• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.901-906
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• 2005

The stability robustness problem of continuous linear systems with nominal and delayed time-varying perturbations is considered. In the previous results, the entire bound was derived only for the overall perturbations without separation of the perturbations. In this paper, the sufficient condition for stability of the system with two perturbations, which are nominal and delayed, is expressed as linear matrix inequalities(LMIs). The corresponding stability bounds fer those two perturbations are determined by LMI(Linear Matrix Inequality)-based generalized eigenvalue problem. Numerical examples are given to compare with the previous results and show the effectiveness of the proposed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2319-2324
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• 2005

This paper proposes a intelligent gain and boundary layer based sliding mode control (SMC) method for robotic systems with unknown model uncertainties. For intelligent gain and boundary layer, we employ the self recurrent wavelet neural network (SRWNN) which has the properties such as a simple structure and fast convergence. In our control structure, the SRWNNs are used for estimating the width of boundary layer, uncertainty bound, and nonlinear terms of robotic systems. The adaptation laws for all parameters of SRWNNs and reconstruction error bounds are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with unknown uncertainties. Accordingly, the proposed method can overcome the chattering phenomena in the control effort and has the robustness regardless of unknown uncertainties. Finally, simulation results for the three-link manipulator, one of the robotic systems, are included to illustrate the effectiveness of the proposed method.

• Journal of Communications and Networks
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• 제12권6호
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• pp.605-615
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• 2010

Intercarrier interference (ICI) in orthogonal frequency division multiplexing (OFDM) systems, which causes substantial performance degradation in time-varying fading channels, is analyzed. An equivalent spreading code formulation is derived based on the analogy of OFDM and code division multiple access (CDMA) systems. Techniques as linear multiuser detection in CDMA systems are applied to suppress the ICI in OFDM systems. The performance of linear detection, measured using multiuser efficiency and asymptotic multiuser efficiency, is analyzed given the assumption of perfect channel state information (CSI), which serves as an upper bound for the performance of practical systems. For systems without CSI, time domain and frequency domain channel estimation based linear detectors are proposed. The performance gains and robustness of a linear minimum mean square error (LMMSE) filter over a traditional filter (TF) and matched filter (MF) in the high signal-to-noise ratio (SNR) regime are demonstrated with numerical simulation results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.512-514
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• 1997

In this paper, a quasi-sliding mode (QSM) control with load observer is discussed for field-oriented induction motor speed drive. The proposed QSM control, which is defined in the discrete time domain and act with the load torque observer eliminating impacted load torque, restricts the bound of chattering within specified band. With this strategy, we can obtain fast dynamics without overshoot and robustness to parameter variation and disturbance. The proposed scheme is verified by digital simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 B
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• pp.471-473
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• 1997

In this paper, We propose a variable structure controller with time varying switching surface. We calculate the maximum value of switching surface gradient under the bound of input. To enhance the robustness, we, choose a time varying switching surface gradient that is of the 3rd order polynominal form. We use evolution strategy to optimize the parameters of the switching surface gradient. Finally, the proposed method is applied to the motor position control. Simulation results show that the proposed method is more useful than the conventional variable structure controller.

• 분석과학
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• 제22권5호
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• pp.355-359
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• 2009

An enzyme electrode bound by rubber solution was newly constructed and the test of its practicability were carried out. The binder of carbon powder was styrene-butadiene rubber dissolved in toluene and enzyme source was ground tissue of cabbage root. Volatilization of the solvent made the electrode material possess a mechanical robustness and a fast signal appearance. The electrode showed electrochemically irreversible characteristics and a powerful catalytic power (detection limit=$5.0{\times}10^{-5}M$, S/N=2). The double reciprocal plot of signal current and substrate concentration was ideally linear and the symmetry factor and exchange current density of the electrode used in this work were 0.35 and $4.93{\times}10^{-5}Acm^{-2}$ respectively.

