• Journal of the Institute of Convergence Signal Processing
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• v.23 no.4
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• pp.185-193
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• 2022

This paper proposes an adaptive sliding mode control with radial basis function neural network(RBFNN) scheme to enhance the performance of position and attitude tracking control of quadrotor UAV. The RBFNN is utilized on the approximation of nonlinear function in the UAV dynmic model and the weights of the RBFNN are adjusted online according to adaptive law from the Lyapunov stability analysis to ensure the state hitting the sliding surface and sliding along it. In order to compensate the network approximation error and eliminate the existing chattering problems, the sliding mode control term is adjusted by adaptive laws, which can enhance the robust performance of the system. The simulation results of the proposed control method confirm the effectiveness of the proposed controller which applied for a nonlinear quadrotor UAV is presented. Form the results, it's shown that the developed control system is achieved satisfactory control performance and robustness.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.6
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• pp.789-799
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• 1999

In this paper, the optimization of fuzzy inference systems is proposed for fuzzy model of nonlinear systems. A fuzzy model needs to be identified and optimized by means of the definite and systematic methods, because a fuzzy model is primarily acquired by expert's experience. The proposed rule-based fuzzy model implements system structure and parameter identification using the HCM(Hard C-mean) clustering method, genetic algorithms and fuzzy inference method. Two types of inference methods of a fuzzy model are the simplified inference and linear inference. in this paper, nonlinear systems are expressed using the identification of structure such as input variables and the division of fuzzy input subspaces, and the identification of parameters of a fuzzy model. To identify premise parameters of fuzzy model, the genetic algorithms is used and the standard least square method with the gaussian elimination method is utilized for the identification of optimum consequence parameters of fuzzy model. Also, the performance index with weighting factor is proposed to achieve a balance between the performance results of fuzzy model produced for the training and testing data set, and it leads to enhance approximation and predictive performance of fuzzy system. Time series data for gas furnace and sewage treatment process are used to evaluate the performance of the proposed model.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.351-358
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• 2015

This paper presents an effective damage detection method using a meta model. A meta model is an approximation model that uses the relations between the design and response variables. It eliminates the need for repetitive analyses of computationally expensive models during the optimization process. In this study, a response surface model was employed as the meta model. The surface model was estimated using the correlation of the stiffness and natural frequencies of the structures. The locations and values of the damages were identified using a meta model-based damage detection method. Two numerical examples (a cantilever beam and jacket structure) were considered to verify the performance of the proposed method. As a result, the damages to the structures were accurately detected.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.2
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• pp.177-187
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• 2016

To evaluate the tractive performance of tracked trencher on seafloor surface, a new shear stress-displacement empirical model was proposed for saturated soft-plastic soil (SSP model). To validate the SSP model, a test platform, where track segment shear test can be performed in seafloor soil simulacrum (bentonite water mixture), was built. Series shear tests were carried out. Test results indicate that the SSP model can describe the mechanical behavior of track segment with good approximation in seafloor soil simulacrum. Through analyzing the main external forces applied to seafloor tracked trencher during the uniform linear trenching process, a drawbar pull prediction model was deduced with the SSP model. A tracked walking mechanism of the seafloor tracked trencher prototype was built, and verification tests were carried out. Test results indicate that this prediction model was feasible and effective; moreover, from another side, this conclusion also proved that the SSP model was effective.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1726-1729
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• 1997

In general, the solvability of linear robust output regulation problem are not preserved under time-sampling. Thus, it is found that the digital regulator implemented by itme-sampling of anlog output regulator designed based on the continuous-time linear system model is nothing but a 1st order approximation with respect to time-sampling. By the way, one can design an improved sampled-data regulator with respect to sampling time by utilizing the intrinsic structure of the system. In this paper, we study the system structures which it is possible to design an improved sampled-data regulator with respect to sampling time.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2001.10a
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• pp.138-143
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• 2001

Based on mild slope equation and parabolic approximation the forward diffraction of monochromatic waves by a straight breakwater are studied numerically. The characteristics and effects of stem wave along breakwater and the relations between the stem wave and incident wave angle are discussed.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.3 no.1
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• pp.1-15
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• 1999

Gradient recovery techniques for the second order elliptic boundary value problem are well known. In particular, the Midpoint and the Vertex Recovery Operator have been studied by various authors and under suitable assumptions on the regularity of the unknown solution superconvergence property of these recovered gradients have been proved. In this paper we extend these results to the recovered gradient of the finite element approximation to a model initial-boundary value problem, and go on to prove superconvergence result for this recovered gradient in a discrete (in time) error norm.

• Journal of the Korean Operations Research and Management Science Society
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• v.19 no.3
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• pp.93-109
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• 1994

Even though sojourn time distributions are essential information in analyzing queueing networks, there are few methods to compute them accurately in non-product form queueing networks. In this study, we model the location process of a typical customer as a GMPH semi-Markov chain and develop computationally useful formula for the transition function and the first-passage time distribution in the GMPH semi-Markov chain. We use the formula to develop an effcient method for approximating sojourn time distributions in the non-product form queueing networks under quite general situation. We demonstrate its validity through numerical examples.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.474-477
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• 1995

In this paper, the nonlinear model of axial electro-magnetic suspension(EMS) system is presented. The characteristic of attracyion force is analyzed by FEM. Some simulation is given to compare the sliding mode control based on the input-output linearization with the classical linear control using Taylor approximation. Real result of regulating control, transient response comparison, and robustness control with disturbance using the sliding mode method is presented.

• Korean Journal of Mathematics
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• v.25 no.1
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• pp.71-85
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• 2017

This paper introduces a novel extension of soft rough fuzzy set so-called modified soft rough fuzzy set model in which new lower and upper approximation operators are presented together their related properties that are also investigated. Eventually it is shown that these new models of approximations are finer than previous ones developed by using soft rough fuzzy sets.