• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.167-172
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• 1998

The physical parameters of controlled systems are uncertain and are accompanied with nonlinearity. The transfer function of the controlled system should, therefore, be expressed by interval polynomials. This paper describes the realization of robust performance for that type of control system (interval system) via model reference feedback. First, we will analyze an invariance problem of dynamic characteristics such that the dominant roots do not break away from a specified circular area, and will present a discrimination algorithm (i.e., a division algorithm) for the extreme points of the uncertain coefficients. Then, we will present a design method of control systems which have a robust performance such that the location of the dominant roots dose not vary excessively.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.2
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• pp.89-96
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• 2002

A new chattering free PD-sliding mode hybrid control scheme is proposed for robot manipulators. This hybrid controller is composed of a PD controller and a semi-continuous sliding mode controller. It has a good robust performance in reaching mode which does not possess invariance property of sliding mode, and has chattering free characteristics in sliding mode. Thus, the PD-sliding mode hybrid controller has a good robust performance in the whole region. It is shown that the proposed control has a good transient response and trajectory tracking performance for a 2-link SCARA robot manipulator.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.5
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• pp.905-913
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• 1987

This paper presents a speaker dependent isolated digit recognition algorithm using the Mellin transform. Since the Mellin transform converts a scale information into a phase information, attempts have been made to utilize this scale invariance property of the Mellin transform in order to alleviate a time-normalization procedure required for a speech recognition. It has been found that good results can be obtained by taking the Mellin transform to the features such as a ZCR, log energy, normalized autocorrelation coefficients, first predictor coefficient and normalized prediction error. We employed a difference function for evaluating a similarity between two patterns. When the proposed algorithm was tested on Korean digit words, a recognition rate of 83.3% was obtained. The recognition accuracy is not compatible with the other technique such as LPC distance however, it is believed that the Mellin transform can effectively perform the time-normalization processing for the speech recognition.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.35C no.3
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• pp.97-107
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• 1998

In face recognition based on the Karhunen-Loeve approximation, amplitudespectra of Fourier transformed facial images were used. We found taht the use of amplitude spetra gives not only the shift-invariance property but also some improvment of recognition rate. This is because the distance between the varing faces of a person compared with that between the different persons perfomed computer experiments on face recognitio with varing facial images obtained from total 55 male and 25 females. We confirmed that the use of amplitude spectra of Fourier-trnsformed facial imagesgives better recognition rate for avariety of varying facial images including shifted ones than the use of direct facial images does.

• East Asian mathematical journal
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• v.5 no.1
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• pp.95-110
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• 1989

In a general variance component model, nonnegative quadratic estimators of the components of variance are considered which are invariant with respect to mean value translaion and have minimum bias (analogously to estimation theory of mean value parameters). Here the minimum is taken over an appropriate cone of positive semidefinite matrices, after having made a reduction by invariance. Among these estimators, which always exist the one of minimum norm is characterized. This characterization is achieved by systems of necessary and sufficient condition, and by a cone restricted pseudoinverse. In models where the decomposing covariance matrices span a commutative quadratic subspace, a representation of the considered estimator is derived that requires merely to solve an ordinary convex quadratic optimization problem. As an example, we present the two way nested classification random model. An unbiased estimator is derived for the mean squared error of any unbiased or biased estimator that is expressible as a linear combination of independent sums of squares. Further, it is shown that, for the classical balanced variance component models, this estimator is the best invariant unbiased estimator, for the variance of the ANOVA estimator and for the mean squared error of the nonnegative minimum biased estimator. As an example, the balanced two way nested classification model with ramdom effects if considered.

• Research in Mathematical Education
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• v.12 no.3
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• pp.215-233
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• 2008

Deep comprehension of basic mathematical notions and concepts is a basic condition of a successful teaching. Some elements of algebraic thinking belong to the elementary school mathematics. The question "What stays the same and what changes?" link arithmetic problems with algebraic conception of variable. We have studied beliefs and comprehensions of future elementary school mathematics teachers on early algebra. Pre-service teachers from three academic pedagogical colleges deal with mathematical problems from the pre-algebra point of view, with the emphasis on changes and invariants. The idea is that the intensive use of non-formal algebra may help learners to construct a better understanding of fundamental ideas of arithmetic on the strong basis of algebraic thinking. In this article the study concerning arithmetic series is described. Considerable number of pre-service teachers moved from formulas to deep comprehension of the subject. Additionally, there are indications of ability to apply the conception of change and invariance in other mathematical and didactical contexts.

• The Korean Journal of Applied Statistics
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• v.17 no.1
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• pp.35-47
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• 2004

In this paper, we generalizes Kim and Bickel(2003)'s statistic for bivariate normality to that of multinormality, applying Fattorini(1986)'s method. Fattorini(1986) generalized Shapiro-Wilk's statistic for univariate normality to multivariate cases. The proposed statistic could be considered as an approximate statistic to Fattorini(1986)'s. It can be used even for a big sample size. Power performance of the proposed test is assessed in a Monte Carlo study.

• Journal of Information Technology Services
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• v.9 no.4
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• pp.109-121
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• 2010

Most organizations adopt their own performance measurement systems. Those organizations select performance measures to meet their goals. Organizations can give only limited description of what performance measures are. Kaplan and Norton suggest that the Balanced Scorecard (BSC) to complement the conventional performance measures. The BSC can provide management system with a comprehensive strategic vision and integrates non-financial measures with financial measures. The BSC is widely used for measuring corporate performance. This paper investigates how the BSC-based performance measures can be applied to Learning City. The Learning City's performance measures and strategy map on the basis of the BSC are suggested in this research. This paper adopt the AR(assurance region)-DEA model which could limit the range of weight on performance measures to prevent each viewpoint of BSC from having unlimited elasticity. The proposed model is based on CCR model including a property of unit invariance to use the data without normalization process.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.1
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• pp.76-81
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• 1999

The degree of relative similarity between 2D patterns is obtained using Open-Ball Scheme. Open-Ball Scheme employs a method of transforming the geometrical information on 3D objects or 2D patterns into the features to measure the relative similarity for object(patten) recognition, with invariance on scale, rotation, and translation. The feature of an object is used to obtain the relative similarity and mapped into [0, 1] the interval of real line. For decades, Moment-Invariant Method has been used as one of the excellent methods for pattern classification and object recognition. Open-Ball Scheme uses the geometrical structure of patterns while Moment Invariant Method uses the statistical characteristics. Open-Ball Scheme is compared to Moment Invariant Method with respect to the way that it interprets two-dimensional patten classification, especially the paradigms are compared by the degree of closeness to human's intuitive understanding. Finally the effectiveness of the proposed Open-Ball Scheme is illustrated through simulations.

• The Transactions of the Korea Information Processing Society
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• v.6 no.3
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• pp.821-831
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• 1999

Recognition of three-dimensional objects with convexities and concavities is a hard and challenging problem. This paper presents a feature extraction method out of three-dimensional objects for the purpose of classification. This new method not only provides invariance to scale, translation, and rotation $R^3$ but also distinguishes any three-dimensional model objects with concavities and convexities by measuring a relative similarity in the information space where a set of characteristics features of objects is mapped.