• International Journal of Control, Automation, and Systems
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• 제3권3호
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• pp.387-396
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• 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.

• 전기학회논문지
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• 제59권10호
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• pp.1874-1881
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• 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
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• 제15권1호
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• pp.57-80
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• 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.

• 드라이브 ㆍ 컨트롤
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• 제14권2호
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• pp.16-22
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• 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.

• 대한수학회논문집
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• 제17권1호
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• pp.121-142
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• 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.

• 호남수학학술지
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• 제8권1호
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• pp.21-49
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• 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.

• 반도체디스플레이기술학회지
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• 제18권3호
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• pp.66-71
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• 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.

• 한국산학기술학회논문지
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• 제20권2호
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• pp.200-209
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• 2019

미래 값을 예측할 때, 학습 오차(training error)를 최소화하여 추정된 모형은 보통 많은 테스트 오차(test error)를 야기할 수 있다. 이것은 추정 모델이 주어진 데이터 집합에만 집중하여 발생하는 모델 복잡성에 따른 과적합(overfitting) 문제이다. 일부 정규화 및 리샘플링 방법은 이 문제를 완화하여 테스트 오차를 줄이기 위해 도입되었지만, 이 방법들 또한 주어진 데이터 집합에서만 국한 되도록 설계되었다. 본 논문에서는 테스트 오차 최소화 문제를 학습 오차 최소화 문제로 변환하여 테스트 오차를 줄이기 위한 새로운 최적화 방법을 제안한다. 이 변환을 수행하기 위해 주어진 데이터 집합에 대해 의사(pseudo) 데이터라고 하는 새로운 데이터를 추가하였다. 그리고 적절한 의사 데이터를 만들기 위해 결측 데이터 보정법의 세 가지 유형을 사용하였다. 예측 모델로서 선형회귀모형, 자기회귀모형, ridge 회귀모형을 사용하고 이 모형들에 의사 데이터 방법을 적용하였다. 또한, 의사 데이터로 조정된 최적화 방법을 활용하여 환경 데이터 및 금융 데이터에 적용한 사례를 제시하였다. 결과적으로 이 논문에서 제시된 방법은 원래의 예측 모형보다 테스트 오차를 감소시키는 것으로 나타났다.

• 정보처리학회논문지B
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• 제13B권4호
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• pp.393-400
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• 2006

얼굴 인식에서 얼굴 이미지의 특정 추출 방법에는 여러 가지가 있다. 그러나, 얼굴 이미지의 대부분은 표본의 수보다 특정 변수의 수가 많기 때문에 이러한 점을 고려한 특정 추출 방법이 필요하다. 본 논문에서는 부분 최소제곱법을 이용하여 특정 벡터의 차원을 축소하는 방법을 제안한다. 전통적인 차원 축소 방법인 주성분 분석은 클래스의 정보를 고려하지 않고 최대 변이를 가지는 성분을 추출하기 때문에, 클래스의 구분에 필요한 특정을 필수적으로 추출하지 못한다. 이에 비해, 부분 최소제곱법은 클래스 변수에 대한 정보를 포함하여 성분을 추출한다. 그러므로, 분류를 하는데 있어서는 주성분 분석에 의해 추출된 성분보다는 부분 최소제곱법에 의해 추출된 성분이 보다 더 예측적이다. 맨체스터와 ORL 얼굴 데이터베이스를 이용하여 실험한 결과, 분류와 차원 축소 측면에서 주성분 분석 방법보다는 부분 최소제곱법을 이용한 방법이 그 성능이 우수함을 알 수 있었다.

• 자원환경지질
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• 제14권3호
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• pp.193-201
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• 1981

수평다층(水平多層) 지질구조(地質構造)모델에 있어서 외견전기비저항곡선(外見電氣比抵抗曲線)의 자동해석(自動解析)에 최소자승법(最小自乘法)을 적용(適用)하여 보았다. 이 방법(方法)은 digital filtering 법(法)과 종합(綜合)된 damped least-squares algorithm으로 구성된 것으로서, 일반적(一般的)으로 사용(使用)되고 있는 curve-matching 법(法)보다 시간(時間)이 빠르고 정도(精度)도 높다는 것을 알게되었다. 이 반전법(反轉法)을 시험(試驗)하기 위해서 한개의 이론(理論)데이터와 3개의 현장탐사(現場探査) 결과(結果)를 선택(選擇)하여 해석(解析)하였다. 3층(層) 지질구조(地質構造)모델로부터 나오는 이론(理論)데이터의 해석(解析)을 통(通)하여 이 방법(方法)의 특징(特徵)을 파악(把握)할 수 있고, 또 종래(從來)의 Curve-matching법(法)에는 없는 명확(明確)한 특징(特徵)이 나타났다. 더우기 반전법(反轉法)의 유효성(有效性)은 현장탐사(現場探査) 결과(結果)의 해석(解析)에 의해서도 알 수 있었다. 그 때의 최적(最適) 지질구조(地質構造)모델은 시굴(試掘)로 확인(確認)된 지하구조(地下構造)와 일치(一致)함을 알 수 있었다.