• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.277-282
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• 1994

Convergence of the state error e to zero in adaptive systems is shown using the uniqueness of solutions and the existence of a Lyapunov function in which the adaptation laws are constructed. Results in the paper are general, and therefore applicable to any adaptive control of a linear/nonlinear, time-varying or distributed-parameter system. Since the approach taken in the paper does not require the boundedness of the derivative of the state error e for all t .geq. 0, it is particularly useful in the adaptive control of infinite dimensional systems.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1324-1327
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• 1996

This paper presents an open architecture controller (OAC) for machining systems and describes the OAC testbed at Seoul National University. Because our OAC is designed for fully open systems, it does not depend on any specific hardware or software components. This openness includes software reusability which enables integration of a wide range of monitoring and control features. In addition to openness, our OAC system provides guaranteed real-time performance, an important requirement for advanced manufacturing.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1177-1180
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• 1996

In this paper, we propose an algorithm that realizes cooperative behavior by construction of autonomous mobile robot system. Each robot is able to sense other robots and obstacles, and it has the rule of behavior to achieve the goal of the system. In this paper, to improve performance of the whole system, we use Genetic Programming based on Natural Selection. Genetic Programming's chromosome is a program of tree structure and it's major operators are crossover and mutation. We verify the effectiveness of the proposed scheme from the several examples.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.161.4-161
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• 2001

This paper presents adaptive control of robot manipulator using neuro-fuzzy controller Fuzzy logic is control incorrect system without correct mathematical modeling. And, neural network has learning ability, error interpolation ability of information distributed data processing, robustness for distortion and adaptive ability. To reduce the number of fuzzy rules of the FLS(fuzzy logic system), we consider the properties of robot dynamic. In fuzzy logic, speciality and optimization of rule-base creation using learning ability of neural network. This paper presents control of robot manipulator using neuro-fuzzy controller. In proposed controller, fuzzy input is trajectory following error and trajectory following error differential ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.176.5-176
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• 2001

This paper presents a fuzzy dynamic output feedback controller design method for Parallel Distributed Compensation (PDC)-type Takagi-Sugeno (T-S) model based fuzzy dynamic system with H$\infty$ performance and additional constraints on the closed pole placement. Design condition for these controller is obtained in terms of the linear matrix inequalities (LMIs). The proposed fuzzy controller satisfies the disturbance rejection performance and the desired transient response. The design method is verified by this method for an inverted pendulum with a cart using the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.89.6-89
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• 2001

In Vehicle Information and Communication System (VICS), which is an active field of Intelligent Transport System (ITS), information of traffic congestion is sent to each vehicle at real time. However, a centralized navigation system is not realistic to guide millions of vehicles in a megalopolis. Autonomous distributed systems should be more flexible and scalable, and also have a chance to focus on each vehicle´s demand. This paper proposes a sub-optimal route planning mechanism of vehicles in urban areas using the non-network type immune system. Simulation is carried out using a cellular automaton model. This system announces a sub-optimal route to drivers in real time using VICS.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.93.5-93
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• 2002

Distributed Artificial Intelligence (DAI) aims to study and develop techniques that allow interaction among intelligent entities. In the last two decades, some types of DAI architecture have been proposed for various fields. However, it can be noticed that the inconsistency phenomenon has not been dealt with properly. This is probably due to the fact that this phenomenon cannot be handled (at least directly) with classical logic. Hence, to deal with such inconsistencies directly, one should employ a logic other than the classical one. The DAI Architecture described in this work is based on a nonclassical logic called Annotated Paraconsistent Logic.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.93.6-93
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• 2002

Many livings form groups that we consider as collective systems. Their collective behaviors are good model for the development of useful distributed systems. In this paper, We discussed the group of motile elements that is described by simple model. The dynamics of each element is described by simple kinematics, but the group shows various types of motions. In addition, we found out the formation of the group changes by modifying rc which is an optimum distance between each element. This modification shows us to observe close-packed structure, face-centered lattice, sim pie lattice and double file.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.61.6-61
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• 2002

In these days, Block Pulse functions are used in a variety of fields such as the analysis and controller design of the systems. In applying the Block Pulse function technique to control and systems science, the integral operation of the Block Pulse series plays important roles. This is because differential equations are always involved in the representations of continuous-time models of dynamic systems, and differential operations are always approximated by the corresponding Block Pulse series through integration operational matrices. In order to apply the Block Pulse function technique to the problems of continuous-time dynamic systems more efficiently, it is necessary to find th...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.94.1-94
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• 2002

This paper is concerned with parallel FFT and Quick-Merge Sort. They are implemented on computers interconnected by VMIC 5579 reflective memory and a cluster of workstations (PCs) interconnected via Fast Ethernet. Message passing interface (MPI) parallel library is used for communication in a cluster of workstations. An improved parallel FFT is also presented to decrease an execution time in the case of a small number of hosts. Distributed shared memory (DSM), VMIC 5579 reflective memory (RM), a cluster of workstations (COW) and message passing interface (MPI) parallel library are described.