• Journal of the Korean Statistical Society
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• v.36 no.4
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• pp.557-578
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• 2007

In Response Surface Methodology (RSM), rotatability is a natural and highly desirable property. For second order general correlated regression model, the concept of robust rotatability was introduced by Das (1997). In this paper a new measure of robust rotatability for second order response surface designs with correlated errors is developed and illustrated with an example. A comparison is made between the newly developed measure with the previously suggested measure by Das (1999).

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.5
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• pp.1093-1102
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• 2010

Principal component analysis (PCA) is a well-known method for dimension reduction while maintaining most of the variation in data. Although PCA has been applied to many areas successfully, it is sensitive to outliers. Several variants of PCA have been proposed to resolve the problem and, among the variants, robust fuzzy PCA (RF-PCA) demonstrated promising results. RF-PCA uses fuzzy memberships to reduce the noise sensitivity. However, there are also problems in RF-PCA and the convergence property is one of them. RF-PCA uses two different objective functions to update memberships and principal components, which is the main reason of the lack of convergence property. The difference between two functions also slows the convergence and deteriorates the solutions of RF-PCA. In this paper, a variant of RF-PCA, called RF-PCA2, is proposed. RF-PCA2 uses an integrated objective function both for memberships and principal components. By using alternating optimization, RF-PCA2 is guaranteed to converge on a local optimum. Furthermore, RF-PCA2 converges faster than RF-PCA and the solutions found are more similar to the desired solutions than those of RF-PCA. Experimental results also support this.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.6
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• pp.1542-1550
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• 1994

For a class of singularly perturbed uncertain system, an output feedback control law is designed. The controller structure is designed based on the uncertain reduced-order system, and the controller parameters are determined by information on the reduced-order and full-order systems. It has been shown that the reduces-order system with the designed controller possesses a stability property(specifically, a global uniform attractivity). Furthermore, the stability property of this control scheme is robust with respect to singular perturbation ; i.e., the full-order system, subject to the same controller, possesses the global uniform attractivity, provided the singular perturbation parameter $\mu<\mu^{*}$, where a threshold value $\mu^{*}$ can be computed from the information available on the full-order system.

• The Journal of the Acoustical Society of Korea
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• v.20 no.7
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• pp.69-75
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• 2001

Intra-speaker variation, noise environments, and mismatch between training and test conditions are the major reasons for the speaker verification system unable to use it practically. In this study, we propose robust end-point detection algorithm, noise cancelling with the microphone property compensation technique, and inter-speaker discriminate technique by weighting cepstrum for robust speaker verification system. Simulation results show that the average speaker verification rate is improved in the rate of 17.65% with proposed end-point detection algorithm using LPC residue and is improved in the rate of 36.93% with proposed noise cancelling and microphone property compensation algorithm. The proposed weighting function for discriminating inter-speaker variations also improves the average speaker verification rate in the rate of 6.515%.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.345-355
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• 2000

In this paper, the depth controller of an underwater vehicle based on an $H_\infty$ servo control is designed for the depth keeping of the underwater vehicle under wave disturbances. The depth controller is designed in the form of the $H_\infty$ servo controller, which has robust tracking property, and an $H_\infty$ servo problem is considered for the $H_\infty$ servo controller design. In order to solve the $H_\infty$ servo problem for the underwater vehicle, this problem is modified as an $H_\infty$ control problem for the generalized plant that includes a reference input mode, and a suboptimal solution that satisfies a given performance criteria is calculated with the LMI (Linear Matrix Inequality) approach. The $H_\infty$ servo controller is designed to have robust stability about the perturbation of the parameters of the underwater vehicle and the robust tracking property of the underwater vehicle depth under wave force and moment disturbances. The performance, robustness about the uncertainties, and depth tracking property, of the designed depth controller is evaluated by computer simulation, and finally these simulation results show the usefulness and applicability of the proposed $H_\infty$ depth control system.

• The Transactions of the Korea Information Processing Society
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• v.7 no.10
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• pp.3290-3299
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• 2000

Digital watermarking has similar concepts with channel coding thechnique for transferring data with minimizing error in noise environment, since it should be robust to various kinds of data manipulation for protecting copyrights of multimedia data. This paper proposes a digital watermarking technique which is robust to various kinds of data manipulation. Intellectual property rights information is encoded using a convolutional code, and block-interleaving technique is applied to prevent successive loss of encoded data. Encoded intelloctual property rithts informationis embedded using spread spectrum technique which is robust to cata manipulation. In order to reconstruct intellectual property rights information, watermark signalis detected by covariance between watermarked image and pseudo rando noise sequence which is used to einbed watermark. Embedded intellectual property rights information is obtaned by de-interleaving and cecoding previously detected wtermark signal. Experimental results show that block interleaving watermarking technique can detect embedded intellectial property right informationmore correctly against to attacks like Gaussian noise additon, filtering, and JPEG compression than general spread spectrum technique in the same PSNR.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.264-269
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• 2002

In this paper, Η$_{\infty}$ depth and course controller of an AUV(Autonomous Underwater Vehicle) using Η$_{\infty}$ servo control is proposed. The Η$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the Η$_{\infty}$ servo problem is as fellows: first, this problem is modified as an Η$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The Η$_{\infty}$ depth and course controller are designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed Η$_{\infty}$ depth and course control system.

• Advances in robotics research
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• v.2 no.1
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• pp.33-44
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• 2018

This paper presents a novel feature detection algorithm called depth-hybrid speeded-up robust features (DH-SURF) augmented by depth information in the speeded-up robust features (SURF) algorithm. In the keypoint detection part of classical SURF, the standard deviation of the Gaussian kernel is varied for its scale-invariance property, resulting in increased computational complexity. We propose a keypoint detection method with less variation of the standard deviation by using depth data from a red-green-blue depth (RGB-D) sensor. Our approach maintains a scale-invariance property while reducing computation time. An RGB-D simultaneous localization and mapping (SLAM) system uses a feature extraction method and depth data concurrently; thus, the system is well-suited for showing the performance of the DH-SURF method. DH-SURF was implemented on a central processing unit (CPU) and a graphics processing unit (GPU), respectively, and was validated through the real-time RGB-D SLAM.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.113.1-113
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• 2001

The robust position control with the bound function of neural network structure is proposed for uncertain robot manipulators. The neural network structure presents the bound function and does not need the concave property of the bound function, The robust approach is to solve this problem as uncertainties are included in a model and the controller can achieve the desired properties in spite of the imperfect modeling. Simulation is performed to validate this law for four-axis SCARA type robot manipulators.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.779-782
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• 1996

Repetitive control is a proposed control strategy in view of the internal model principle and achieves a high accuracy asymptotic tracking property by implementing a model that generates the periodic signals of period into the closed-loop system. Since the repetitive control system contains a periodic signal generator with positive feedback loop, which reduces the stability margin, in the overall closed-loop system, the stability of the closed-loop system should be considered as an important problem. In case that a real system has plant uncertainties which are not represented through modeling, the robust stability problem of the repetitive control system has not been considered sufficiently. In this paper, we propose the robust stability condition for the system with modeling uncertainty. The proposed robust stability condition will be obtained using the robust performance condition in the H$_{\infty}$ control. Moreover, by use of the proposed robust stability condition, we propose a procedure that designs a repetitive controller and a feedback controller simultaneously which can stabilize the overall closed-loop system robustly and which can also do the closedloop system without repetitive controller..