• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.40 no.1
• /
• pp.43-48
• /
• 2012

This paper proposes a practical linear recursive robust motion deblurring filter using the inertial sensor measurements for strapdown image seekers. The angular rate information obtained from the gyro mounted on the missile is used to define the PSF(point spread function). Since the gyro output contains a unknown but bounded bias error. the motion blur image model can be expressed as the linear uncertain system. In consequence, the motion deblurring problem can be cast into the robust Kalman filtering which provides reliable state estimates even in the presence of the parametric uncertainty due to the gyro bias. Through the computer simulations using the actual IR scenes, it is verified that the proposed algorithm guarantees the robust motion deblurring performance.

• Journal of the Korean Mathematical Society
• /
• v.54 no.2
• /
• pp.599-612
• /
• 2017

If ${\psi}$ is analytic on the open unit disk $\mathbb{D}$ and ${\varphi}$ is an analytic self-map of $\mathbb{D}$, the weighted composition operator $C_{{\psi},{\varphi}}$ is defined by $C_{{\psi},{\varphi}}f(z)={\psi}(z)f({\varphi}(z))$, when f is analytic on $\mathbb{D}$. In this paper, we study normal, cohyponormal, hyponormal and normaloid weighted composition operators on the Hardy and weighted Bergman spaces. First, for some weighted Hardy spaces $H^2({\beta})$, we prove that if $C_{{\psi},{\varphi}}$ is cohyponormal on $H^2({\beta})$, then ${\psi}$ never vanishes on $\mathbb{D}$ and ${\varphi}$ is univalent, when ${\psi}{\not\equiv}0$ and ${\varphi}$ is not a constant function. Moreover, for ${\psi}=K_a$, where |a| < 1, we investigate normal, cohyponormal and hyponormal weighted composition operators $C_{{\psi},{\varphi}}$. After that, for ${\varphi}$ which is a hyperbolic or parabolic automorphism, we characterize all normal weighted composition operators $C_{{\psi},{\varphi}}$, when ${\psi}{\not\equiv}0$ and ${\psi}$ is analytic on $\bar{\mathbb{D}}$. Finally, we find all normal weighted composition operators which are bounded below.

• Journal of the Korean Mathematical Society
• /
• v.39 no.5
• /
• pp.745-764
• /
• 2002

In this paper we Study a time-optimal model of pursuit in which the players move on a plane with bounded velocities. This game is supposed to be a nonzero-sum group pursuit game. The main point of the work is to construct and compare cooperative and non-cooperative solutions in the game and make a conclusion about cooperation possibility in differential pursuit games. We consider all possible cooperations of the players in the game. For that purpose for every game $\Gamma(x_0,y_0,z_0)$ we construct the corresponding game in characteristic function form $\Gamma_v(x_0,y_0,z_0)$. We show that in this game there exists the nonempty core for any initial positions of the players. The core can take four various forms depending on initial positions of the players. We study how the core changes when the game is proceeding. For the original agreement (an imputation from the original core) to remain in force at each current instant t it is necessary for the core to be time-consistent. Nonemptiness of the core in any current subgame constructing along a cooperative trajectory and its time-consistency are shown. Finally, we discuss advantages and disadvantages of choosing this or that imputation from the core.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.27 no.10
• /
• pp.53-59
• /
• 1990

In the control of robot manipulators, this paper presents a design of a new variable structure model following controller(VSMFC) using computed torque method (CTM). A sufficient condition for the existence of a sliding mode is derived by Lyapunov function. The reference model is a double integrators and the acceleration input consists of a proportional-derivative controller for the purpose of the stabilization of system and the desired performance. The proposed control scheme which consists of upper bounded and estimated value of each term of the manipulator of matrix inversion. Therefore the simulation results show that this controller is improved to the convergence of desired trajectories.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.40 no.1
• /
• pp.34-42
• /
• 2003

In this paper, the image restoration process is interpreted as a backward diffusion process and the restored image is given as the solution of the backward diffusion equation (BDF). The ill-posedness of the backward diffusion if subdued by manipulating the exponentially increasing coefficients of the eigenfunctions. In manipulating the coefficients the spectral characteristics of an image is taken into account. The proposed scheme uses an exponentially decreasing function of the coefficients of the eigenfunctions beyond a certain threshold which is optimal with respect to the observation accuracy. The use of decreasing functions also improves the result compared with the constant bounded algorithm since it can include more low frequency components.

