• International Journal of Control, Automation, and Systems
• /
• v.3 no.3
• /
• pp.387-396
• /
• 2005

The Rotational/Translational Actuator (RTAC) benchmark problem considers a fourth-order dynamical system involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem has been posed to investigate the utility of a rotational actuator for stabilizing translational motion. In order to experimentally implement any of the model-based controllers proposed in the literature, the values of model parameters are required which are generally difficult to determine rigorously. In this paper, an approach to the least-squares estimation of the parameters of a system is formulated and practically applied to the RTAC system. On the other hand, this paper shows how to model a nonlinear system as a linear uncertain system via nonparametric system identification, in order to provide the information required for linear robust $H_\infty$ control design. This method is also applied to the RTAC system, which demonstrates severe nonlinearities, due to the coupling from the rotational motion to the translational motion. Experimental results confirm that this approach can effectively condense the whole nonlinearities, uncertainties, and disturbances within the system into a favorable perturbation block.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.59 no.10
• /
• pp.1874-1881
• /
• 2010

A recursive linear stochastic error compensation algorithm is newly proposed for target localization in sensor network which provides range difference of arrival(RDOA) measurements. Target localization with RDOA is a well-known nonlinear estimation problem. Since it can not solve with a closed-form solution, the numerical methods sensitive to initial guess are often used before. As an alternative solution, a pseudo-linear estimation scheme has been used but the auto-correlation of measurement noise still causes unacceptable estimation errors under low SNR conditions. To overcome these problems, a stochastic error compensation method is applied for the target localization problem under the assumption that a priori stochastic information of RDOA measurement noise is available. Apart from the existing methods, the proposed linear target localization scheme can recursively compute the target position estimate which converges to true position in probability. In addition, it is remarked that the suggested algorithm has a structural reconciliation with the existing one such as linear correction least squares(LCLS) estimator. Through the computer simulations, it is demonstrated that the proposed method shows better performance than the LCLS method and guarantees fast and reliable convergence characteristic compared to the nonlinear method.

• Smart Structures and Systems
• /
• v.15 no.1
• /
• pp.57-80
• /
• 2015

Extended Kalman Filter (EKF) has been widely used for structural identification and damage detection. However, conventional EKF approaches require that external excitations are measured. Also, in the conventional EKF, unknown structural parameters are included as an augmented vector in forming the extended state vector. Hence the sizes of extended state vector and state equation are quite large, which suffers from not only large computational effort but also convergence problem for the identification of a large number of unknown parameters. Moreover, such approaches are not suitable for intelligent structural damage detection due to the limited computational power and storage capacities of smart sensors. In this paper, a two-stage and two-step algorithm is proposed for the identification of structural damage as well as unknown external excitations. In stage-one, structural state vector and unknown structural parameters are recursively estimated in a two-step Kalman estimator approach. Then, the unknown external excitations are estimated sequentially by least-squares estimation in stage-two. Therefore, the number of unknown variables to be estimated in each step is reduced and the identification of structural system and unknown excitation are conducted sequentially, which simplify the identification problem and reduces computational efforts significantly. Both numerical simulation examples and lab experimental tests are used to validate the proposed algorithm for the identification of structural damage as well as unknown excitations for structural health monitoring.

• Journal of Drive and Control
• /
• v.14 no.2
• /
• pp.16-22
• /
• 2017

This paper presents the algorithm of an adaptive model-free-control-based steering control for multi-axle all-terrain cranes for which the recursive least squares with forgetting are applied. To optimally control the actual system in the real world, the linear or nonlinear mathematical model of the system should be given for the determination of the optimal control inputs; however, it is difficult to derive the mathematical model due to the actual system's complexity and nonlinearity. To address this problem, the proposed adaptive model-free controller is used to control the steering angle of a multi-axle crane. The proposed model-free control algorithm uses only the input and output signals of the system to determine the optimal inputs. The recursive least-squares algorithm identifies first-order systems. The uncertainty between the identified system and the actual system was estimated based on the disturbance observer. The proposed control algorithm was used for the steering control of a multi-axle crane, where only the steering input and the desired yaw rate were employed, to track the reference path. The controller and performance evaluations were constructed and conducted in the Matlab/Simulink environment. The evaluation results show that the proposed adaptive model-free-control-based steering-control algorithm produces a sound path-tracking performance.

