• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.29B no.3
• /
• pp.25-34
• /
• 1992

This paper proposes a Self-Tuning control algorithm for tracking the reference trajectory by measuring the end-point of robot manipulator whose links are light and flexible, and the performance of it is tested through the computer simulation. As an object of system, a flexible robot manipulator with two-links is considered and an assumed mode shape method including gravity force is adopted to analyze the vibration modes for each links and dynamics equation is derived. The controller is designed as a combined form which consists of dynamic feedforward compensator and self-tuning feedback controller. The one supplies nominal torque and the other supplies variational torque to manipulator. Apart from the, K-incremental predictor is also proposed in order to eliminate the offset error. and it shows that the result of simulation adapted well to load change and rapid velocity.

• Smart Media Journal
• /
• v.13 no.6
• /
• pp.44-53
• /
• 2024

Companies in modern society are increasingly recognizing sentiment classification as a crucial task, emphasizing the importance of accurately understanding consumer opinions opinions across various platforms such as social media, product reviews, and customer feedback for competitive success. Extensive research is being conducted on sentiment classification as it helps improve products or services by identifying the diverse opinions and emotions of consumers. In sentiment classification, fine-tuning with large-scale datasets and pre-trained language models is essential for enhancing performance. Recent advancements in artificial intelligence have led to high-performing sentiment classification models, with the ELECTRA model standing out due to its efficient learning methods and minimal computing resource requirements. Therefore, this paper proposes a method to enhance sentiment classification performance through efficient fine-tuning of various datasets using the KoELECTRA model, specifically trained for Korean.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2000.10a
• /
• pp.144-147
• /
• 2000

Controller refinement scheme to improve the performance of a conventional system automatically in frequency domain is proposed. The controller automatic tuning method features using experimental frequency responses of the conventional closed-loop system the conventional controller, and the improved closed-loop system, instead of poorly modeled plant due to non-linearities and disturbances. The improved closed-loop system characteristics is automatically acquired by the conventional closed-loop system characteristics and the proposed performance index in system bandwidth. And the proper controller is realized by least squares approximation in frequency domain. To testify the usefulness of the approach, the path tracking control of robot arm is performed. Experimental results and analytic results are well-matched.

• Proceedings of the KIEE Conference
• /
• 2001.07e
• /
• pp.141-145
• /
• 2001

In this paper, model reference PID genetic controller was proposed in order to overcome the difficulty of reflecting control performance required in the overall control system and defects of the adaptation performance in the PID genetic controller. The proposed controller comprised Inner feedback loop consisting of the PID controller and plant, and outer loop consisting of an genetic algorithm which was designed for tuning a parameter of the controller. A reference model was used for design criteria of a PID controller which characterizes and quantizes the control performance required in the overall control system. Tuning parameter of the controller is performed by the genetic algorithm. The performance of proposed algorithm was verified through experiment for the DC servo motor.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.1322-1326
• /
• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confirmed by simulation of the contour tracking task of four joint manipulator.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
• /
• 2001.11a
• /
• pp.257-261
• /
• 2001

This paper presents the implementation of wide-band RFIC amplifier operating from near 50MHz to 3GHz using Tachyonics SiGe HBT foundry. Voltage shunt feedback is used for the flat gain and the broad band impedance matching. Initial design parameters are calculated using the low frequency small signal analysis. Since the HBT model was not available at the design time, discrete tuning board was made for fine tuning in the low frequency range. Fabricated amplifier shows 12dB gain with 1dB fluctuation and PldB reaches 15dBm at 850MHz.

• ETRI Journal
• /
• v.31 no.6
• /
• pp.755-764
• /
• 2009

This paper presents a switched self-biasing and a tail current-shaping technique to suppress the 1/f noise from a tail current source in differential cross-coupled inductance-capacitance (LC) voltage-controlled oscillators (VCOs). The proposed LC VCO has an amplitude control characteristic due to the creation of negative feedback for the oscillation waveform amplitude. It is fabricated using a 0.13 ${\mu}m$ CMOS process. The measured phase noise is -117 dBc/Hz at a 1 MHz offset from a 4.85 GHz carrier frequency, while it draws 6.5 mA from a 0.6 V supply voltage. For frequency tuning, process variation, and temperature change, the amplitude change rate of the oscillation waveform in the proposed VCO is 2.1 to 3.2 times smaller than that of an existing VCO with a fixed bias. The measured amplitude change rate of the oscillation waveform for frequency tuning from 4.55 GHz to 5.04 GHz is 131 pV/Hz.

• Proceedings of the KIEE Conference
• /
• 1990.07a
• /
• pp.514-517
• /
• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confined by simulation of the contour tracking task of four joint manipulator.

• Proceedings of the KIEE Conference
• /
• 2006.07d
• /
• pp.1840-1841
• /
• 2006

Plants with long time-delays can not be often controlled effectively using a simple PID controller. The main reason for this is that the additional phase lag contributed by the time-delay tends to destabilize the closed-loop system. The stability problem can be solved by smith predictor. However, in this case responses are very sensitive to the estimated model errors. To reduce sensitive problem, this paper is presented based on virtual reference feedback tuning of the time delay plant using the closed-loop test to find parameters for a PID controller using the closed-loop test data.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1993.06a
• /
• pp.1195-1198
• /
• 1993

We investigate a systematic design procedure of automated rule generation of fuzzy logic based controller for uncertain dynamic systems such as an engine dynamic model.“Automated Tuning”means autonomous clustering or collection of such meaningful transitional relations in the state-space. Optimal control strategies are included in the design procedures, such as minimum squared error, minimum time, minimum energy or combined performance criteria. Fuzzy feedback control systems designed by the cell-state transition method have the properties of closed-loop stability, robustness under parameter variabtions, and a certain degree of optimality. Most of all, the main advantage of the proposed approach is that reliability can be potentially increased even if a large grain of uncertainty is involved within the control system under consideration. A numerical example is shown in which we apply our strategic fuzzy controller design to a highly nonlinear model of engine idle speed contr l.