• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제16권2호
• /
• pp.95-103
• /
• 2016

In a dynamic environment autonomous robots often encounter unexpected situations that the robots have to deal with in order to continue proceeding their mission. We propose an adaptive goal-based model that allows cyber-physical systems (CPS) to update their environmental model and helps them analyze for attainment of their goals from current state using the updated environmental model and its capabilities. Information exchange approach utilizes Human-Agent-Robot-Machine-Sensor (HARMS) model to exchange messages between CPS. Model validation method uses NuSMV, which is one of Model Checking tools, to check whether the system can continue its mission toward the goal in the given environment. We explain a practical set up of the model in a situation in which homogeneous robots that has the same capability work in the same environment.

• 한국음향학회지
• /
• 제25권7호
• /
• pp.319-324
• /
• 2006

본 논문에서는 화자독립 가변어휘 핵심어 검출기의 성능을 개선하기 위하여 두 가지의 새로운 비핵심어 모델링 방법을 제안한다. 첫째는 K-means 알고리즘 기반 monophone 군집화 방법을 개선하기 위해 monophone을 state단위로 결정트리를 기반으로 군집화하여 비핵심어를 모델링하는 방법이다. 둘째는 single state multiple mixture 방법을 개선하기 위해 음절단위 multi-state multiple mixture 방법으로 모델링하는 방법이다. 실험에서 ETRI 표준 한국어 공통음성 단어 DB를 이용하여 트라이폰 모델을 훈련하였고, 훈련에 사용하지 않은 음성데이터를 이용하여 핵심어 검출closed 테스트를 수행하였다. 그리고 사무실 환경에서 4명의 화자가 각각 100문장씩 발성한 400문장의 음성데이터를 이용하여 100단어 핵심어 검출 open 테스트를 수행하였다. 실험 결과 결정트리기반 상태 군집화 방법이 기존의 K-means 알고리듬 기반 monophone clustering 방법보다 핵심어 검출 성능이 28%/29%(closed/open test) 향상되었다 그리고 음절단위 multi-state multiple mixture 방법이 비핵심어 전체를 single state 모델로 구성하는 방법보다 핵심어 검출 성능이 22%/2%(closed/open test) 향상됨으로써 본 논문에서 제안한 두 가지 알고리듬이 우수한 결과를 나타내었다

• 천문학회보
• /
• 제41권1호
• /
• pp.44.2-44.2
• /
• 2016

The solar wind electrons are made of three or four distinct components, which are core Maxwellian background, isotropic halo, and super-halo (and sometimes, highly field-aligned strahl component which can be considered as a fourth element). We put forth a steady-state model for the solar wind electrons by considering both the steady-state particle and wave kinetic equations. Since the steady-state solar wind electron VDFs and the steady-state wave fluctuation spectrum are related to each other, we also investigate the complete fluctuation spectra in the whistler and Langmuir frequency ranges by considering halo- and superhalo-like model electron VDFs. It is found that the energetic electrons make important contributions to the total emission spectrum. Based on this, we complete the steady-state model by considering both the whistler and Langmuir fluctuations. In particular, the Langmuir fluctuation plays an important role in the formation and maintenance of nonthermal electrons.

• 한국음향학회지
• /
• 제34권2호
• /
• pp.171-176
• /
• 2015

본 논문에서는 Hidden Markov Model(HMM) - Universal Background Model(UBM)의 주 상태 정보 기반의 i-vector 추출 기술을 제안한다. Ergodic HMM이 UBM을 추정하는데 쓰였으며, 이를 통해 동일 화자 음성에도 다양하게 존재하는 특성을 HMM states로 분류할 수 있다. 제안한 방법을 이용하면 HMM의 state 개수에 따라 i-vector 들이 추출되는데, 주 상태 정보 방법을 통해 이들 중 하나를 선택한다. 제안한 방법을 검증하기 위해 National Institute of Standards and Technology(NIST) Speaker Recognition Evaluation(SRE) database를 이용하여 실험을 하였으며, Equal Error Rate(EER) 성능 수치에서 12 %의 성능 향상을 확인할 수 있었다.

• 대한전기학회논문지:전력기술부문A
• /
• 제48권5호
• /
• pp.607-614
• /
• 1999

This paper deals with the design problem of the state estimator for servo system. The servo system has input time delay which depends on the computational time of control algorithm. The delayed input is a factor that brings out the state estimation error. So in order to reduce the state estimation error of the system, we propose a state estimator in which the delayed input of the system is considered. For this purpose, discrete time state space model is established accounting for the delayed input and a state estimator is designed based on this model. Kalman filter algorithm is employed in the design of the state estimator. The proposed estimator is used in the speed control of servo system with delayed input. Performance of the proposed state estimator is exemplified via simulations and experiments for servo system. Also, robustness of the proposed estimator to modeling error by variation of the system parameters is also shown in simulations.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 B
• /
• pp.528-530
• /
• 1999

