• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.3
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• pp.39-46
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• 2004

This paper is proposed adaptive fuzzy-neural network(FNN) controller for the speed control of interior permanent magnet synchronous motor(IPMSM) drive. The design of this algorithm based on FNN controller that is implemented by using fuzzy control and neural network. This controller uses fuzzy rule as training patterns of a neural network. Also, this controller uses the back-propagation method to adjust the weights among the neurons of neural network in order to minimize the error between the command output and actual output. A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and change of error measured between the motor speed and output of a reference model. The control performance of the adaptive FNN controller is evaluated by analysis for various operating conditions. The results of analysis prove that the proposed control system has strongly high performance and robustness in parameter variation, steady-state accuracy and transient response.

• Asian Pacific Journal of Cancer Prevention
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• v.16 no.9
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• pp.3645-3651
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• 2015

Background: Previous studies evaluating the association between the xeroderma pigmentosum group G (XPG) Asp1104His polymorphism and head and neck cancer susceptibility have proven controversial. This meta-analysis of the literature was performed to obtain a more precise estimation of the relationship. Materials and Methods: We systematically searched PubMed, Embase and Web of Science with a time limit of Dec 18, 2014. Odds ratios (ORs) with 95% confidence intervals (CIs) were used to assess the strength of any association. Results: We performed a meta-analysis of eight published case-control studies, including 3,621 cases and 5,475 controls. Overall, no significant association was found between the XPG Asp1104His polymorphism and head and neck cancer susceptibility under all genetic models. In the subgroup analysis by ethnicity, the XPG Asp1104His polymorphism had statistically significant association with elevated head and neck cancer risk under CC vs GG (OR=1.24, 95% CI=1.00~1.54) and the recessive model (OR=1.22, 95%CI=1.01~1.46) in Asian populations. A similar result was found under CC vs GG (OR =1.22, 95%CI=1.01~1.47) in the population based subgroup by source of control. When performed by tumor site, the XPG Asp1104His polymorphism had statistically significant association with elevated laryngeal cancer under all genetic models (CC vs GG: OR=1.59, 95% CI=1.16~2.19; GC vs GG: OR=1.38, 95%CI=1.10~1.72; dominant model: OR=1.42, 95% CI=1.15~1.74; recessive model: OR=1.36, 95% CI=1.02~1.81). Conclusions: This meta-analysis suggested that the XPG Asp1104His polymorphism is a risk factor for head and neck cancer susceptibility, especially for laryngeal cancer and in Asian populations.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.1
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• pp.49-55
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• 2020

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• Smart Structures and Systems
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• v.31 no.3
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• pp.259-273
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• 2023

Real-time hybrid simulation (RTHS) is an effective experimental technique for structural dynamic assessment. However, time delay causes displacement de-synchronization at the interface between the numerical and physical substructures, negatively affecting the accuracy and stability of RTHS. To this end, the authors have proposed a model-based adaptive control strategy with a Kalman filter (MAC-KF). In the proposed method, the time delay is mainly mitigated by a parameterized feedforward controller, which is designed using the discrete inverse model of the control plant and adjusted using the KF based on the displacement command and measurement. A feedback controller is employed to improve the robustness of the controller. The objective of this study is to further validate the power of dealing with a nonlinear control plant and to investigate the potential challenges of the proposed method through actual experiments. In particular, the effect of the order of the feedforward controller on tracking performance was numerically investigated using a nonlinear control plant; a series of actual RTHS of a frame structure equipped with a magnetorheological damper was performed using the proposed method. The findings reveal significant improvement in tracking accuracy, demonstrating that the proposed method effectively suppresses the time delay in RTHS. In addition, the parameters of the control plant are timely updated, indicating that it is feasible to estimate the control plant parameter by KF. The order of the feedforward controller has a limited effect on the control performance of the MAC-KF method, and the feedback controller is beneficial to promote the accuracy of RTHS.

