• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.11a
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• pp.169-172
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• 2006

Most studies using state-space models have been conducted under the assumption of independently distributed noises in measurement and state equation without adequate verification of the assumption. To avoid the improper use of state-space model, testing the assumption prior to the parameter estimation of state-space model is very important. The purpose of this paper is to investigate the general relationship between parameters of state-space models and those of ARIMA processes. Under the assumption, we derive restricted parameter spaces of ARIMA(p,0,p-1) models with mutually different AR roots where $p\;{\le}\;5$. In addition, the results of ARIMA(p,0,p-1) case can be expanded to more general ARIMA models, such as ARIMA(p-1,0,p-1), ARIMA(p-1,1,p-1), ARIMA(p,0,p-2) and ARIMA(p-1,1,p-2).

• International Journal of Aeronautical and Space Sciences
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• v.2 no.2
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• pp.73-81
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• 2001

This paper describes the procedure to develop a robust estimator design method for a target tracker that accounts for both structured real parameter uncertainties and unknown inputs. Two robust design approaches are combined: the Mini-p-Norm. design method to consider real parameter uncertainties and the $H_{\infty}$ design technique for unknown disturbances and unknown inputs. Constant estimator gains are computed that guarantee the robust performance of the estimator in the presence of parameter variations in the target model and unknown inputs to the target. The new estimator has two design parameters. One design parameter allows the trade off between small estimator error variance and low sensitivity to unknown parameter variations. Another design parameter allows the trade off between the robustness to real parameter variations and the robustness to unknown inputs. This robust estimator design method was applied to the longitudinal motion tracking problem of a T-38 aircraft.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.285-287
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• 1992

This paper considers the design of robust stabilizing controller of a linear time-invariant digital system subject to variations of parameter vector. For a given controller the radius of the largest stability hypersphere in this parameter space is calculated. This radius is a measure of the stability Margin of the closed-loop system. Based on this calculation a design procedure is proposed to robustify a given stabilizing controller. This algorithm iteratively enlarges the stability hypersphere in parameter space and can be used to design a controller to stabilize a plant subject to given ranges of parameter perturbations. These results are illustrated by an example.

• Journal of the Korean Society of Industry Convergence
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• v.7 no.2
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• pp.215-220
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• 2004

In this paper, some algorithms for robust stabilization of linerar time - invariant single - input - multi output (SIMO) systems subject to parameter perturbatations are presented. At first, the determination algorithm of the largest stable hypersphere in the parameter space of a given characteristic polynomial with its coefficient perturbations near some stable nominal values is presented. These algorithms iteratively enlarge the stability hypersph ere in plant parameter space and can be used to design a controller to stabilize a plant subject to givien range of parameter ecxursions.

• Journal of Convergence for Information Technology
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• v.7 no.3
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• pp.73-81
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• 2017

The generalized Hough transform (GHough) is a useful technique for detecting and locating 2-D model. However, GHough requires a 4-D parameter array and a large amount of time to detect objects of unknown scale and orientation because it enumerates all possible parameter values into a 4-D parameter space. Several n-to-1 mapping algorithms were proposed to reduce the parameter space from 4-D to 2-D. However, these algorithms are very likely to fail due to the random votes cast into the 2-D parameter space. This paper proposes to use internal gradient information in addition to the model boundary points to reduce the number of random votes cast into 2-D parameter space. Experimental result shows that our proposed method can reduce both the number of random votes cast into the parameter space and the execution time effectively.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.408-411
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• 1995

In this paper, we discuss the force control of flexible manipulators. Since the force control of flexible manipulators with planar one or two links using the distributed-parameter modeling has been the subject of a considerable number of publications until now, real time computations of the force control schemes are possible. But, application of those control schemes to multi-link spatial manipulators is fairly complicated. In this paper, we apply a concise hybrid position/force control scheme for a flexible manipulators. We use a lumped-parameter modeling for the flexible manipulators. The Hamilton's principle is applied to derive the equations of motion for the system and then, state-space model is obtained by the Lagrange's method. Finally, comparison of simulation results with experimental results is given to show the performance of our method.

• The Bulletin of The Korean Astronomical Society
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• v.35 no.1
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• pp.33.2-33.2
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• 2010

We have investigated a relationship among the solar proton events (SPEs), coronal mass ejections (CMEs) and solar flares during the solar cycle 23 (1997-2006). Using 63 SPE dataset, we found that SPE rise time, duration time, and decrease times depend on CME speed and SPE peak intensity depends on the CME earthward direction parameter as well as CME speed and x-ray flare intensity. While inspecting the relation between SPE peak intensity and the CME earthward direction parameter, we found that there are two groups: first group consists of large 6 SPEs (> 10,000 pfu at >10 MeV proton channel of GOES satellite) and shows a very good correlation (cc=0.65) between SPE peak intensity and CME earthward direction parameter. The second group has a relatively weak SPE peak intensity and shows poor correlation between SPE peak intensity and the CME earthward direction parameter (cc=0.01). By investigating characteristics of 6 SPEs in the first group, we found that there are special common conditions of the extremely large proton events (group 1); (1) all the SPEs are associated with very fast halo CME (>1400km/s), (2) they are almost located at disk region, (3) they also accompany large flare (>M7), (4) all they are preceded by another wide CMEs, and (5) they all show helmet streamer nearby the main CME. In this presentation, we will give details of the energy spectra of the 6 SPE events from the ERNE/HED aboard the Solar and Heliospheric Observatory (SOHO), and onset time comparison among the SPE, flare, type II burst, and CME.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.22-30
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• 2011

Plane detection is very important information for mission-critical of robot in 3D environment. A representative method of plane detection is Hough-transformation. Hough-transformation is robust to noise and makes the accurate plane detection possible. But it demands excessive memory and takes too much processing time. Iterative randomized Hough-transformation has been proposed to overcome these shortcomings. This method doesn't vote all data. It votes only one value of the randomly selected data into the Hough parameter space. This value calculated the value of the parameter of the shape that we want to extract. In Hough parameters space, it is possible to detect accurate plane through detection of repetitive maximum value. A common problem in these methods is that it requires too much computational cost and large number of memory space to find the distribution of mixed multiple planes in parameter space. In this paper, we detect multiple planes only via data sampling using Self Organizing Map method. It does not use conventional methods that include transforming to Hough parameter space, voting and repetitive plane extraction. And it improves the reliability of plane detection through division area searching and planarity evaluation. The proposed method is more accurate and faster than the conventional methods which is demonstrated the experiments in various conditions.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.444-448
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• 2003

In this paper, the Lagrange dynamics is studied. A state space representation of Lagrange dynamics and control algorithm based on the state feedback pole placement are presented. The state space model presented is descriptor type linear parameter dependent system. It is shown that the control algorithms based on the linear system theory can be applicable to the state space representation of Lagrange dynamics. To show that the linear system theory can be applicable to the state space representation of Lagrange dynamics, the LMI based regional pole-placement design algorithm is developed and present two examples.

• Bulletin of the Korean Space Science Society
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• 2004.04a
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• pp.95-95
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• 2004

The objectives of this study are to perform extensive analysis on internal mass motion for a wider parameter space and to provide suitable design criteria for a broader applicability for the class of spinning spacecraft. In order to examine the stability criterion determined by an analytical method, some numerical simulations will be performed and compared at various parameter points. (omitted)