This paper addresses the analysis and design of fuzzy control systems for a class of complex single input single output nonlinear systems. Firstly, the nonlinear system is represented by well-known Takagai-Sugeno (TS) fuzzy model and the global controller is constructed by compensating each linear model in the rule of TS fuzzy model. The design of conventional TS fuzzy-model-based controller usually is composed of two processes. One is to determine static state feedback gain of each local model and the other is to validate the stability of the designed fuzzy controller. In this paper, we propose an alternative of the design of TS fuzzy-model-based controller. The design scheme is based on the extension of conventional optimal control theory to the design of TS fuzzy-model-based controller. By using the proposed method the design and stability analysis of the TS fuzzy model-based controller is reduced to the problem of finding the solution of a set of algebraic Riccati equations. And we use the recently developed interior point method to find the solution of AREs, where AREs are recast as the LMI formulation. One simulation example is given to show the effectiveness and feasibility of the proposed fuzzy controller design method.

• Journal of Power Electronics
• /
• 제18권5호
• /
• pp.1398-1408
• /
• 2018

In order to further improve the steady-state control performance of model predictive torque control (MPTC), a double-vector-based model predictive torque control without a weighting factor is proposed in this paper. The extended voltage vectors synthesized by two basic voltage vectors are used to increase the number of feasible voltage vectors. Therefore, the control precision of the torque and the stator flux along with the steady-state performance can be improved. To avoid testing all of the feasible voltage vectors, the solution of deadbeat torque control is calculated to predict the reference voltage vector. Thus, the candidate voltage vectors, which need to be evaluated by a cost function, can be reduced based on the sector position of the predicted reference voltage vector. Furthermore, a cost function, which only includes a reference voltage tracking error, is designed to eliminate the weighting factor. Moreover, two voltage vectors are applied during one control period, and their durations are calculated based on the principle of reference voltage tracking error minimization. Finally, the proposed method is tested by simulations and experiments.

• 한국멀티미디어학회논문지
• /
• 제16권1호
• /
• pp.75-86
• /
• 2013

본 논문은 많은 주변장치와 인터페이스 되는 단일칩 마이크로컨트롤러로 구현되는 임베디드시스템을 인터럽트를 사용하여 다중 유한상태기계로 모델링하고 구현하는 방법을 제시한다. 다중 상태기계 모델은 하드웨어설계에 사용되는 FSMD 구조와 인터럽트에 의한 흐름제어 특징을 이용한다. 주 프로그램은 주상태기계에 대응하고, 부상태기계는 인터럽트 서비스루틴에 대응한다. 따라서 주변장치에서 발생하는 인터럽트는 부상태기계에서 신속히 처리될 수 있다. 유한상태기계 사이의 인터페이스는 요청과 응답 변수를 사용한다. 주상태기계와 부상태기계 사이의 콘텍스트 스위칭은 인터럽트에 의한 하드웨어 흐름제어로 대치될 수 있어 별도의 운영체제가 필요하지 않다. ASM 차트를 사용하여 다중 유한상태기계로 모델링된 임베디드시스템은 C언어 프로그램으로 변환시켜 쉽게 구현될 수 있다. 이 구현 방법은 모델링이 구체적고 부상태기계에서 인터럽트에 신속히 반응할 수 있어 하드웨어가 많이 사용되는 내장형시스템에 쉽게 적용될 수 있다.

• Transactions on Control, Automation and Systems Engineering
• /
• 제3권1호
• /
• pp.32-42
• /
• 2001

In this paper, a parameter estimator is developed for the plant model whose structure is represented by the Takagi-Sugeno model. The essential idea behind the on-line estimation is the comparison of the measured stated with the state of an estimation model whose structure is the same as that of the parameterized model. Based on the parameter estimation scheme, and indirect Model Reference Adaptive Fuzzy control(MRAFC) scheme is proposed to provide asymptotic tracking of a reference signal for the systems with uncertain for slowly time-varying parameters. The developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop systems. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal.

• Journal of Magnetics
• /
• 제20권3호
• /
• pp.273-283
• /
• 2015

In this study, we propose an analytical model for studying magnetic fields in radial-flux permanent-magnet eddy-current couplings by considering the effects of slots and iron-core protrusions on the eddy currents. We focus on the analytical prediction of the air-gap field by considering the influence of eddy currents induced in conducting bars. In the proposed model, the permanent magnet region is treated as the source of a time-varying magnetic field and the moving-conductor eddy current problem is solved based on the resolution of time-harmonic Helmholtz equations. The spatial harmonics in the air gap and in slots, as well as the time harmonics are all considered in the analytical calculation. Based on the proposed field model, the electromagnetic torque is computed by using the Maxwell stress tensor method. Nonlinear finite element analysis is performed to validate the analytical model. The proposed model can be used for permanent-magnet eddy-current couplings with any slot-pole combination.