• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.261-269
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• 2014

This paper provides an overview of the basics and recent studies of Lyapunov-based nonlinear adaptive control, the aim of which is to improve or maintain the performance and stability of the closed-loop system by cancelling out the presumable uncertainties in the nonlinear system dynamics. The design principles are essentially based on Lyapunov's direct method. In this survey, we provide a comprehensive overview of Lyapunov-based nonlinear adaptive control techniques with simplified effective design examples, which are to be elaborated as related recent results are gradually shown. The scope of the survey contains research on singularity problems in adaptive control, the techniques to deal with linearly and nonlinearly parameterized uncertainties, robust neuro-adaptive control, and adaptive control methodologies combined with various nonlinear control techniques such as sliding-mode control, back-stepping, dynamic surface control, and optimal/$H_{\infty}$ control.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.4
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• pp.395-405
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• 2004

The filling pattern and an adaptive grid refinement based on the finite element method and Eulerian mesh advancement approach have been developed to analyze incompressible transient viscous flow with free surfaces. The governing equation for flow analysis is Navier-Stokes equation including inertia and gravity effects. The mixed FE formulation and predictor-corrector method are used effectively for unsteady numerical simulation. The flow front surface and the volume inflow rate are calculated using the filling pattern technique to select an adequate pattern among four filling patterns at each triangular control volume. By adaptive grid refinement, the new flow field that renders better prediction in flow surface shape is generated and the velocity field at the flow front part is calculated more exactly. In this domain the elements in the surface region are made finer than those in the remaining regions for more efficient computation. Using the proposed numerical technique, the collapse of a water dam has been analyzed to predict flow phenomenon of fluid and the predicted front positions with respect to time have been compared with the reported experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.10
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• pp.119-124
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• 2000

One of the main problems in 3D shape measuring systems that use the triangulation of line-shaped laser light is precise center line detection of line-shaped laser stripe. The intensity of a line-shaped laser light stripe on the CCD image varies following to the reflection angles, colors and shapes of objects. In this paper, a new center line detection algorithm to compensate the local intensity variation on a line-shaped laser light stripe is proposed. The 3-D surface shape measuring system using the proposed center line detection algorithm can measure 3-D surface shape with enhanced measurement resolution by using the dynamic shape reconstruction with adaptive pattern clustering of the line-shaped laser light. This proposed 3-D shape measuring system can be easily applied to practical situations of measuring 3-D surface by virtue of high speed measurement and compact hardware compositions.

• Structural Engineering and Mechanics
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• v.76 no.6
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• pp.675-685
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• 2020

As the classical response surface method (RSM), the polynomial RSM is so easy-to-apply that it is widely used in reliability analysis. However, the trade-off of accuracy and efficiency is still a challenge and the "curse of dimension" usually confines RSM to low dimension systems. In this paper, based on the univariate decomposition, the polynomial RSM is executed in a new mode, called as DPRSM. The general form of DPRSM is given and its implementation is designed referring to the classical RSM firstly. Then, in order to balance the accuracy and efficiency of DPRSM, its adaptive order revision around the most probable point (MPP) is proposed by introducing the univariate polynomial order analysis, noted as RDPRSM, which can analyze the exact nonlinearity of the limit state surface in the region around MPP. For testing the proposed techniques, several numerical examples are studied in detail, and the results indicate that DPRSM with low order can obtain similar results to the classical RSM, DPRSM with high order can obtain more precision with a large efficiency loss; RDPRSM can perform a good balance between accuracy and efficiency and preserve the good robustness property meanwhile, especially for those problems with high nonlinearity and complex problems; the proposed methods can also give a good performance in the high-dimensional cases.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2001.05a
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• pp.280-287
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• 2001

The studies to estimate the surface spectral reflectance of an object have received widespread attention using the multi-spectral camera system. However, the multi-spectral camera system requires the additional color filter according to increment of the channel and system complexity is increased by multiple capture. Thus, this paper proposes an algorithm to reduce the estimation error of surface spectral reflectance with the conventional 3-band RGB camera. In the proposed method, adaptive principal components for each pixel are calculated by renewing the population of surface reflectances and the adaptive principal components can reduce estimation error of surface spectral reflectance of current pixel. To evacuate performance of the proposed estimation method, 3-band principal component analysis, 5-band wiener estimation method, and the proposed method are compared in the estimation experiment with the Macbeth ColorChecker. As a result, the proposed method showed a lower mean square ems between the estimated and the measured spectra compared to the conventional 3-band principal component analysis method and represented a similar or advanced estimation performance compared to the 5-band wiener method.