• Journal of KIISE:Software and Applications
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• v.37 no.9
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• pp.676-686
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• 2010

An URC (Ubiquitous Robot Companion) is aimed for providing the best service according to situational information that it recognizes. In order to offer human-friendly and intelligent services, a robot middleware requires the technique to automate and control URC service processes, which are based on context-awareness. In this paper, we propose a context-aware workflow system to provide web services based URC services according to situational information. The proposed system offers a platform-independent command object model to control heterogeneous URCs, and supports web services based context-aware URC services. Therefore, the proposed system can increase the reliability of URC services in ubiquitous network environment, on which the diverse URC robots and platforms exist. And it can enhance the flexibility and adaptability of the functional and structural changes of URC systems.

• The Journal of the Korea Contents Association
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• v.18 no.7
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• pp.322-329
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• 2018

Teleoperation is defined with a master device that gives control command and a slave robot in a remote site. In this field, it is common that a human operator executes and experiences teleoperation with a virtual slave, and preliminary learns dynamic characteristic and network environment from both agents. Generally, a virtual slave has neglected forward dynamics and its kinematic model has been implemented in computer graphics. This makes a operator to experience actual feelings. This paper proposes a dynamic teleoperation model in which a robotic forward model is applied. Also, a novel compensation method is proposed to reduce the numerical error problems in forward dynamics caused by low control sampling rate. Finally, its results will be compared to the teleoperation in an actual environment.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.154-157
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• 2006

This paper is proposed hybrid artificial intelligent(HAI) controller for high performance of induction motor drive. The design..of this algorithm based on fuzzy-neural network(FNN) controller that is implemented using fuzzy control and neural network. This controller uses fuzzy rule as training patterns of a neural network. Also, this controller uses the back-propagation method to adjust the weights between the neurons of neural network in order to minimize the error between the command output and actual output. A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and change of error measured between the motor speed and output of a reference model. The control performance of the adaptive FNN controller is evaluated by analysis for various operating conditions. The results of experiment prove that the proposed control system has strong high performance and robustness to parameter variation, and steady-state accuracy and transient response.

• Asia pacific journal of information systems
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• v.10 no.3
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• pp.105-120
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• 2000

The objective of this paper is to show how team study can be advanced with the aid of a current computer technology, that is distributed Artificial Intelligence(DAI). Studying distributed problem solving by using groups of artificial agents, DAI can provide important ideas and techniques for the study of team behaviors like team decision making. To demonstrate the usefulness of DAI models as team research tools, a DAI model called 'Team-Soar' was built and a simulation experiment done with the model was introduced, Here, Team-Soar models a naval command and control team consisting of four members whose mission was to identify the threat level of aircraft. The simulation experiment was performed to examine the relationships of team decision scheme and member incompetence with team performance. Generally, the results of the Team-Soar simulation met expectations and confirmed previous findings in the literature. For example, the results support the existence of main and interaction effects of team decision scheme and member competence on team performance. Certain results of the Team-Soar simulation provide new insights about team decision making, which can be tested against human subjects or empirical data.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.68 no.1
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• pp.129-139
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• 2019

In order for a gun-launched guided projectile to glide to the maximum range, when to deploy the fin and start flight with guidance and control should be considered in range optimization process. This study suggests a solution to the optimal guidance problem for flight range maximization of the flight model of a guided projectile in vertical plane considering the aerodynamic properties. After converting the nonlinear Multi-Phase Optimal Control Problem to Two-Point Boundary Value Problem, the optimized guidance command and the best fin deployment timing are calculated by the proposed numerical method. The optimization results of the multiple flight rounds with various initial velocity and launch angle indicate that determining specific launch condition incorporated with the guidance scheme is of importance in terms of mechanical energy consumption.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.980-985
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• 1988

In this paper, a control system of the PUMA 560 robot manipulator using a PC (Personal Computer) is presented. The hardware of the designed control system is composed of IBM-PC/AT, interface board, selection board, interrupt generating circuit, and the servo control unit of the PUMA controller. A robot control library is developed using assembly and C language, and is composed of several low-level functions and arm interface routines, world model routines, arm kinematics routines, and motion command service routines. Using the designed library, joint interpolated motion and Cartesian interpolated motion of the PUMA robot manipulator are realized. In the future, our system is expected to be a very helpful basis and a useful tool for developing various control algorithms of robot manipulator using sensory information.