• Journal of Korean Institute of Industrial Engineers
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• v.23 no.1
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• pp.1-22
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• 1997

Learning control refers to controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented a theory of indirect decentralized learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper extends these results to apply to the indirect repetitive control problem in which a periodic (i.e., repetitive) command is given to a control system. Decentralized indirect repetitive control algorithms are presented that have guaranteed convergence to zero tracking error under very general conditions. The original motivation of the repetitive control and learning control fields was learning in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the desired trajectory. Decentralized repetitive control is natural for this application because the feedback control for link rotations is normally implemented in a decentralized manner, treating each link as if it is independent of the other links.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.6
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• pp.850-856
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• 2018

In this paper, a controller based on repetitive learning control is designed to control an unmanned surface vessel with nonlinear characteristics and unknown parameters. First, we define the equations of motion and error system of the unmanned vessel, and then design an repetitive learning controller composed of system error and estimated unknown parameters based on repetitive learning control and adaptive control. The stability of the unmanned vessel model controlled by the designed controller is verified through the analysis of the Lyapunov stability. Simulation shows that the error converges asymptotically to zero with semi-global result, confirming that the unmanned vessel is moving toward a given ideal path, and verifies that the controller is also feasible.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.538-538
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• 2000

This paper presents a learning controller for repetitive gate control of biped robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of teaming control to biped robotic motion is shown via dynamic simulation with 12 dof biped robot.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1464-1468
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• 2004

This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.594-596
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• 2005

This paper present a learning controller for repetitive gate control of biped robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation and experimental results with 24 DOF biped robot.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.4
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• pp.420-426
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• 1998

It is the purpose of this paper to make a preliminary study on the use of repetitive control to improve velocity accuracy by eliminating repetitive disturbances caused by machining inaccuracies of the axis of rotation location. If the control system can be intelligent enough to compensate for such machining errors, then one may be able to improve the accuracy of the velocity control, or alternatively, one may maintain the same accuracy and relax the machining tolerances required. This could decrease cost significantly. Experiments are performed testing repetitive control methods on a constant speed rolling operation testbed. The experimental results show very substantial decreases in the tracking error of the system. Spectral data of the output motion are given to demonstrate the attenuation of the disturbance frequencies and harmonics, related to the bandwidth being used. It is seen that the simplest form of repetitive control which is very easily implemented, can produce striking improvement in control system performance in such belt drive rolling operations, and the learning can be accomplished in a short time.

• The Journal of Korean Physical Therapy
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• v.31 no.4
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• pp.212-215
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• 2019

Purpose: This study examined whether there is a difference in motor learning through short-term repetitive movement practice in stroke survivors with a unilateral brain injury compared to normal elderly participants. Methods: Twenty-six subjects who were divided into a stroke group (n=13) or sex-aged matched normal elder group (n=13) participated in this study. To evaluate the effects of motor learning, the participants conducted a tracking task for visuomotor coordination. The accuracy index was calculated for each trial. Both groups received repetitive tracking task training of metacarpophalangeal joint for 50 trials. The stroke group performed a tracking task in the upper extremity insi-lesional to the damaged hemisphere, and the normal elder group performed the upper extremity matched for the same side. Results: Two-way repetitive ANOVA revealed a significant difference in the interactions ($time{\times}group$) and time effects. These results indicated that the motor skill improved in both the stroke and normal elder group with a tracking task. On the other hand, the stroke group showed lesser motor learning skill than the normal elder group, in comparison with the amount of motor learning improvement. Conclusion: These results provide novel evidence that stroke survivors with unilateral brain damage might have difficulty in performing ipsilateral movement as well as in motor learning with the ipsilateral upper limb, compared to normal elderly participants.

• Journal of Industrial Convergence
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• v.19 no.3
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• pp.27-34
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• 2021

In the era of the 4th industrial revolution, the age of artificial intelligence, the development of ICT technology is having various effects on the online and offline educational environment. The universal access of online education changes the educational paradigm and converts it to a learner-centered service. At the time when a new educational environment is required to change, interest in flip learning is increasing. Even adult learner's online learning needs is also shown very high. The purpose of this study was to investigate how repetitive learning activities through flip learning for middle-aged online learners of K-Cyber University has a relationship and structural relationship between the effects of learning immersion and learning interest on learning satisfaction. Through this study, there is significance in research to suggest direction for learning satisfaction based on flip learning. For further studies, if a model of analysis of various factors that can be measured is specified and applied, it can be used as a research background that can maximize learning satisfaction based on flip learning.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.6
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• pp.1-7
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• 2003

This paper introduces a robust sliding mode repetitive control method for a class of nonlinear system. The sliding mode controller stabilizes the overall system and makes the tracking error converge to some residual set. Also, tile repetitive learning controller makes the tracking error converge to zero. Unlike other methods, the proposed sliding mode controller reduces the chattering effects in the steady state without using high-order sliding manifold approach.

• Journal of The Korean Association For Science Education
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• v.21 no.3
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• pp.516-528
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• 2001

In the educational study, the measure of EEG(brain waves) can be useful method to study the functioning state of brain during learning behaviour. This study investigated the changes of neuronal response according to four times repetition of audio-visual learning. EEG data at the prefrontal$(Fp_{1},Fp_{2})$ were obtained from twenty subjects at the 8th grade, and analysed quantitatively using FFT(fast Fourier transform) program. The results were as follows: 1) In the first audio-visual learning, the activities of $\beta_{2}(20-30Hz)$ and $\beta_{1}(14-19Hz)$ waves increased highly, but the activities of $\theta(4-7Hz)$ and $\alpha$ (8-13Hz) waves decreased compared with the base lines. 2). According to the repetitive audio-visual learning, the activities of $\beta_{2}$ and $\beta_{1}$ waves decreased gradually after the 1st repetitive learning. And, the activity of $\beta_{2}$ wave had the higher change than that of $\beta_{1}$ wave. 3). The activity of $\alpha$ wave decreased smoothly according to the repetitive audio-visual learning, and the activity of $\theta$ wave decreased radically after twice repetitive learning. 4). $\beta$ and $\theta$ waves together showed high activities in the 2nd audio-visual learning(once repetition), and the learning achievement increased highly after the 2nd learning. 5). The right prefrontal$(Fp_{2})$ showed higher activation than the left$(Fp_{1})$ in the first audio-visual learning. However, there were not significant differences between the right and the left prefrontal EEG activities in the repetitive audio-visual learning. Based on these findings, we can conclude that the habituation of neuronal response shows up in the repetitive audio-visual learning and brain hemisphericity can be changed by learning experiences. In addition, it is suggested once repetition of audio-visual learning be effective on the improvement of the learning achievement and on the activation of the brain function.