• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.488-493
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• 1994

The global stability of model reference adaptive control system (MRACS) in the ideal case was resolved in the 1980's. Hoever the improvement of the transient, behaviour of MRACS has not been discussed sufficiently even in the ideal case. Only a few attempts have so far been made at the application of MRACS to the practical systems in contrast to the theoretical systematization. Therefore, when we consider the practical usage of MRACS it is necessary to develop an improved design scheme with respect to transient behaviour. In this paper, we propose two design schemes improving transient behaviour of MRACS by mollifying the input synthesis in the conventional design scheme of MRACS. We present a design scheme of MRACS in which we utilize the design approach of variable structure system(VSS). After describing the above design scheme, we also propose the improved design scheme in which we introduce the dead-zone decided by the magnitude of the output-error between the plant and the reference model. The effectiveness of the proposed two design schemes are shown through computer simulations. As the results, by using these methods, the convergence of the transient response is greatly improved in comparison with the conventional one.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1911-1916
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• 2005

In this study, the basic motor control system had been investigated. The Discrete-Time Feedback Error Learning (DTFEL) method is used to control this system. This method is anologous to the original continuous-time version Feedback Error Learning(FEL) control which is proposed as a control model of cerebellum in the field of computational neuroscience. The DTFEL controller consists of two main parts, a feedforward controller part and a feedback controller part. Each part will deals with different control problems. The feedback controller deals with robustness and stability, while the feedforward controller deals with response speed. The feedforward controller, used to solve the tracking control problem, is adaptable. To make such the tracking perfect, the adaptive law is designed so that the feedforward controller becomes an inverse system of the controlled plant. The novelty of FEL method lies in its use of feedback error as a teaching signal for learning the inverse model. The PD control theory is selected to be applied in the feedback part to guarantee the stability and solve the robust stabilization problems. The simulation of each individual part and the integrated one are taken to clarify the study.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.328-336
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• 2012

In this paper, we propose a robust fingertip extraction and extended Continuously Adaptive Mean Shift (CAMSHIFT) based robust hand gesture recognition for natural human-like HRI (Human-Robot Interaction). Firstly, for efficient and rapid hand detection, the hand candidate regions are segmented by the combination with robust $YC_bC_r$ skin color model and haar-like features based adaboost. Using the extracted hand candidate regions, we estimate the palm region and fingertip position from distance transformation based voting and geometrical feature of hands. From the hand orientation and palm center position, we find the optimal fingertip position and its orientation. Then using extended CAMSHIFT, we reliably track the 2D hand gesture trajectory with extracted fingertip. Finally, we applied the conditional density propagation (CONDENSATION) to recognize the pre-defined temporal motion trajectories. Experimental results show that the proposed algorithm not only rapidly extracts the hand region with accurately extracted fingertip and its angle but also robustly tracks the hand under different illumination, size and rotation conditions. Using these results, we successfully recognize the multiple hand gestures.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.1
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• pp.83-89
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• 2000

Antenna arrays at base-stations can be used to transmit and receive information selectively in space by reducing the interference effects. In this paper, a new model of locally scattered signals in the vicinity of mobiles is proposed, and under this model the weights of the beamformer are obtained. Computer simulation results demonstrate that the proposed scheme shows an excellent performance and works well even in the urban environment where there exist many multipath propagations with wide angular spread.

• Convergence Security Journal
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• v.9 no.2
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• pp.1-6
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• 2009

Most diagnosis algorithms have been done using the characteristic of t-diagnosable system based on PMC model. But as parallel systems grow fast, more faulty units occur in the system. Previous researches are done on the assumption of small number of faulty units in the system. There have been little studies on the system where number of faulty units exceed t. In this study, we assume the number of faulty units exceed t and there exist small number of nodes where the correctness of diagnosis can't be decided, then we propose an algorithm which increase the maximum number of faulty units in diagnosis system.

• The Transactions of the Korean Institute of Power Electronics
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• v.23 no.3
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• pp.174-181
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• 2018

This study introduces a systematic approach to selecting the internal parameters applied to the equivalent electrical-circuit model (EECM) of a lithium titanium oxide ($Li_4Ti_5O_{12}$; LTO) rechargeable cell. Based on the dynamic characteristic of the cell, a simplified EECM consisting of an open-circuit voltage (OCV), an ohmic resistance, and an RC ladder is fabricated. To select the internal parameters of a simplified EECM, experiments on discharge capacity, OCV, and discharge/charge resistances are performed using hybrid pulse power characterization and direct current internal resistance (DCIR) measurements over the full state-of-charge (SOC) range. The experimental results of the LTO rechargeable cell highlight the importance of correct selection of internal parameters that can reduce EECM errors. This study clearly provides experimental procedures, internal parameters results, and EECM guidelines for adaptive control-based SOC estimation for LTO rechargeable cells.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39A no.2
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• pp.92-99
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• 2014

This paper proposes the method of facial expression recognition based on decision tree structure. In the image of facial expression, ASM(Active Shape Model) and LBP(Local Binary Pattern) make the local features of a facial expressions extracted. The discriminant features gotten from local features make the two facial expressions of all combination classified. Through the sum of true related to classification, the combination of facial expression and local region are decided. The integration of branch classifications generates decision tree. The facial expression recognition based on decision tree shows better recognition performance than the method which doesn't use that.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.4C
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• pp.447-453
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• 2007

In the multipath fading channel, OFDM(Orthogonal Frequency Division Multiplexing)system possess the characteristics of ISI/ICIwith prefix, but a weak point of circuit complexity and PAPR problem. SC-FDE(Single Carrier with Frequency Domain Equalization) performance is similar to OFDM system, but equalizer is complex in frequency domain. In this paper, simple proportional equalizer offer for SC-FDE system, it useful method in the $2GHz{\sim}\;10GHz$ channel model such as indoor, outdoor, SUI. It prove using MATLAB simulation, speed faster then OFDM system, reduce terminal complexity in same test condition.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.9
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• pp.626-634
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• 2000

The paper describes a new and rigorous mathematical model using counter-EMF for the rotor field oriented system with induction motor which uses the estimated speed and rotor flux based on a Model Reference Adaptive System as well as the real-time approach. The estimated speed and rotor flux is used for the speed and flux feedback control. The stability and the convergence of the estimator are improved on the basis of hyperstability theory for non-linear systems. The validity of the proposed method is verified by simulation and also the sensorless control was tested on the propulsion system simulator used for the development of Korean High-Speed Railway Train(KHSRT).

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2432-2434
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• 2004

In this paper, we present a novel approach for the structure of Fuzzy Neural Network(FNN) based on wavelet function and apply this network structure to the solution of the tracking problem for mobile robots. Generally, the wavelet fuzzy model(WFM) has the advantage of the wavelet transform by constituting fuzzy basis function(FBF) and the conclusion part to equalize the linear combination of FBF with the linear combination of wavelet functions. However, it is very difficult to identify the fuzzy rules and to tune the membership functions of the fuzzy reasoning mechanism. Neural networks, on the other hand, utilize their learning capability for automatic identification and tuning. Therefore, we design a wavelet based FNN structure(WFNN) that merges these advantages of neural network, fuzzy model and wavelet. To verify the efficiency of our network structure, we evaluate the tracking performance for mobile robot and compare it with those of the FNN and the WFM.