• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.366-369
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• 2006

본 논문에서는 계층적 공정 경쟁 유전자 알고리즘을 통한 비선형시스템의 정보입자 기반 퍼지집합 퍼지집합 모델의 최적화 방법을 제안한다. 퍼지집합 모델은 주로 전문가의 경험에 기반을 두어 얻어지기 때문에 동정과 최적화 과정이 필요하며 GAs를 이용하여 퍼지모델을 최적화한 연구가 많이 있다. GAs는 전역 해를 찾을 수 있는 최적화 알고리즘으로 잘 알려져 있지만 조기 수렴 문제를 포함하고 있다. 병렬유전자 알고리즘(PGA)은 조기수렴를 더디게 하고 전역 해를 찾기 위한 진화알고리즘이다. 적응형 계층적 공정 경쟁기반 유전자 알고리즘(AHFCGA)을 이용하여 퍼지모델의 입력변수, 멤버쉽함수의 수, 멤버쉽함수의 정점 등의 전반부 구조와 파라미터를 동정하였고, LSE를 사용하여 후반부 파라미터를 동정하였으며 실험적 예제를 통하여 제안된 방법의 성능을 평가한다.

• Journal of information and communication convergence engineering
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• v.20 no.3
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• pp.153-159
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• 2022

Plain radiographic analysis is the initial imaging modality for suspected small bowel obstruction. Among the many features that affect the diagnosis of small bowel obstruction (SBO), the presence of gas-filled or fluid-filled small bowel loops is the most salient feature that can be automatized by computer vision algorithms. In this study, we compare three frequently applied pixel-clustering algorithms for extracting gas-filled areas without human intervention. In a comparison involving 40 suspected SBO cases, the Possibilistic C-Means and Fuzzy C-Means algorithms exhibited initialization-sensitivity problems and difficulties coping with low intensity contrast, achieving low 72.5% and 85% success rates in extraction. The Adaptive Resonance Theory 2 algorithm is the most suitable algorithm for gas-filled region detection, achieving a 100% success rate on 40 tested images, largely owing to its dynamic control of the number of clusters.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2540-2545
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• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.12
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• pp.1895-1902
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• 2001

This paper gives an overview of the relationships between methods of loaming and adaptive control. It is the objective of this paper to develop adaptive learning control algorithms that combine the advantages of adaptive control with those of leaning control to the extent possible for the type of system model used. The robustness of this adaptive loaming control with respect to reinitialization errors and fluctuation of dynamics from disturbance is analyzed extensively. Simulation results have shown to verify the effectiveness of the proposed control algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.472-477
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• 1996

This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.154-161
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• 1999

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.5 no.4
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• pp.26-37
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.510-513
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• 1986

In recent years the Kalman filter(extended Kalman filter) have been applied to a wide variety of tracking moving targets, because of its properties. For such a reason, in this paper we attempt to study on adaptive filter algorithms which estimate unknown bias maneuvering inputs.