• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.172-177
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• 1988

In this paper, a new fast algorithm of FIR least squares filter with linear phase is presented. The general unknown statistics case is considered, whereby only sample records of the data are available. Taking advantage of the near-to-Toeplitz+Hankel structure of the resulting normal equation, a fast algorithm which gurantees the linear phase constraint, is developed that recursively produces the filter coefficient of linear phase FIR filter for a single block of data.

• 제어로봇시스템학회논문지
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• 제2권1호
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• pp.60-66
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• 1996

Model Based Predictive Control(MBPC) has been widely used in predictive control since 80's. GPC[1] which is the superset of many MBPC strategies a popular method, but GPC has some weakness, such as insufficient stability analysis, non-applicability to internally unstable systems. However, CRHPC[2] proposed in 1991 overcomes the above limitations. So we chose RHPC based on CRHPC for electric furnace control. An electric furnace which has nonlinear properties and large time delay is difficult to control by linear controller because it needs nearly perfect modelling and optimal gain in case of PID. As a result, those controls are very time-consuming. In this paper, we applied RHPC with equality constraint to electric furnace. The reults of experiments also include the case of RHPC with monotonic weighting improving the transient response and including unmodelled dynamics. So, This paper proved the practical aspect of RHPC for real processes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권2호
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• pp.247-268
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• 2011

Due to the application-specific nature of wireless sensor networks, the sensitivity to such a requirement as data reporting interval varies according to the type of application. Such considerations require an application-specific, parameter tuning paradigm allowing us to maximize energy conservation prolonging the operational network lifetime. In this paper, we propose a reporting interval adaptive, sensor control platform for energy-saving data gathering in wireless sensor networks. The ultimate goal is to extend the network lifetime by providing sensors with high adaptability to application-dependent or time-varying, reporting interval requirements. The proposed sensor control platform is based upon a two phase clustering (TPC) scheme which constructs two types of links within each cluster - namely, direct link and relay link. The direct links are used for control and time-critical, sensed data forwarding while the relay links are used only for multi-hop data reporting. Sensors opportunistically use the energy-saving relay link depending on the user reporting, interval constraint. We present factors that should be considered in deciding the total number of relay links and how sensors are scheduled for sensed data forwarding within a cluster for a given reporting interval and link quality. Simulation and implementation studies demonstrate that the proposed sensor control platform can help individual sensors save a significant amount of energy in reporting data, particularly in dense sensor networks. Such saving can be realized by the adaptability of the sensor to the reporting interval requirements.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권2호
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• pp.687-708
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• 2017

The machine-to-machine (M2M) communication is featured by tremendous number of devices, small data transmission, and large uplink to downlink traffic ratio. The massive access requests generated by M2M devices would result in the current medium access control (MAC) protocol in LTE/LTE-A networks suffering from physical random access channel (PRACH) overload, high signaling overhead, and resource underutilization. As such, fairness should be carefully considered when M2M traffic coexists with human-to-human (H2H) traffic. To tackle these problems, we propose an adaptive Slotted ALOHA (S-ALOHA) and time division multiple access (TDMA) hybrid protocol. In particular, the proposed hybrid protocol divides the reserved uplink resource blocks (RBs) in a transmission cycle into the S-ALOHA part for M2M traffic with small-size packets and the TDMA part for H2H traffic with large-size packets. Adaptive resource allocation and access class barring (ACB) are exploited and optimized to maximize the channel utility with fairness constraint. Moreover, an upper performance bound for the proposed hybrid protocol is provided by performing the system equilibrium analysis. Simulation results demonstrate that, compared with pure S-ALOHA and pure TDMA protocol under a target fairness constraint of 0.9, our proposed hybrid protocol can improve the capacity by at least 9.44% when ${\lambda}_1:{\lambda}_2=1:1$and by at least 20.53% when ${\lambda}_1:{\lambda}_2=10:1$, where ${\lambda}_1,{\lambda}_2$ are traffic arrival rates of M2M and H2H traffic, respectively.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.321-327
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• 1993

