• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.963-968
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• 1990

An iterative learning control scheme for tracking control of a class of uncertain nonlinear systems is presented. By introducing a model reference adaptive controller in the learning control structure, it is possible to achieve zero tracking of unknown system even when the upperbound of uncertainty in system dynamics is not known apriori. The adaptive controller pull the state of the system to the state of reference model via control gain adaptation at each iteration, while the learning controller attracts the model state to the desired one by synthesizing a suitable control input along with iteration numbers. In the controller role transition from the adaptive to the learning controller takes place in gradually as learning proceeds. Another feature of this control scheme is that robustness to bounded input disturbances is guaranteed by the linear controller in the feedback loop of the learning control scheme. In addition, since the proposed controller does not require any knowledge of the dynamic parameters of the system, it is flexible under uncertain environments. With these facts, computational easiness makes the learning scheme more feasible. Computer simulation results for the dynamic control of a two-axis robot manipulator shows a good performance of the scheme in relatively high speed operation of trajectory tracking.

• The Journal of the Korea Contents Association
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• v.13 no.2
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• pp.8-18
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• 2013

In this paper, we capture learning while taking a video, play time and time line of the video frame in the form of areas that require re-learning in HTML5 mobile web store. When you select an image frame can display a list of the frame to take advantage of HTML5 Video tag up to 9 capture and save the playing time at the position. Implemented in a manner that runs Effects as compared to learning to run the entire frame capture learning and re-learning frame partial immersion learners matchumhyeong storytelling can be implemented. Interval Iterative Learning in a random order, so learners can level alignment by iterative learning on academic performance can have a positive effect.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2606-2611
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• 2003

Comprehensive study on the control system design for a RTP process has been conducted. The purpose of the control system is to maintain maximum temperature uniformity across the silicon wafer achieving precise tracking for various reference trajectories. The study has been carried out in two stages: thermal balance modeling on the basis of a semi-empirical radiation model, and optimal iterative learning controller design on the basis of a linear state space model. First, we found through steady state radiation modeling that the fourth power of wafer temperatures, lamp powers, and the fourth power of chamber wall temperature are related by an emissivity-independent linear equation. Next, for control of the MIMO system, a state space modeland LQG-based two-stage batch control technique was derived and employed to reduce the heavy computational demand in the original two-stage batch control technique. By accommodating the first result, a linear state space model for the controller design was identified between the lamp powers and the fourth power of wafer temperatures as inputs and outputs, respectively. The control system was applied to an experimental RTP equipment. As a consequence, great uniformity improvement could be attained over the entire time horizon compared to the original multi-loop PID control. In addition, controller implementation was standardized and facilitated by completely eliminating the tedious and lengthy control tuning trial.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.4
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• pp.277-283
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• 2003

Recently, near-field recording (NFR) disk drive schemes have been proposed with a view to increasing recording densities of hard disk drives. Compared with hard disk drives. NFR disk drives have narrower track pitches and are exposed to more severe periodic disturbances resulting from eccentric rotation of the disk. It is difficult to meet servo system design specifications for NFR disk drives with conventional VCM actuators in that the servo system for an NFR disk drive generally requires a feater gain and higher bandwidth. To tackle the problem various dual-stage actuator systems composed of a microactuator mounted on top of a conventional VCM actuator have been proposed. This article deals with the problem of designing a tracking servo system far an NFR disk drive adopting a dual-stage actuator. We summarize design constraints pertaining to the dual-stage servo system and present a new servo scheme using iterative teaming control. We design feedback compensators and an iterative teaming controller for a target plant and verify the validity of the proposed control scheme through a computer simulation.