• Communications of the Korean Mathematical Society
• /
• v.17 no.1
• /
• pp.121-142
• /
• 2002

We are interested in the curve fitting problems in such a way that the sum of the squares of the orthogonal distances to the given data points is minimized. Especially, the fitting an ellipse to the given data points is a problem that arises in many application areas, e.g. computer graphics, coordinate metrology, etc. In [1] the problem of fitting ellipses was considered and numerically solved with general purpose methods. In this paper we present another new ellipse fitting algorithm. Our algorithm if mainly based on the steepest descent procedure with the view of ensuring the convergence of the corresponding quadratic function Q(u) to a local minimum. Numerical examples are given.

• Honam Mathematical Journal
• /
• v.8 no.1
• /
• pp.21-49
• /
• 1986

A class of singular quadratic control problem is considered. The state is governed by a higher order system of ordinary linear differential equations and very general nonstandard boundary conditions. These conditions in many important cases reduce to standard boundary conditions and because of the conditions the usual controllability condition is not needed. In the special case where the coefficient matrix of the control variable in the cost functional is a time-independent singular matrix, the corresponding optimal control law as well as the optimal controller are computed. The method of investigation is based on the theory of least-squares solutions of multi-valued operator equations.

• Journal of the Semiconductor & Display Technology
• /
• v.18 no.3
• /
• pp.66-71
• /
• 2019

In shape from focus (SFF) methods, the quality of image focus volume plays a vital role in the quality of 3D shape reconstruction. Traditionally, a linear 2D filter is applied to each slice of the image focus volume to rectify the noisy focus measurements. However, this approach is problematic because it also modifies the accurate focus measurements that should ideally remain intact. Therefore, in this paper, we propose to enhance the focus volume adaptively by applying 3-dimensional weighted least squares (3D-WLS) based regularization. We estimate regularization weights from the guidance volume extracted from the image sequences. To solve 3D-WLS optimization problem efficiently, we apply a technique to solve a series of 1D linear sub-problems. Experiments conducted on synthetic and real image sequences demonstrate that the proposed method effectively enhances the image focus volume, ultimately improving the quality of reconstructed shape.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.2
• /
• pp.200-209
• /
• 2019

When forecasting future values, a model estimated after minimizing training errors can yield test errors higher than the training errors. This result is the over-fitting problem caused by an increase in model complexity when the model is focused only on a given dataset. Some regularization and resampling methods have been introduced to reduce test errors by alleviating this problem but have been designed for use with only a given dataset. In this paper, we propose a new optimization approach to reduce test errors by transforming a test error minimization problem into a training error minimization problem. To carry out this transformation, we needed additional data for the given dataset, termed pseudo data. To make proper use of pseudo data, we used three types of missing data imputation techniques. As an optimization tool, we chose the least squares method and combined it with an extra pseudo data instance. Furthermore, we present the numerical results supporting our proposed approach, which resulted in less test errors than the ordinary least squares method.

• The KIPS Transactions:PartB
• /
• v.13B no.4 s.107
• /
• pp.393-400
• /
• 2006

There are many feature extraction methods for face recognition. We need a new method to overcome the small sample problem that the number of feature variables is larger than the sample size for face image data. The paper considers partial least squares(PLS) as a new dimension reduction technique for feature vector. Principal Component Analysis(PCA), a conventional dimension reduction method, selects the components with maximum variability, irrespective of the class information. So, PCA does not necessarily extract features that are important for the discrimination of classes. PLS, on the other hand, constructs the components so that the correlation between the class variable and themselves is maximized. Therefore PLS components are more predictive than PCA components in classification. The experimental results on Manchester and ORL databases shows that PLS is to be preferred over PCA when classification is the goal and dimension reduction is needed.

• Economic and Environmental Geology
• /
• v.14 no.3
• /
• pp.193-201
• /
• 1981

The problem of automatic inversion of apparent resistivity sounding curves resulting from horizontally layered earth models is solved using the least-squares technique. This method, which makes use of damped least-squares algorithm in conjunction with digital filtering technique, is found to be speedier and more accurate than the conventional curve-matching method. Four sounding curves were chosen to test the inversion scheme. The analysis of the theoretical sounding data associated with a three-layer model illustrates clear advantages over the conventional curve-matching method. The usefulness of the inversion method is also shown when applied to the actual field data. It was found that the best fit earth models coincide with the subsurface structures confirmed by drilling.