• 한국지구물리탐사학회:학술대회논문집
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• 2007.06a
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• pp.124-129
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• 2007

For seismic imaging and inversion, the inverted image depends on how we define the objective function. ${\ell}^1$-norm is more robust than ${\ell}^2$-norm. However, it is difficult to apply the Newton-type algorithm directly because the partial derivative for ${\ell^1$-norm has a singularity. In our paper, to overcome the difficulties of singularities, Huber function given by hybrid ${\ell}^1/{\ell}^2$-norm is used. We tested the robustness of our new object function with several noisy data set. Numerical results show that the new objective function is more robust to band limited spiky noise than the conventional object function.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.3B
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• pp.557-564
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• 2000

This paper presents a watermarking algorithm for embedding visually recognizable pattern (Mark, Logo, Symbol, stamping or signature) into the image. first, the color image(RGB model)is transformed in YCbCr model and then the Y component is transformed into 3-level wavelet transform. Next, the values are assembled with pattern watermark. PN(pseudo noise) code at spread spectrum communication method and mutilevel watermark weights. This values are inserted into discrete wavelet domain. In our scheme, new calculating method is designed to calculate wavelet transform with integer value in considering the quantization error. and we used the color conversion with fixed-point arithmetic to be easy to make the hardware hereafter. Also, we made the new solution using mutilevel threshold to robust to common signal distortions and malicious attack, and to enhance quality of image in considering the human visual system. the experimental results showed that the proposed watermarking algorithm was superior to other similar water marking algorithm. We showed what it was robust to common signal processing and geometric transform such as brightness. contrast, filtering. scaling. JPEG lossy compression and geometric deformation.

• Journal of Communications and Networks
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• v.9 no.2
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• pp.185-191
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• 2007

Alpha stable distribution is better for modeling impulsive noises than Gaussian distribution in signal processing. This class of process has no closed form of probability density function and finite second order moments. In general, Wiener filter theory is not meaningful in S$\alpha$SG environments because the expectations may be unbounded. We proposed a new adaptive recursive least p-norm Kalman filtering algorithm based on least p-norm of innovation process with infinite variances, and a new robust multiuser detection method based on least p-norm Kalman filtering. The simulation experiments show that the proposed new algorithm is more robust than the conventional Kalman filtering multiuser detection algorithm.

• Journal of the Institute of Convergence Signal Processing
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• v.10 no.2
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• pp.146-150
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• 2009

An Intelligent active roll angle controller design algorithm is discussed. The detailed mathematical formulation and analysis are discussed, and then modeling and design method for active roll angle controller are presented. This paper proposes a design method based upon intelligent robust controller design algorithm to control actively roll angle for improving cornering performance problems. The intelligent robust controller is designed for steady speed driving vehicle system model with representation of steering angle and yaw angular velocity parameters for cornering stability. And the detailed formulation and analysis for the objective vehicle system are investigated.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.495-495
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• 2000

The Stewart platform manipulator is a closed-kinematis chain robot manipulator that is capable of providing high st겨ctural rigidity and positional accuracy. However, this is a complex structure, so controllability of the system is not so good. In this paper, it introduces a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the slate and the perturbation w.hich is integrated into a variable structure controller(VSC) structure. The combination of controller/observer gives rise to the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). The optimal gains of SMCSPO are easily obtained by genetic algorithm. Simulation and experiment are presented in order to apply to the stewart platform manipulator. There results show highly' accuracy and performance.

• Communications for Statistical Applications and Methods
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• v.30 no.2
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• pp.135-147
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• 2023

Skipped median is more robust than median when outliers are not symmetrically distributed. In this work, we propose a novel algorithm to estimate the skipped median. The idea of skipped median and the new algorithm are extended to regression problem, which is called least clipped absolute deviation (LCAD). Since our proposed algorithm for nonconvex LCAD optimization makes use of convex least absolute deviation (LAD) procedure as a subroutine, regularizations developed for LAD can be directly applied, without modification, to LCAD as well. Numerical studies demonstrate that skipped median and LCAD are useful and outperform their counterparts, median and LAD, when outliers intervene asymmetrically. Some extensions of the idea for skipped median and LCAD are discussed.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.165-172
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• 2011

This paper presents a robust lane detection algorithm based on RGB color and shape information during autonomous car control in realtime. For realtime control, our algorithm increases its processing speed by employing minimal elements. Our algorithm extracts yellow and white pixels by computing the average and standard deviation values calculated from specific regions, and constructs elements based on the extracted pixels. By clustering elements, our algorithm finds the yellow center and white stop lanes on the road. Our algorithm is insensitive to the environment change and its processing speed is realtime-executable. Experimental results demonstrate the feasibility of our algorithm.

• Proceedings of the Korea Multimedia Society Conference
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• 2003.05b
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• pp.423-426
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• 2003

Adaptive algorithm used in Acoustic Echo Canceller (AEC) needs fast convergence algorithm when reference signal is colored speech signal. Set-Membership Affine Projection (SMAP) algorithm is derived from the constraint, which is the minimum value adaptive filter coefficient error. In this paper, we test the characteristic about noise of the SMAP algorithm and proposed modified version of SMAP algorithm fur using at AEC. As the projection order increase, the convergence characteristic of the SMAP algorithm is improved where no noise space. But if the noise uncorrelated with input signal exists, the AEC shows bad performance. In this paper, we propose normalized version of adaptive constants using estimated error signal for robust to noise and show the good performance through AEC simulation.

• Journal of Advanced Marine Engineering and Technology
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• v.18 no.4
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• pp.102-111
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• 1994

This article deals with the problem of designing a robust algorithm for the motion control of robot manipulator whose nonlinear dynamics contain various uncertainties. To ensure high performance of control system, a model-based feedforward compensation with continuous robust control has been developed. The control structure based on the deterministic approach consists of two parts : the nominal control law is first introduced to stabilize the system without uncertainties, then a robust nonlinear control law is adopted to compensate for both the resulting errors(or structured uncertainties) and unstructured uncertainties. The uncertainties assumed in this study are bounded by polynomials in the Euclidean norms of system states with known bounding coefficients. The presented control scheme is relatively simple as well as computationally efficient. With a feasible class of desired trajectories, the proposed control law provides sufficient criteria which guarantee that all possible responses of the closed-loop system are uniformly ultimately bounded in the presence of uncertainties. Therefore, the control algorithm proposed is shown to be robust with respect to the involved uncertainties.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.6
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• pp.117-126
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• 1994

This paper deals with a robust semi-active control algorithm which is applicable to a semi-active suspension with a multi-state damper. Since the controllable damping rates are discrete in case of a multi-state semi-active damper, the desired damping rate can not be produced exactly even if force-velocity relations of a multi-state semi-active damper is completely known. In addition, damping characteristics of the semi-active dampers are different from damper to damper. A robust nonlinear control law based on sliding control is developed. The main objective of the proposed control strategies is to improve ride quality by tracking the desired active force with a multi-state damper of which the force-velocity relations are "not" completely known. The performance of th proposed semi-active control law is numerically compared to those of the control law based on a bilinear model and a passive suspension. The proposed control algorithm is robust to nonlinear characteristics and uncertainty of the force-Velocity relations of multi-state dampers.