• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10b
• /
• pp.179-184
• /
• 1993

In this paper, an optimal motion control scheme is proposed for robot manipulators. A simple explicit solution to the Hamilton-Jacobi equation is presented. The optimization of motion control is based on the mininization of the torque term affecting the kinetic energy and the augmented error which has the first-order stable dynamics for the position and velocity tracking error. In the presence of parametric uncertainty, an adaptive control scheme using the optimal principle is proposed. The global stability of the closed-loop system is guaranteed by the Lyapunov stability approach, The effectiveness and feasibility of the proposed control schemes are shown by simulation results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.3
• /
• pp.294-299
• /
• 2006

This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.172-174
• /
• 2006

In this paper, we propose the trajectory generation method for bipedal walking on the stairs. This method is based on multi-masses inverted pendulum mode (MMIPM). MMIPM can effectively reduce the ZMP error but it is only applied to walking on the flat ground. In order to reduce ZMP error when a robot walks on the stairs, we generate the walking motion by MMIPM and modify that motion using parametric functions. We determine the values of the parameters by the simulations. Simulation results show that the robot can walk more stable on the stairs.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.323-326
• /
• 1996

In a simple system, the control schemes work well provided that the characteristic of the plant or the coefficients are known and fixed. But the condition is not met in the system like satellite, for example, varying over time and the coefficients of dynamic system change due to disturbance, etc, and the better precise model is required to control the given dynamic system well. Conversely, the fixed controller make the unmodel dynamic system with a wide class of modelling error be stable within the error tolerance limits. Also, a robust model reference adaptive control scheme is designed for the plant, paying attention to the derivation of the appropriate parametric model and the design of the normalizing signal to guarantee that it has the desired properties.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2000.10a
• /
• pp.285-290
• /
• 2000

A mathematical model which can simulate biaxial moment-curvature relations for reinforced concrete column is developed. The developed model is capable of tracing the post-peak behavior of a column after peak load. The model can take into account different sectional shapes of a column and various constitutive models of confined concrete. The developed model is used to evaluate constitutive models of confined concrete under concentric loading, suggested by different researchers. Error function which measures the overall constitutive behavior of a confined concrete is intrcduced. The constitutive model minimizing this error function is selected and is incorporated into the developed model in order to investigate the effect of main parameters on the general column behavior.

• Proceedings of the SAREK Conference
• /
• 2009.06a
• /
• pp.973-978
• /
• 2009

In this study, the thermal environment characteristics of On-Off control and thermal difference proportional control method in floor radiant heating system were researched by computer simulation. For the analysis of unsteady heat transfer phenomena in household, the method of using electrical equivalent R-C circuit is applied, and radiation heat transfer between panel, ceiling and walls in household is calculated by enclosure analysis method. The parametric study on two control methods, conventional on-off control and temperature error based time control(T.E.B.T.C.) method, are performed to compare thermal heating control performances, respectively.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.4
• /
• pp.87-92
• /
• 2002

By using the signal error test, model structure of total antilock braking system consisting of electromagnetic system and hydraulic system is determined as 9th order system. For determining parameters of the ABS, using time discrete model of parametric method, parameters in time discrete model are searched by least square method. By bilinear transform, we have found the model of ABS in s domain. Afterward, experimental output data is compared with simulated output data by MATLAB haying identified parameter. As the result, experimental data is agreed with simulated data very well.

• The Korean Journal of Applied Statistics
• /
• v.21 no.6
• /
• pp.969-980
• /
• 2008

This paper presents the comparison of four methods, linear, quadratic, canonical and non-parametric discriminant analyses to discriminate the consumers' taste grade with sensory variables, such as tenderness, juiciness, flavor, and overall acceptability based on Consumer Sensory Survey. The classification ability of each method is measured and compared by the resubstitution error rate.

• Communications for Statistical Applications and Methods
• /
• v.19 no.6
• /
• pp.885-898
• /
• 2012

In this paper, we consider Bayesian approaches to partially linear models, in which a regression function is represented by a semiparametric additive form of a parametric linear regression function and a nonparametric regression function. We make a comparative study on the performance of widely used Bayesian partially linear models in terms of empirical analysis. Specifically, we deal with three Bayesian methods to estimate the nonparametric regression function, one method using Fourier series representation, the other method based on Gaussian process regression approach, and the third method based on the smoothness of the function and differencing. We compare the numerical performance of three methods by the root mean squared error(RMSE). For empirical analysis, we consider synthetic data with simulation studies and real data application by fitting each of them with three Bayesian methods and comparing the RMSEs.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.05a
• /
• pp.113-114
• /
• 2006

Vibration of a non-linear system under random excitations was evaluated by probabilistic methods. The non-linear characteristic terms of a system structure were quasi-linearized and excitation terms were remained as they were. An analytical method where the square mean of error was minimized was used. An alternative method was an energy method where the damping energy and restoring energy of the linearized system were equalized to those of the original non-linear system. The numerical results were compared with those obtained by Monte Carlo simulation. The comparison showed the results obtained by Monte Carlo simulation located between those by the analytical method and those by the energy method.