• Journal of Korea Multimedia Society
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• v.9 no.9
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• pp.1160-1172
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• 2006

Unfolding is an efficient technique to detect colorectal disease since it represents entire shape of colon at a glance. However, the previous unfolding methods may miss the surface located behind the folds or high curvature areas. To solve the problem, we propose an adaptive unfolding method that controls the number of rays in accordance with the surface complexity. In the first step, we find sample points of longer and shorter distance between the sample points and the colon surface, and then determine them as based control points. Next, for reaching rays of sample points in the wrinkled colon surface, sample points are shifted toward the control points that have the long distance. Lastly, we perform a 2D scaling which solves local distortions of the unfolding surface and avoids missing surface. Consequently, our method could be visualized the hidden surface of colon organ in detail.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.262-266
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• 1995

This paper presents a new adaptive-neuro control scheme to control the velocity and position of SCARA robot with parameter uncertainties. The adaptive control of linear system found wiedly in many areas of control application. While techniques for the adaptive control of linear systems have been well-established in the literature, there are a few corresponding techniques for nonlinear systems. In this paper an attempt is made to present a newcontrol scheme for theadaptive control of ponlinear robot based on a feedforward neural network. The proposed approach incorporates a neuro controller used within a reinforcement learning framework, which reduces the problem to one of learning a stochastic approximation of an unknown average error surface Emphasis is focused on the fact that the adaptive-neuro controoler dose not need any input/output information about the controlled system. The simulation result illustrates the effectiveness of the proposed adaptive-neuro control scheme.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.330-335
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• 1994

In this paper, adaprive control and sliding mode control are combined to implement the proposed adaptive sliding mode control(ASMC) algorithm which is new approach to the control of industrial robot manipulator with external disturbances and parameter uncertainties. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The contribution of this method is that the parameters of the sliding surface are replaced by time varying parameters whose are calculated by an adaptation algorithm, which forces the errors to follow the behavior of a reference error model. Simulation results show that the proposed method not only improves the performance of the system but also reduces the chattering problem of sliding mode control. Consequently, it is expected that the new adaptive sliding mode control algorithm will be suited for various practical applications.

• Proceedings of the KSRS Conference
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• 2009.03a
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• pp.97-100
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• 2009

The surface parameters associated with the land are usually dependent on the climate, and many physical processes that are displayed in the image sensed from the land then exhibit temporal variation with seasonal periodicity. An adaptive feedback system proposed in this study reconstructs a sequence of images remotely sensed from the land surface having the physical processes with seasonal periodicity. The harmonic model is used to track seasonal variation through time, and a Gibbs random field (GRF) is used to represent the spatial dependency of digital image processes. In this study, the Normalized Difference Vegetation Index (NDVI) was computed for one week composites of the Advanced Very High Resolution Radiometer (AVHRR) imagery over the Korean peninsula for 1996 and 2000 using a dynamic technique, and the adaptive reconstruction of harmonic model was then applied to the NDVI time series for tracking changes on the ground surface. The results show that the adaptive approach is potentially very effective for continuously monitoring changes on near-real time.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.939-944
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• 2003

The analysis involves an adaptive grid that is created under a criterion of element categorization of filling states and locations in the total region at each time step. By using an adaptive grid wherein the elements, finer than those in internal and external regions, are distributed at the surface region through refinement and coarsening procedures, a more efficient analysis of transient fluid flow with free surface is achieved. Using the proposed numerical technique, the collapse of a dam is analyzed. The numerical results agree well with the theoretical solutions as well as with the experimental results. Through comparisons with the numerical results of several cases using different types of grids, the efficiency of the proposed technique is verified.