• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.355-359
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• 2006

For the poor observability of azimuth misalignment angle and east gyro drift rate of the traditional initial alignment, a bran-new SINS stationary fast self-alignment approach is proposed. By means of analyzing the characteristic of the strapdown inertial navigation system (SINS) stationary alignment seriously, the new approach takes full advantage of the specific force and angular velocity information given by inertial measurement unit (IMU) instead of the mechanization of SINS. Firstly, coarse alignment algorithm is presented. Secondly, a new fine alignment model for SINS stationary self-alignment is derived, and the observability of the model is analysed. Then, a modified Sage-Husa adaptive Kalman filter is introduced to estimate the misalignment angles. Finally, some computer simulation results illustrate the efficiency of the new approach and its advantages, such as higher alignment accuracy, shorter alignment time, more self-contained and less calculation.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 추계학술대회 논문
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• pp.150-155
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using digital signal processors for robot manipulators. TMS3200C50 is used in implementing real-time adaptive control algorithms provide advanced performance for robot manipulator. In this paper an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm and controller parameters are detemined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.754-758
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS320C50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator, In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters we determined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.78-82
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• 1986

In the process control applications of self tuning control, a major concern of the control problem is to handle an offset caused by load disturbances and random steps occuring at random instance of time. Conventionally an integrator is incorperated in the forward path of the controller to eliminate such an offset. But this approach causes a difficulty if the adaptive part of the resultant controller is to be evaluated. In this paper a method of analyzing the adaptive system and improving the offset effect is suggested for a class of referance model method in the self tuning adaptive control system.

• 한국정보과학회논문지:소프트웨어및응용
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• 제35권9호
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• pp.538-546
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• 2008

오늘날 복잡해져 가는 컴퓨팅 환경에서 시스템에 발생하는 다양한 문제를 시스템 관리자가 직접 처리하는 것은 한계가 있다. 이 한계를 해결하기 위해서 시스템 스스로 상황을 인식하여 적절한 대응하는 능력을 갖는 것이 중요한 이슈가 되고 있다. 그러나 자가 적응 시스템을 생성하기 위해서는 많은 경험과 지식이 필요하다. 따라서 자가 적응 시스템 구축의 어려움이 문제가 되고 있다. 본 논문에서는 그러한 자가 적응 시스템의 구축을 용이하게 하기 위하여 자가 적응 시스템의 코드를 자동 생성하는 기법을 제안한다. 본 자가 적응 시스템은 기존 관련 연구에서 문제가 된 시스템의 리소스 과다 사용을 통한 비효율성과 바이러스와 같은 외부 요인에 의한 부정확한 동작에 대한 문제를 부분적으로 해결한다. 본 논문에서는 평가를 위하여 비디오 회의 시스템에서 사용하는 파일 전송 모듈에 제안 방법론을 적용하였다. 개발자가 추가로 작성한 코드의 길이, 개발자가 만든 클래스의 수, 개발 시간을 제안 방법론 적용 전과 후를 비교하여 그 유효성을 확인하였다.

• Smart Structures and Systems
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• 제17권4호
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• pp.611-629
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• 2016

This study presents a new approach of surrogate modeling for time-consuming finite element analysis. A surrogate model is widely used to reduce the computational cost under an iterative computational analysis. Although a variety of the methods have been widely investigated, there are still difficulties in surrogate modeling from a practical point of view: (1) How to derive optimal design of experiments (i.e., the number of training samples and their locations); and (2) diagnostics of the surrogate model. To overcome these difficulties, we propose a sequential surrogate modeling based on Gaussian process model (GPM) with self-adaptive sampling. The proposed approach not only enables further sampling to make GPM more accurate, but also evaluates the model adequacy within a sequential framework. The applicability of the proposed approach is first demonstrated by using mathematical test functions. Then, it is applied as a substitute of the iterative finite element analysis to Monte Carlo simulation for a response uncertainty analysis under correlated input uncertainties. In all numerical studies, it is successful to build GPM automatically with the minimal user intervention. The proposed approach can be customized for the various response surfaces and help a less experienced user save his/her efforts.

• 대한전기학회논문지
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• 제37권9호
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• pp.655-662
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• 1988

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a deired trajectory in spite of the presence of nonlinearies and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which controls the extended linearized perturbaton model via the pole placement, and this control. The feasibility of the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.61-64
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS32OC50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator. In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters are determined by the pole-placement method. Performance of self-tuning adaptive controller is illustrated by the simulation and experiment for a SCARA robot.

• 한국생활과학회지
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• 제18권6호
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• pp.1209-1219
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• 2009

The purpose of this study examined the path model of maternal emotional expression, temperament and self-esteem on emotion regulation among children. The subjects were 487 5th and 6th graders. Data was gathered through questionnaires reported by children and their mothers and analyzed by structural equation modeling. The results showed that children's 'activity level' temperament and maternal negative emotional expression directly affected maladaptive emotion regulation. Children's 'emotionality' temperament and maternal positive emotional expression directly affected adaptive emotion regulation. Children's 'approach-flexibility' temperament and self-esteem directly affected both maladaptive and adaptive emotion regulation. Maternal emotional expression and children's self-esteem mediated between children's temperament and emotion regulation. Additionally, the most important variable predicting children's maladaptive emotion regulation was the children's 'activity level' temperament, and the most important variable for adaptive emotion regulation was the children's 'emotionality' temperament.

• 한국조명전기설비학회지:조명전기설비
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• 제9권6호
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• pp.49-56
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• 1995

In this study, self-tuning adaptive control using state observer is developed. Self-tuning adaptive controller that estimates the parameters of the system in real time and generates the optimal control signals has robust characteristic about varying load and external disturbances. In addition, state observer without sensors is applied, thus the control can be performed more quickly and exactly. Since chopper is used commonly in practical drives, the characteristics of the chopper are included in state observer algorithm, which, in turn, makes the system exact estimation. Since series type DC motor has nonlinear models, linearizing approach are investigated. to realize the proposed algorithm it requires fast calculation in real time. TMS320C31, digital signal processor, is applied to realized the adaptive control algorithms.