• 한국지능시스템학회논문지
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• 제8권2호
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• pp.60-69
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• 1998

본 눈문에서는 퍼지 벡터양자호를 이용하여 음성을 합성하는 방법을 제시하고,원음에 가까운 합성음을 얻기 위하여 퍼지벡터양자화의 성능을 최적화 하는 Fuzziness갑의 선정방법을 연구한다. 퍼지벡터 양자화를 이용하여 음성을 합성할때, 분석단에서는 입력 음성패턴과 코드북의 음성패턴의 유사도를 나타내는 퍼지 소속함수값을 출력하고, 합성단에서는 분석단에서 얻은 퍼지소속 함수값, fuzziness값, 그리고 FCM(Fuzzy-C-Means) 연산식을 이용하여 음성을 합성한다. 시뮬레이션을 통하여 벡터양자화에 의해 합성된 음성과 퍼지 벡터양자화에 의해 합성된 음성을 코드북의 크기에 따라 비교한 결과, 퍼지벡터양자화를 이용한 음성합성의 성능이 코드북 크기가 절반으로 줄어도 벡터양자화에 의한 성능과 거의 같음을 알수 있다. 이것은 VQ(Vecotr Quantiz-ation)에 의한 음성합성 결과와 같은 성능을 얻기 위해서 퍼지 VQ를 사용하면, 코드북 저장을 위한 메모리의 크기를 절반으로 줄일 수 있음을 의미한다. 그리고 SQNR을 최대로 하는 퍼지 벡터양자화를 얻기 위한 최적 Fuzziness값은 음성분석 프레임의 분산값이 크면 작게 선정해야 하고, 작으면 크게 선정 해야함을 밝혔다. 또한 합성음들을 주파수 영역의 스펙트로그램에서 비교한 결과 포만트 주파수와 피치주파수에서 퍼지 VQ에 의한 합성음이 VQ에 의한 것보다 원 음성에 더 가까움을 알 수 있었다.

• International Journal of Control, Automation, and Systems
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• 제2권1호
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• pp.15-22
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• 2004

Some recent advances in stability and optimality for the nonlinear receding horizon control (NRHC) or the nonlinear model predictive control (NMPC) are assessed. The NRHCs with terminal conditions are surveyed in terms of a terminal state equality constraint, a terminal cost, and a terminal constraint set. Other NRHCs without terminal conditions are surveyed in terms of a control Lyapunov function (CLF) and cost monotonicity. Additional approaches such as output feedback, fuzzy, and neural network are introduced. This paper excludes the results for linear receding horizon controls and concentrates only on the analytical results of NRHCs, not including applications of NRHCs. Stability and optimality are focused on rather than robustness.

• 한국생산제조학회지
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• 제19권1호
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• pp.80-88
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• 2010

In a conventional system, hydraulic unit pumps out pressurized oil when the power use is not even necessary. As a result, it causes much power loss. This study is on the proposal of new hydraulic unit which controls the revolution of the pump in order to produce proper power needed and to have good response characteristic. In addition, the existing control methods such as PID control method, fuzzy control method, and adaptive control method are applied to the proposed hydraulic unit. Then the best control method is selected and the controller is developed to realize minimum power loss.

• 전자공학회논문지B
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• 제32B권7호
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• pp.1010-1024
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• 1995

An intelligent trajectory control method that controls a direction and a average velocity for a prosthetic arm by force and direction estimations using EMG signals is proposed. 3 stage linear filters are used as a real time joint trajectory planner to minimize the impact to human body induced by arm motions and to reduce muscle fatigues. We use combination of MLP and fuzzy filter for a limb direction estimation and a time model of force for determining a cartesian trajectory control parameter. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. Simulation results of the proposed method show that the arm is effectively followed the desired trajectory by estimated foreces and directions. This method reduces the number of electrodes and attatched sites compared with the method using Hogan's impedance control.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(3)
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• pp.37-40
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• 2002

Intelligent Wearable Module is intelligent system that arises when a human is part of the feedback loop of a computational process like a certain control system. Applied system is mobile robot. This paper represents the mobile robot control system remote controlled by Intelligent Wearable Module. So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by Intelligent Wearable Module. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. Tlle information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.

• 대한의용생체공학회:의공학회지
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• 제15권4호
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• pp.455-464
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• 1994

The intelligent trajectory control method that controls moving direction and average velocity for a prosthetic arm is proposed by pattern recognition and force estimations using EMG signals. Also, we propose the real time trajectory planning method which generates continuous accelleration paths using 3 stage linear filters to minimize the impact to human body induced by arm motions and to reduce the muscle fatigue. We use combination of MLP and fuzzy filter for pattern recognition to estimate the direction of a muscle and Hogan's method for the force estimation. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. The simulation results of proposed prosthetic arm control system using the EMG signals show that the arm is effectively followed the desired trajectory depended on estimated force and direction of muscle movements.

• International Journal of Automotive Technology
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• 제3권3호
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• pp.89-94
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• 2002

This paper presents an architecture for distributed control systems and its underlying methodological framework. Ideas and concepts of distributed systems, artificial intelligence, and soft computing are merged into a unique architecture to provide cooperation, flexibility, and adaptability required by knowledge processing in intelligent control systems. The distinguished features of the architecture include a local problem solving capability to handle the specific requirements of each part of the system, an evolutionary case-based mechanism to improve performance and optimize controls, the use of linguistic variables as means for information aggregation, and fuzzy set theory to provide local control. A distributed traffic control system application is discussed to provide the details of the architecture, and to emphasize its usefulness. The performance of the distributed control system is compared with conventional control approaches under a variety of traffic situations.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권3호
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• pp.244-248
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• 2009

This paper describes a real-time EtherCAT Master library. The library is developed using Xenomai. Xenomai is a real-time development framework. It cooperates with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment. The proposed master library implements EtherCAT protocol for master side, and supports Application Programming Interfaces(APIs) for programming of real-time application which controls EtherCAT slave.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권2호
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• pp.94-98
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• 2009

This paper proposes an architecture of a real-time EtherCAT master library called RtEML. The controls EtherCAT slaves under EtherCAT protocol in real-time. It provides a simple programming interface which is useful in developing robot application in C/C++ or C#. To achieve deterministic, hard real-time control in Microsoft Windows environment without additional hardware, INtime is used. Since INtime is designed specifically to take advantage of the powerful capabilities of the x86 processor architecture, the proposed RtEML achieves microseconds of real-time performance.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권3호
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• pp.222-229
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• 2005

This paper presents a self-organizing scheme for multi-agent swarm systems based on coupled nonlinear oscillators (CNOs). In this scheme, unicycle robots self-organize to flock and arrange group formation through attractive and repulsive forces among themselves. The main result is the maintenance of flexible and scalable formation. It is also shown how localized distributed controls are utilized throughout group behaviors such as formation and migration. In the paper, the proposed formation ensures safe separation and good cohesion performance among the robots. Several examples show that the proposed method for group formation performs the group behaviors such as reference path following, obstacle avoidance and flocking, and the formation characteristics such as flexibility and scalability, effectively.