• Journal of Communications and Networks
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• v.12 no.3
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• pp.253-265
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• 2010

The problem of pricing for a telecommunication network is investigated with respect to the users' sensitivity to the pricing structure. A functional optimization problem is formulated, in order to compute price reallocations as functions of data collected in real time during the network evolution. No a-priori knowledge about the users' utility functions and the traffic demands is required, since adaptive reactions to the network conditions are sought in real time. To this aim, a neural approximation technique is studied to exploit an optimal pricing control law, able to counteract traffic changes with a small on-line computational effort. Owing to the generality of the mathematical framework under investigation, our control methodology can be generalized for other decision variables and cost functionals.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.420-427
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• 2010

This paper describes a localization method based on Monte Carlo Localization approach for a mobile robot. The method uses range data which are measured from ultrasound transmitting beacons whose locations are given a priori. The ultrasound receiver on-board a robot detects the range from the beacons. The method requires several beacons, theoretically over three. The method proposes a sensor model for the range sensing based on statistical analysis of the sensor output. The experiment uses commercialized beacons and detector which are used for trilateration localization. The performance of the proposed method is verified through real implementation. Especially, it is shown that the performance of the localization degrades as the sensor update rate decreases compared with the MCL algorithm update rate. Though the method requires exact location of the beacons, it doesn't require geometrical map information of the environment. Also, it is applicable to estimation of the location of both the beacons and robot simultaneously.

• Industrial Engineering and Management Systems
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• v.1 no.1
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• pp.79-86
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• 2002

This paper proposes a new algorithm for estimating ARMA model parameters. In estimating ARMA model parameters, several methods such as generalized least square method, instrumental variable method have been developed. Among these methods, the utilization of a bootstrap type algorithm is known as one of the effective approach for the estimation, but there are cases that it does not converge. Hence, in this paper, making use of a cross correlation function and utilizing the relation of structural a priori knowledge, a new bootstrap algorithm is developed. By introducing theoretical relations, it became possible to remove terms, which is liable to include much noise. Therefore, this leads to robust parameter estimation. It is shown by numerical examples that using this algorithm, all simulation cases converge while only half cases succeeded with the previous one. As for the calculation time, judging from the fact that we got converged solutions, our proposed method is said to be superior as a whole.

• Journal of the Korean Mathematical Society
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• v.59 no.1
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• pp.13-33
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• 2022

The quaternionic Calabi conjecture was introduced by Alesker-Verbitsky, analogous to the Kähler case which was raised by Calabi. On a compact connected hypercomplex manifold, when there exists a flat hyperKähler metric which is compatible with the underlying hypercomplex structure, we will consider the parabolic quaternionic Monge-Ampère equation. Our goal is to prove the long time existence and C^∞ convergence for normalized solutions as t → ∞. As a consequence, we show that the limit function is exactly the solution of quaternionic Monge-Ampère equation, this gives a parabolic proof for the quaternionic Calabi conjecture in this special setting.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1589-1592
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• 1997

Among the prerequisite abilities (perception of environment, path planning and position estimation) of an autonomous mobile robot, position estimation has been seldom studied by mobile robot researchers. In most cases, conventional positioin estimation has been performed by placing landmarks or giving the entrire environmental information in advance. Unlikely to the conventional ones, the study addresses a new method that the robot itself can select distinctive features in the environment and save them as landmarks without any a priori knowledge, which can maximize the autonomous behavior of the robot. First, an orjentaion probaility model is applied to construct a lcoal map of robot's surrounding. The feature of the object in the map is then extracted and the map is saved as landmark. Also, presented is the position estimation method that utilizes the correspondence between landmarks and current local map. In dong this, the uncertainty of the robot's current positioin is estimated in order to select the corresponding landmark stored in the previous steps. The usefulness of all these approaches are illustrated with the results porduced by a real robot equipped with ultrasonic sensors.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.1
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• pp.95-104
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• 1999

In this paper we propose a fast and precise control algorithm for a mobile robot, which aims at the self-tuning control applying two multi-layered neural networks to the structure of computed torque method. Through this algorithm, the nonlinear terms of external disturbance caused by variable task environments and dynamic model errors are estimated and compensated in real time by a long term neural network which has long learning period to extract the non-linearity globally. A short term neural network which has short teaming period is also used for determining optimal gains of PID compensator in order to come over the high frequency disturbance which is not known a priori, as well as to maintain the stability. To justify the global effectiveness of this algorithm where each of the long term and short term neural networks has its own functions, simulations are peformed. This algorithm can also be utilized to come over the serious shortcoming of neural networks, i.e., inefficiency in real time.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.530-535
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• 2004

This paper considers a state set estimation (SSE) based model predictive control (MPC) for linear parameter- varying (LPV) systems with input constraint. We estimate, at each time instant, a feasible set of all states which are consistent with system model, measurements and a priori information, rather than the state itself. By combining a state-feedback MPC and an SSE, we design an SSE-based MPC algorithm that stabilizes the closed-loop system. The proposed algorithm is solved by semi-de�nite program involving linear matrix inequalities. A numerical example is included to illustrate the performance of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.258-264
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• 2009

This paper presents two control algorithms for the frequency and amplitude of the resonator of a micro sensor. One algorithm excites the resonator at its a priori unknown resonant frequency, and the other algorithm alters the resonator dynamics to place the resonant frequency at a fixed frequency, chosen by the designer. Both algorithms maintain a specified amplitude of oscillations. The control system behavior is analyzed using an averaging method, and a quantitative criterion is provided for the selecting the control gain to achieve stability. Tracking and estimation accuracy of the natural frequency under the presence of measurement noise is also analyzed. The proposed control algorithms are applied to the MEMS dual-mass gyroscope without mechanical connecting beam between two proof-masses. Simulation results show the effectiveness of the proposed control algorithms which guarantee the proof-masses of the gyroscope to move in opposite directions with the same resonant frequency and oscillation amplitude.

• Journal of Digital Convergence
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• v.6 no.4
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• pp.177-183
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• 2008

This paper aims to offer a solution based on intelligent document classification to create a user-centric information retrieval system allowing user-centric linguistic expression. So, structures expressing user intention and fine document classifying process using EBL, similarity, knowledge base, user intention, are proposed. To overcome the problem requiring huge and exact semantic information, a hybrid process is designed integrating keyword, thesaurus, probability and user intention information. User intention tree hierarchy is build and a method of extracting group intention between key words and user intentions is proposed. These structures and processes are implemented in HDCI(Hybrid Document Classification with Intention) system. HDCI consists of analyzing user intention and classifying web documents stages. Classifying stage is composed of knowledge base process, similarity process and hybrid coordinating process. With the help of user intention related structures and hybrid coordinating process, HDCI can efficiently categorize web documents in according to user's complex linguistic expression with small priori information.

• Journal of Urban Science
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• v.6 no.2
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• pp.11-16
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• 2017

Giuseppe Terragni was one of the founding member and a leading Italian Rationalist pursued a new and more rational synthesis between the nationalistic values of Italian Classicism and structural logic of the machine age. Casa Giuliani Frigerio, a four-story apartment housing in Como, is one of his last major work and is worth to investigate the composition of facades in terms of ambiguity. Unlike the Casa del Fascio, it is never possible to read an priori whole and to allow static and unified readings in a traditional alignment. Due to its misalignments found within the facades of Casa Giuliani Frigerio, it is evident to present unstable and disjunctive readings. These distinctive facades are read as layers applied onto some equally unstable underlying layer and form an ensemble of unexpected unity.