• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.95-98
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• 1995

In this paper, an unknown-input proportional integral (PI) observer is presented and its applicability to the design of exact loop transfer recovery (Exact LTR) is shown. First, a sufficient condition for the PI observer to estimate the states of systems without knowledge of unknown input is derived. A simple existence condition of the observer is given. Under the conditions, the Exact LTR with specified observer's poles is achieved by the unknown-input PI observer.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.3
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• pp.12-19
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• 2003

This paper describes the design of a robot's hand with two fingers for stably grasping an unknown object, and the development of a 3-axis force sensor for which is necessary to constructing the robot's fingers. In order to safely grasp an unknown object using the robot's fingers, they should measure the forces in the gripping and in the gravity directions, and control the measured forces. The 3-axis force sensor should be used for accurately measuring the weight of an unknown object in the gravity direction. Thus, in this paper, the robot's hand with two fingers for stably grasping an unknown object is designed, and the 3-axis force sensor is newly modeled and fabricated using several parallel-plate beams.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.5-11
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• 2010

An adaptive formation control approach is proposed for nonhonolomic multiple mobile robots considering unknown slipping and skidding. It is assumed that unknown slipping and skidding effects are bounded by unknown constants. Under this assumption, the adaptive technique is employed to estimate the bounds of unknown slipping and skidding effects of each mobile robot. To deal with the skidding effect included in kinematics, the dynamic surface design approach is applied to design a local controller for each mobile robot. Using Lyapunov stability theorem, the adaptation laws for tuning bounds of slipping and skidding are induced and it is proved that all signals of the closed-loop system are bounded and the tracking errors and the synchronization errors of the path parameters converge to an adjustable neighborhood of the origin. Finally, simulation results are provided to verify the effectiveness of the proposed approach.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.9
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• pp.3243-3257
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• 2021

Deep neural networks provide excellent performance in pattern recognition, audio classification, and image recognition. It is important that they accurately recognize input data, particularly when they are used in autonomous vehicles or for medical services. In this study, we propose a data correction method for increasing the accuracy of an unknown classifier by modifying the input data without changing the classifier. This method modifies the input data slightly so that the unknown classifier will correctly recognize the input data. It is an ensemble method that has the characteristic of transferability to an unknown classifier by generating corrected data that are correctly recognized by several classifiers that are known in advance. We tested our method using MNIST and CIFAR-10 as experimental data. The experimental results exhibit that the accuracy of the unknown classifier is a 100% correct recognition rate owing to the data correction generated by the proposed method, which minimizes data distortion to maintain the data's recognizability by humans.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.5
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• pp.139-147
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• 1996

PID control has been widely used for real control systems. Particularly, there are many researches on control schemes of tuning PID gains. However, to the best of our knowledge, there is no result for discrete-time systems with unknown time-delay and unknown system parameters. On the other hand, Generalized predictive control has been reported as a useful self-tuning control technique for systems with unknown time-delay. So, in this study, based on minimization of a GPC criterion, we present a self-tuning PID control algorithm for unknown papameters and unknown time-delay system. A numerical simulation was presented to illustrate the effectiveness of this method.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.411-416
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• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• Korean Journal of Head & Neck Oncology
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• v.34 no.2
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• pp.53-56
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• 2018

Despite adequate diagnostic work-up, unknown primary carcinoma(UPC) of the head and neck cannot be detected in approximately 2- 3% of patients.(1,2) There are several explanations for a cervical metastasis in the absence of a primary tumor. Here in, we report 2 patients, who were diagnosed with nasopharyngeal cancer after treatment of unknown primary cancer of the neck. Both patients had radical neck dissections and chemoradiation therapy, but 1 patient showed nasopharyngeal cancers 4 years after treatment and the other patient at 9 months after treatment for the unknown primary cancer. Therefore, we report 2 cases of nasopharyngeal cancer, which were diagnosed after treatment of unknown head and neck primary site.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.12
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• pp.4909-4926
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• 2020

Cyberattacks penetrate the server and perform various malicious acts such as stealing confidential information, destroying systems, and exposing personal information. To achieve this, attackers perform various malicious actions by infecting endpoints and accessing the internal network. However, the current countermeasures are only anti-viruses that operate in a signature or pattern manner, allowing initial unknown attacks. Endpoint Detection and Response (EDR) technology is focused on providing visibility, and strong countermeasures are lacking. If you fail to respond to the initial attack, it is difficult to respond additionally because malicious behavior like Advanced Persistent Threat (APT) attack does not occur immediately, but occurs over a long period of time. In this paper, we propose a technique that detects an unknown attack using an event log without prior knowledge, although the initial response failed with anti-virus. The proposed technology uses a combination of AutoEncoder and 1D CNN (1-Dimention Convolutional Neural Network) based on semi-supervised learning. The experiment trained a dataset collected over a month in a real-world commercial endpoint environment, and tested the data collected over the next month. As a result of the experiment, 37 unknown attacks were detected in the event log collected for one month in the actual commercial endpoint environment, and 26 of them were verified as malicious through VirusTotal (VT). In the future, it is expected that the proposed model will be applied to EDR technology to form a secure endpoint environment and reduce time and labor costs to effectively detect unknown attacks.

• Smart Structures and Systems
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• v.30 no.3
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• pp.273-286
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• 2022

In recent years, vision-based monitoring has received great attention. However, structural identification using vision-based displacement measurements is far less established. Especially, simultaneous identification of structural systems and unknown excitation using vision-based displacement measurements is still a challenging task since the unknown excitations do not appear directly in the observation equations. Moreover, measurement accuracy deteriorates over a wider field of view by vision-based monitoring, so, only a portion of the structure is measured instead of targeting a whole structure when using monocular vision. In this paper, the identification of structural system and excitations using vision-based displacement measurements is investigated. It is based on substructure identification approach to treat of problem of limited field of view of vision-based monitoring. For the identification of a target substructure, substructure interaction forces are treated as unknown inputs. A smoothing extended Kalman filter with unknown inputs without direct feedthrough is proposed for the simultaneous identification of substructure and unknown inputs using vision-based displacement measurements. The smoothing makes the identification robust to measurement noises. The proposed algorithm is first validated by the identification of a three-span continuous beam bridge under an impact load. Then, it is investigated by the more difficult identification of a frame and unknown wind excitation. Both examples validate the good performances of the proposed method.

• The Journal of Internal Korean Medicine
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• v.24 no.2
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• pp.409-414
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• 2003

Fever is an elevation of body temperature to a level above normal to greater than $37.2^{\circ}C$. Fever of Unknown Origin is usually defined in adults as continuous fever at least 3 weeks duration with daily temperature elevation above $101.5^{\circ}F(38.3^{\circ}C)$ and remaining undiagnosed after 1 week of intensive study in the hospital. Diagnoses for Fever of Unknown Origin fall into three general categories: infectious disease, connective tissue disease, neoplasm. We experienced a cases of Fever of Unknown Origin which occurred after subarachnoid hemorrhage and intracerebral hemorrhage. As for treatment, we used Cheongleejagamtang-gami(淸離滋坎湯加味). Fever of Unknown Origin was improved within 5 days of the admission.