• 한국정밀공학회지
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• 제14권6호
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• pp.90-98
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• 1997

A time-optimal control law for quick, strongly nonlinear systems has been developed and demonstrated. This procedure involves the utilzation of neural networks as state feedback controllers that learn the time-optimal control actions by means of an iterative minimization of both the final time and the final state error for the systems with constrained inputs and/or states. A neural identifier or a genetic algorithm identifier could be utilized for modeling the partially known systems and the unknown systems. The nature of neural networks as a parallel processor would circumvent the problem of "curwe of dimensionality". The control law has been demonstrated for both a torque input motor and a velocity input motor identified by a genetic algorithm called GENOCOPed GENOCOP.

• 전기의세계
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• 제49권9호
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• pp.9-16
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• 2000

A receding horizon $H_{\infty}$ predictive control method is derived by solving a min-max problem in non-recursive forms. The min-max cost index is converted to a quadratic form which for systems with input saturation can be minimized using QP. Through the use of closed-loop prediction the prediction of states the use of closed-loop prediction the prediction of states in the presence of disturbances are made non-conservative and it become possible to get a tighter $H_{\infty}$ norm bound. Stability conditions and $H_{\infty}$ norm bounds on disturbance rejection are obtained in infinite horizon sence. Polyhedral types of feasible sets for sets and disturbances are adopted to deal with the input constraints. The weight selection procedures are given in terms of LMIs and the algorithm is formulated so that it can be solved via QP. This work is a modified version of an earlier work which was based on ellipsoidal type feasible sets[15].

• 대한전자공학회논문지SP
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• 제49권3호
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• pp.74-80
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• 2012

고정 비트율을 사용하는 resolution-constrained quantization 방식은 입력 데이터 분포에 따라 보로노이 셀의 크기가 달라지므로 이상 신호왜곡 (distortion outliers)을 발생시킨다. 본 논문에서는 generalized Lloyd algorithm (GLA)과 cell-size constrained vector quantization (CCVQ) 방식을 결합하여 이상 신호왜곡을 줄이는 벡터 양자화 방식을 제안한다. 즉, 왜곡에 대한 문턱 값에 따라서 데이터 분포를 내부와 외부영역으로 나누고, 각각 CCVQ와 GLA 방식을 사용하여 학습하도록 한다. 데이터 분포가 높은 내부영역에 CCVQ 방식을 사용하게 됨에 따라 GLA를 사용하는 외부영역에서 사용이 가능한 셀의 개수가 늘어나게 되며, 이로 인해 이상 신호왜곡을 줄일 수 있었다. 또한, 실제 코딩 환경에서는 일반적으로 training과 test 데이터의 분포가 다르게 나타나는 소스 불일치 (source mismatch) 문제가 발생하게 된다. 제안하는 방식은 source mismatch 문제로 인해 일어나는 신호왜곡과 이상 신호왜곡에 대해서도 성능 개선을 가능하게 하였다.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제12권12호
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• pp.363-370
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• 2023

도로와 주변의 상황을 정확히 인지하는 객체탐지 기술은 자율주행 분야에 핵심적인 기술이다. 자율주행 분야에 객체탐지 기술은 추론 서비스의 정확도와 함께 실시간성도 요구된다. 고성능 머신이 아닌 자원제약 기기에서 정확도와 함께 실시간성을 위한 객체탐지 기술을 적용하기 위해서는 태스크 오프로딩 기술을 활용해야 한다. 본 논문에서는 자원 제약적 기기에서 자율주행의 실시간 객체탐지를 위한 태스크 오프로딩 적용과 관련하여 태스크 오프로딩의 성능 비교, 입력 이미지 해상도에 따른 성능 비교, 카메라 객체 해상도에 따른 성능 비교 등의 실험을 수행하고 결과를 분석하였다. 본 실험에서 낮은 해상도의 이미지는 태스크 오프로딩 구조의 적용을 통하여 성능 개선을 도출할 수 있었고, 이는 자율주행의 실시간 기준을 충족하였다. 높은 해상도의 이미지는 성능 개선은 있었으나 통신 시간의 증가에 따른 이유로 자율 주행의 실시간 기준을 충족하지 못하였다. 이러한 실험을 통해 자율주행에서의 객체인식은 사용하는 객체인식 모델과 함께 입력 이미지, 통신 환경 등의 다양한 조건이 영향을 미친다는 것을 확인할 수 있었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.191-193
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• 1989

