to reduce the structural responses and its robustness against the uncertainties.

• Journal of the Korean Data and Information Science Society
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• v.9 no.2
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• pp.345-355
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• 1998

The back propagation(BP) algorithm allows multilayer feedforward neural networks to learn input-output mappings from training samples. It iteratively adjusts the network parameters(weights) to minimize the sum of squared approximation errors using a gradient descent technique. However, the mapping acquired through the BP algorithm may be corrupt when errorneous training data are employed. In this paper two types of robust backpropagation algorithms are discussed both from a theoretical point of view and in the case studies of nonlinear regression function estimation and handwritten Korean character recognition. For future research we suggest Bayesian learning approach to neural networks and compare it with two robust backpropagation algorithms.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.991-1000
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• 2000

Previous area-based stereo matching algorithms find the disparity by first computing the sum of squared differences (SSD) between corresponding points using a rectangular window, and then searching the position of the minimum SSD within the disparity range. These algorithms generate relatively many matching errors around depth discontinuities, since the SSD function may fail to search for the minimum because of varying disparity profiles in such areas. In this paper, in order to improve the matching accuracy around the depth discontinuities, a new correlation function based on robust estimation technique is proposed for stereo matching. In addition, while previous stereo algorithms utilize a single rectangular window for computing the correlation function, the proposed matching algorithm utilizes 4-directional line masks additionally to reduce the matching errors further. It has been turned out that the proposed algorithm reduces matching errors around depth discontinuities significantly. Experimental results are presented in this paper, comparing the performance of the proposed technique with those of previous algorithms using both synthetic and real images.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.7
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• pp.532-538
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• 2013

This paper describes a vision-based only attitude estimation technique for the leader in the formation flight. The feature points in image obtained from the X-PLANE simulator are extracted by the SURF(Speed Up Robust Features) algorithm. We use POSIT(Pose from Orthography and Scaling with Iteration) algorithm to estimate attitude. Finally we verify that attitude estimation using vision only can yield small estimated error of $1.1{\sim}1.76^{\circ}$.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.10
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• pp.1425-1435
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• 2013

The useful method for determining parameters of weighting functions used to design the $H_{\infty}$ current controller for attenuating the current ripple due to saliencies which SPMSM(Surface Permanent Magnet Synchronous Motor) also incorporates is described. To analyze the effect, the current ripple due to the structural and the saturation saliencies, the SPMSM model with nonlinear inductance function depending on the two independent variables, rotor position and stator current is simulated. After analysis, parameters of the weighting functions for $H_{\infty}$ current controller is selected to satisfy the robust stability, robust performance and specific performance in time and frequency domain by using the PSO(Particle Swarm Optimization) algorithm in the linear SPMSM model. Especially, the robust performance is proved that the selected weighting functions play a role in reducing the current ripple caused by the saliencies of SPMSM at the desired frequency range by the simple experiment.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.181-190
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• 2015

This paper presents a new approach to control the position of robot arm in workspace a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme was applied. Since parameters of the robot arm such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters was considered as a external disturbance force. To identify the known parameters, an improved robust control algorithm is directly derived from the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using SCARA arm with four joints.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.7
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• pp.3438-3454
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• 2018

In this paper, we propose a robust blind watermarking scheme for high-definition video. In the embedding process, luminance component of each frame is transformed by 2-dimensional fast Fourier transform (2D FFT). A secret key is used to generate a matrix of random numbers for the security of watermark information. The matrix is transformed by inverse steerable pyramid transform (SPT). We embed the watermark into the low and mid-frequency of 2D FFT coefficients with the transformed matrix. In the extraction process, the 2D FFT coefficients of each frame and the transformed matrix are transformed by SPT respectively, to produce two oriented sub-bands. We extract the watermark from each frame by cross-correlating two oriented sub-bands. If a video is degraded by some attacks, the watermarks of frames contain some errors. Thus, we use an ensemble position-based error correcting algorithm to estimate the errors and correct them. The experimental results show that the proposed watermarking algorithm is imperceptible and moreover is robust against various attacks. After embedding 64 bits of watermark into each frame, the average peak signal-to-noise ratio between original frames and embedded frames is 45.7 dB.