• 한국정밀공학회지
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• 제12권10호
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• pp.138-148
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• 1995

While Model-based Monitoring systems based on state observer theory have shown much promise in the laboratory, they have not been widely accepted by industry because, inpractice, these systems often have poor performance with respect to accuracy, band-width, reliability(false alarms), and robustness. In this paper, the linitations of the deterministic discrete-time state observer are investigated quantitatively from the machine monitoring viewpoint. The limitations in the transient and steady-state observer performance are quantified as estimation error bounds from which performance indices are selected. Each index represents the conditioning of the corresponding performance. By utilizing matrix norm theory, an unified main index is determined, that dominates all the indices. This index could from the basis for an observer design methodology that should improve the performance of model-based monitoring systems.

• Journal of Electrical Engineering and information Science
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• 제1권1호
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• pp.39-44
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• 1996

In this paper, adaptive controller with switching action is designed for rigid body robot manipulators to ensure the uniform stability of the manipulator system without a priori knowledge of the unmodeled dynamics. It will be shown that the parameter estimates are bounded independent of the other closed-loop signals boundedness, and also shown that the tracking error belongs to the normalized error bound via mathematical analisys. The robustness and performance of the proposed adaptive controller is investigated for the two-link direct drive manipulator actuated by VRM(Variable Reluctance Motor).

• 정보처리학회논문지B
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• 제10B권5호
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• pp.491-496
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• 2003

본 논문에서는 정지 영상과 동영상 컨텐츠에 적용하기 위한 새로운 워터마크 설계 가이드라인을 제공한다. 본 논문에서 제안하는 워터마크 설계 방법은 인간 시각 시스템 내의 시각 세포들의 기본적인 동작 특성인 상호간섭 및 배제 작용을 이용하여, 각각의 영상 컨텐츠의 특성을 반영하여 최대한의 워터마크 강도를 구하는데 있다. 영상 컨텐츠의 최대 워터마크를 결정할 수 있다면, 자연스럽게 워터마크의 강인성이 증가되어 일반적인 영상처리 공격이나 MPEG 공격에도 강인하게 동작한 수 있다. 정지영상에서는 여러 단계의 에지 성분이 나타나게 됨에 따라 인간 시각 시스템의 민감도가 급감하게 되고, 동영상에서는 움직임이 세밀해지고 또는 많아질수록 민감도가 급감한다는 점을 모델링하기 위해, 본 논문에서는 정지 영상에서의 엔트로피 마스킹과 동영상에서의 움직임 엔트로피 마스킹을 이용하여 민감도 저하 현상을 모델링하였다. 또한, (움직임) 엔트로피 마스킹 모델을 기존의 워터마크 기법에 적용한 결과를 통해, 일반적인 워터마크 기법에 엔트로피 마스킹을 더함으로써, 워터마크의 투명성을 늘리고, 자연스럽게 워터마크의 강건성을 늘릴 수 있음을 보였다.

• 공업화학
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• 제22권1호
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• pp.114-118
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• 2011

미네랄 오일을 결합재로 사용하는 탄소반죽전극은 효소의 특성 연구 분야에서 효과적으로 활용되고 있으나 전극이 기계적 경도가 없으므로 실용화의 가능성은 없다. 본 실험실에서는 톨루엔에 녹인 고무 용액이 탄소가루의 결합재로 사용될 때 탄소반죽의 기계적 물성이 얻어지는 것을 확인하였다. 클로로프렌 고무 용액을 이용하여 만든 전극이 정량적인 전기화학적 행동을 보이는지 확인하기 위하여 여러 가지 속도론적 파라메터 즉 대칭인자($\alpha$, 0.28), 교환전류밀도 ($i_0$, $4.06{\mu}A/cm^2$), 이중층의 축전용량($C_d$, $2.11{\times}10^{-3}F$), Michaelis 상수($K_M$, $2.45{\times}10^{-3}M$), 시간상수(${\tau}_B$, 0.077 sec) 등을 구하였다. 이 실험적 사실들은 클로로프렌 고무가 탄소반죽전극의 실용화에 전망 좋은 결합재임을 입증하였다.