In order to maintain the cutting force at a desired level during peripheral end milling processes in spite of variation of the depth of cut and other machining conditions, a feedrate override. Apaptive Control Constraint (ACC) system are developed. Feedrate override was accomplished by a developed MMC board and PMC interface techniques. Nonlinear model of the cutting process was linearized as an adaptive model with time varying paramrters. Integral type estimators were introduced for on-line identification of cutting and control parameters in peripheral and milling processes. Zero Order Jold (ZOH) type degital control methodology which uses pole-placement concepts was applied for the ACC system. Performance of the developed ACC system was confirmed on the vertical machining center equipped with FANUC OMC for a large amount of experiment

• 한국환경과학회지
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• 제5권2호
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• pp.229-241
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• 1996

This study was performed to find the most desirable emission reduction for each mobile source pollutant and the optimal control strategy at a given level of expenditures in Pusan City in 2000 by using the interactive s-constraint method developed by Chang-Hyo Lee and Hyung-Wook Kim, which isone of the mathematical programming models. The most desirable emission reduction is 7093 ton/year for particulate (TSP), 4871 ton/year for NOx, 5148 ton/year for HC and 36779 ton/year for CO. The optimal control strategy is as follows; 1. As to passenger car and taxi, limiting VKT (vehicle kilometers travelled) in congested areas will be necessary. In addition to this, improving vehicie inspection Program should be enforced. 2. As to small-gasoline bus, traffic adaptive control system will be necessary. 3. As to small-diesel bus, non-adjustable engine parameters will have to be applied. .4. As to heal bus and heart truck, catalytic trap oxidizer and limiting VKT in congested areas will do necessary. 5. As to motorcycle, 2-cycle motorcycles should be converted to 4-cycle motorcycles.

• 대한안전경영과학회지
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• 제16권4호
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• pp.323-330
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• 2014

Various inventory control theories have tried to modelling and analyzing supply chains by using quantitative methods and characterization of optimal control policies. However, despite of various efforts in this research filed, the existing models cannot afford to be applied to the realistic problems. The most unrealistic assumption for these models is customer demand. Most of previous researches assume that the customer demand is stationary with a known distribution, whereas, in reality, the customer demand is not known a priori and changes over time. In this paper, we propose a reinforcement learning based adaptive echelon base-stock inventory control policy for a multi-stage, serial supply chain with non-stationary customer demand under the service level constraint. Using various simulation experiments, we prove that the proposed inventory control policy can meet the target service level quite well under various experimental environments.

• 한국정밀공학회지
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• 제21권11호
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• pp.83-90
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• 2004

In this paper we present a new real-time visual servoing unit for laparoscopic surgery This unit can automatically control laparoscope manipulator through visual tracking of laparoscopic surgical tool. For the tracking, we present two-stage adaptive CONDENSATION(conditional density propagation) algorithm to extract the accurate position of the surgical tool tip from a surgical image sequence in real-time. This algorithm can be adaptable to abrupt change of laparoscope illumination. For the control, we present virtual damper system to control a laparoscope manipulator safely and stably. This system causes the laparoscope to move under constraint of the virtual dampers which are linked to the four sides of image. The visual servoing unit operates the manipulator in real-time with locating the surgical tool in the center of image. The experimental results show that the proposed visual tracking algorithm is highly robust and the controlled manipulator can present stable view with safe.

• 한국멀티미디어학회논문지
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• 제16권12호
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• pp.1368-1375
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• 2013

본 논문에서는 공간 적응적인 노이즈 검출 및 제거 방식에 대해 제안한다. 관측 영상 및 첨가 노이즈가 가우시안 분포 특성을 갖고 있다는 가정 하에 국부 통계 특성을 이용하여 노이즈 매개 변수들을 예측하며, 예측된 매개변수들은 1차 마르코프 랜덤 장과 연동하여 노이즈 검출 과정의 제약 조건을 설정하기 위해 사용된다. 더불어, 노이즈 검출 과정에서 설정된 제약 조건에 따라 제안된 가변 크기의 적응 저주파 통과 필터를 사용하여 적응적으로 복원 영상의 완화 정도를 제어하였다. 실험 결과를 통해 제안 방식의 효율성을 입증할 수 있었다.