• Journal of the Korea Society of Computer and Information
• /
• v.23 no.3
• /
• pp.85-92
• /
• 2018

We consider a project scheduling problem in which the jobs can be compressed by using additional resource to meet the corresponding due dates, referred to as a time-cost tradeoff problem. The project consists of two independent subprojects of which precedence graph is a chain. The due dates of jobs constituting the project can be interpreted as the multiple assessments in the life of project. The penalty cost occurs from the tardiness of the job, while it may be avoided through the compression of some jobs which requires an additional cost. The objective is to find the amount of compression that minimizes the total tardy penalty and compression costs. Firstly, we show that the problem can be decomposed into several subproblems whose number is bounded by the polynomial function in n, where n is the total number of jobs. Then, we prove that the problem can be solved in polynomial time by developing the efficient approach to obtain an optimal schedule for each subproblem.

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.900-907
• /
• 2000

The three-dimensional turbulent flow in curved pipes susceptible to flow-accelerated corrosion has been analyzed numerically to predict the pressure and shear stress distributions on the inner surface of the pipes. The analysis employs the body-fitted non-orthogonal curvilinear coordinate system and a standard $ {\kappa}-{\varepsilon}$ turbulence model with wall function method. The finite volume method is used to discretize the governing equations. The convection term is approximated by a high-resolution and bounded discretization scheme. The cell-centered, non-staggered grid arrangement is adopted and the resulting checkerboard pressure oscillation is prevented by the application of a modified version of momentum interpolation scheme. The SIMPLE algorithm is employed for the pressure and velocity coupling. The numerical calculations have been performed for two curved pipes with different bend angles and curvature radii, and discussions have been made on the distributions of the primary and secondary flow velocities, pressure and shear stress on the inner surface of the pipe to examine applicability of the present analysis method. As the result it is seen that the method is effective to predict the susceptible systems or their local areas where the fluid velocity or local turbulence is so high that the structural integrity can be threatened by wall thinning degradation due to flow-accelerated corrosion.

• Proceedings of the KSME Conference
• /
• 2000.11a
• /
• pp.576-583
• /
• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• Management Science and Financial Engineering
• /
• v.15 no.1
• /
• pp.51-69
• /
• 2009

A network model and a Genetic Algorithm (GA) is proposed to solve the simultaneous estimation of the trip distribution and traffic assignment from traffic counts in the congested networks in a logit-based Stochastic User Equilibrium (SUE). The model is formulated as a problem of minimizing a non-linear objective function with the linear constraints. In the model, the flow-conservation constraints are utilized to restrict the solution space and to force the link flows become consistent to the traffic counts. The objective of the model is to minimize the discrepancies between two sets of link flows. One is the set of link flows satisfying the constraints of flow-conservation, trip production from origin, trip attraction to destination and traffic counts at observed links. The other is the set of link flows those are estimated through the trip distribution and traffic assignment using the path flow estimator in the logit-based SUE. In the proposed GA, a chromosome is defined as a real vector representing a set of Origin-Destination Matrix (ODM), link flows and route-choice dispersion coefficient. Each chromosome is evaluated by the corresponding discrepancies. The population of the chromosome is evolved by the concurrent simplex crossover and random mutation. To maintain the feasibility of solutions, a bounded vector shipment technique is used during the crossover and mutation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.10
• /
• pp.779-787
• /
• 2016

A nonlinear control law for the quad-rotor of a low-complexity, global approximation-free from system uncertainties and external disturbances are described in this paper. The control law guarantees convergence to a small bounded error using a prescribed performance function. The stability of the proposed nonlinear control system is also proven by the Lyapunov stability theorem. The advantage of this technique is that it has a simpler form than any other nonlinear compensators and is applicable to any nonlinear systems without precise knowledge of the systems. In this paper, the proposed approach is applied to attitude/altitude control of a quad-rotor. Numerical simulations are performed to investigate the proposed nonlinear attitude control law by applying it to an uncertain quadcopter system with external disturbances.