• The Journal of Korean Association of Computer Education
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• v.19 no.1
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• pp.101-109
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• 2016

Designing algorithms is a very important learning process in computational thinking education because it requires learner's logical and procedural thinking. But the case studies that have topics of algorithms learning and students' types of errors in learning algorithms are not enough. So the purpose of this study is to analyze students' errors that discovered in the process of learning three control structures of programming using flowchart and provide types of errors in designing algorithms. Results about tests of three types of control structures in university student's algorithms learning class showed different cases of types of errors; types of sequential control error are not presented in the class, types of conditional control error are presented in the case of setting the conditions of nested conditional control, and types of iterative control are showed in the many cases of iterative conditions, statements of single and nested iterative control structure. The results of study will be a good case study about teaching designing algorithms of computational thinking education in elementary, secondary school and university.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.38 no.4
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• pp.11-19
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• 2001

In this paper, we study the convergence property of iterative learning control (ILC). First, we present a new method to prove the convergence of ILC using sup-norm. Then, we propose a new type of ILC algorithm adopting intervalized learning scheme and show that the monotone convergence of the output error can be obtained for a given time interval when the proposed ILC algorithm is applied to a class of linear dynamic systems. We also show that the divided time interval is affected from the learning gain and that convergence speed of the proposed learning scheme can be increased by choosing the appropriate learning gain. To show the effectiveness of the proposed algorithm, two numerical examples are given.

• Journal of Information Processing Systems
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• v.17 no.6
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• pp.1057-1070
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• 2021

Case-related news filtering is crucial in legal text mining and divides news into case-related and case-unrelated categories. Because case-related news originates from various fields and has different writing styles, it is difficult to establish complete filtering rules or keywords for data collection. In addition, the labeled corpus for case-related news is sparse; therefore, to train a high-performance classification model, it is necessary to annotate the corpus. To address this challenge, we propose topic-enhanced positive-unlabeled learning, which selects positive and negative samples guided by topics. Specifically, a topic model based on a variational autoencoder (VAE) is trained to extract topics from unlabeled samples. By using these topics in the iterative process of positive-unlabeled (PU) learning, the accuracy of identifying case-related news can be improved. From the experimental results, it can be observed that the F1 value of our method on the test set is 1.8% higher than that of the PU learning baseline model. In addition, our method is more robust with low initial samples and high iterations, and compared with advanced PU learning baselines such as nnPU and I-PU, we obtain a 1.1% higher F1 value, which indicates that our method can effectively identify case-related news.

• The KIPS Transactions:PartB
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• v.10B no.1
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• pp.67-72
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• 2003

In this paper, we study the enhancement of VQ (Vector Quantization) design for text dependent speaker recognition. In a concrete way, we present the non-Iterative method which makes a vector quantization codebook and this method Is nut Iterative learning so that the computational complexity is epochally reduced. The proposed semi-noniterative VQ design method contrasts with the existing design method which uses the iterative learning algorithm for every training speaker. The characteristics of a semi-noniterative VQ design is as follows. First, the proposed method performs the iterative learning only for the reference speaker, but the existing method performs the iterative learning for every speaker. Second, the quantization region of the non-reference speaker is equivalent for a quantization region of the reference speaker. And the quantization point of the non-reference speaker is the optimal point for the statistical distribution of the non-reference speaker In the numerical experiment, we use the 12th met-cepstrum feature vectors of 20 speakers and compare it with the existing method, changing the codebook size from 2 to 32. The recognition rate of the proposed method is 100% for suitable codebook size and adequate training data. It is equal to the recognition rate of the existing method. Therefore the proposed semi-noniterative VQ design method is, reducing computational complexity and maintaining the recognition rate, new alternative proposal.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.435-441
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• 2003

This paper addresses that an approximation and tracking control of realtime recurrent neural networks(RTRN) using two-dimensional iterative teaming algorithm for an electro-hydraulic servo system. Two dimensional learning rule is driven in the discrete system which consists of nonlinear output fuction and linear input. In order to control the trajectory of position, two RTRN with the same network architecture were used. Simulation results show that two RTRN using 2-D learning algorithm are able to approximate the plant output and desired trajectory to a very high degree of a accuracy respectively and the control algorithm using two identical RTRN was very effective to trajectory tracking of the electro-hydraulic servo system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.1
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• pp.117-120
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• 2008

This paper investigates the convergence condition of ADILC(iterative learning control with advanced output data) for nonminimum phase systems. ADILC has simple learning structure including both minimum phase and nonminimum phase systems. However, for nonminimum phase systems, the overall time horizon must be considered in input update law. This makes the dimension of convergence condition matrix large. In this paper, a new sufficient condition is proposed to satisfy the convergence condition. Also, it has been shown that this sufficient condition can be satisfied although it is not full impulse response.