This paper presents a optimal Var allocation algorithm for minimizing power loss and improving voltage profile in a given system. In this paper, nodal input data is considered as Gaussian distribution with their mean value and their variance. A stochastic Linear Programming technique based on chance constrained method is applied to solve the probabilistic constraint. The test result in IEEE-14 Bus model system showes that the voltage distribution of load buses is improved and the power loss is more reduced than before Var allocation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.863-865
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• 1988

This paper presents a optimal Var allocation algorithm for minimizing transmission line losses and improving voltage profile in a given system. In this paper, nodal input data is considered as Gaussian distribution with their mean value and their variance. A Stocastic Linear programming technique based on chance constrained method is applied, to solve the var allocation problem with probabilistic constraint. The test result in 6-Bus Model system showes that the voltage distribution of load buses is improved and the power loss is more reduced than before var allocation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1905-1910
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• 2003

It is well known that parameter uncertainties and time-delays cannot be avoided in practice and result in poor performance and even instability. Nevertheless, to the authors' best knowledge, there exist few results on model predictive control (MPC) handling explicitly uncertain time-delayed systems. In this paper, we present an MPC algorithm for uncertain time-varying systems with input constraints and state-delay. An optimization problem is suggested to find a memoryless state-feedback MPC law and the closed-loop stability is established under feasibility and certain conditions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1966-1971
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• 2005

Though several previous anti-windup techniques have been proposed, they are limited to linear systems or friction is not considered. Thus this paper proposes a compensation scheme for input-constrained robot systems with friction to cope with the windup phenomenon and shows its effectiveness by simulations. Given a feedback linearizing controller for a robot system designed without considering its input constraint, an additional dynamic compensator is proposed to account for the constraint. The dynamic anti-windup is based on the minimization of a reasonable performance index, and properties of the resulting closed-loop are presented.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권4호
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• pp.1889-1910
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• 2017

This paper investigates a protocol so-called Adaptive Harvest Then Transmit (AHTT) for wireless powered communication networks (WPCNs) in multiple-input single-output (MISO) downlink systems, which assists in transmitting signals from a multi-antenna transmitter to a single-antenna receiver. Particularly, the power constrained relay is supplied with power by utilizing radio frequency (RF) signals from the source. In order to take advantage of multiple antennas, two different linear processing schemes, including Maximum Ratio Combining (MRC) and Selection Combination (SC) are studied. The system outage capacity and ergodic capacity are evaluated for performance analysis. Furthermore, the optimal power allocation is also considered. Our numerical and simulation results prove that the implementation of multiple antennas helps boost the energy harvesting capability. Therefore, this paper puts forward a new way to the energy efficiency (EE) enhancement, which contributes to better system performance.

• 전기전자학회논문지
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• 제23권4호
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• pp.1353-1359
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• 2019

It is presented in this paper that the static output feedback (SOF) pole-assignment problem of some linear time-invariant systems can be completely resolved by parametrization in real Grassmann space. For the real Grassmannian parametrization, the so-called Plucker matrix is utilized as a linear matrix formula formulated from the SOF variable's coefficients of a characteristic polynomial constrained in Grassmann space. It is found that the exact SOF pole assignability is determined by the linear independency of columns of Plucker sub-matrix and by full-rank of that sub-matrix. It is also presented that previous diverse pole-assignment methods and various computation algorithms of the real SOF gains for 2-input, 2-output, 4^th order systems are unified in a deterministic way within this real Grassmannian parametrization method.