• 대한기계학회논문집A
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• 제30권10호
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• pp.1249-1254
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• 2006

Existing adaptive observers may cause the parameter drifts due to disturbances even if state estimation errors remain small. To avoid the drift phenomena in the presence of bounded disturbances, several robust adaptive observers have been introduced addressing bounds in state and parameter estimates. However, it is not easy for these observers to manipulate the size of the bounds with the selection of the observer gain. In order to reduce estimation errors, this paper introduces the (equation omitted) gain minimization problem in the adaptive observer structure, which minimizes the (equation omitted) gain between disturbances and estimation errors. The stability condition of the adaptive observer is reformulated as a linear matrix inequality, and the observer gain is optimally chosen by solving the convex optimization problem. The estimation performance is demonstrated through a numerical example.

• 한국해양공학회지
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• 제14권2호
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• pp.7-12
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• 2000

This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems(UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme ios the upper bound and lowe bound of the system parameter matrices the upper bound of unmodeled effects the number of joints the position and attitude of the vehicle and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.

• 전기학회논문지
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• 제60권11호
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• pp.2139-2146
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• 2011

In this paper, a robust adaptive controller is proposed for trajectory tracking of robot manipulators with the unknown friction coefficient and bounded disturbance. A new adaptive control law is developed based on sliding mode and derived from the Lyapunov stability analysis. The introduction of a boundary layer solves the problem of chattering. The proposed adaptive controller is globally asymptotically stable and guarantees zero steady state error for joint positions. The estimated friction coefficients can also approach the actual coefficients asymptotically. A simulation example is provided to demonstrate the performance of the proposed algorithm.

• Nonlinear Functional Analysis and Applications
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• 제26권5호
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• pp.935-947
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• 2021

An efficient adaptive scheme based on a triple mixed quadrature rule of precision nine for approximate evaluation of line integral of analytic functions has been constructed. At first, a mixed quadrature rule SM₁(f) has been formed using Gauss-Legendre three point transformed rule and five point Booles transformed rule. A suitable linear combination of the resulting rule and Clenshaw-Curtis seven point rule gives a new mixed quadrature rule SM₁₀(f). This mixed rule is termed as triple mixed quadrature rule. An adaptive quadrature scheme is designed. Some test integrals having analytic function integrands have been evaluated using the triple mixed rule and its constituent rules in non-adaptive mode. The same set of test integrals have been evaluated using those rules as base rules in the adaptive scheme. The triple mixed rule based adaptive scheme is found to be the most effective.

• 대한전자공학회논문지
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• 제23권4호
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• pp.578-585
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• 1986

This paper describes a new two-dimensional adaptive lattice algorithm which determines reflection coefficients recursively by applying the gradient search technique to a two-dimensional lattice filter proposed by Parker and Kayran. The convergence characteristics of the proposed algorithm are also described. A new tow-dimensional adaptive lattice \ulcorneralgorithm has been obtained through the application of the \ulcorneralgorithm to the two-dimention adaptive lattice algorithm. Computer simulation proves that the convergence speed of the two-dimension adaptive lattice \ulcorneralgorithm is reladtively higher than that of the conventional adaptive lattice algorithm when \ulcornerhas a small value.

• 한국환경성돌연변이발암원학회지
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• 제21권2호
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• pp.142-148
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• 2001

We studied adaptive response in CHL cells by benzidine dihydrochloride, a derivative of benzidine, which was a major mutagenic agent in dye industry. Chromosome aberration analysis was used for the identification of adaptive response to this mutagen. Adaptive and reactive doses were confirmed by cell proliferation rate curve. Cell proliferation rate curve was obtained from the mitotic indices of cells treated with various concentrations of benzidine dihydrochloride for 24 hours. Marked adaptive responses to benzidine dihydrochloride in the induction of chromosome aberration were observed in CHL cells by pre-treatment with low concentrations of benzidine dihydrochloride (0.0047 mg/$m\ell$ or 0.0094 mg/$m\ell$) for 24 hours following post-treatment with high concentrations (0.0187, 0.0375, 0.075, 0.15 mg/$m\ell$) for 24 hours. These adaptive responses were found mostly in the type of chromatid breaks and chromatid exchanges. There is no difference in these results between two adaptive doses, 0.0047 mg/$m\ell$ and 0.0094 mg/$m\ell$. The amount of adaptive response, however, was dependent on post-treatment doses.

• 한국멀티미디어학회논문지
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• 제8권8호
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• pp.1051-1056
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• 2005

적응신호처리 분야에서 LMS 알고리즘은 수식이 간단하고, 적은 계산량으로 인해 널리 사용되고 있지만, 시간영역의 적응 알고리즘은 입력신호의 고유치 분포폭이 넓게 분포할 때는 수렴속도가 느려지는 단점이 있다. 또한 알고리즘의 성능을 좌우하는 고정된 적응상수를 적절하게 선택해야만 알고리즘이 수렴할 수 있다. 이런 문제점을 개선하기 위하여 본 논문에서는 시간영역의 적응알고리즘을 변환영역인 웨이블렛 변환에서 적응알고리즘을 적용한다. 그리고 안정되고 빠른 수렴을 위해 고정된 적응상수를 오차신호의 순시치 절대값에 비례하여 각 반복구간마다 변화시키는 가변스텝사이즈를 갖는 웨이블렛 기반 적응알고리즘을 제안, 적응 잡음제거기에 적용하여 기존의 알고리즘과 비교하여 그 성능이 우수함을 입증하였다.

• 한국음향학회지
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• 제33권5호
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• pp.335-340
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• 2014

본 논문에서는 충격성 잡음(impulsive noise) 환경 하에서 고유치 분포가 큰 입력 신호를 다루기 위해 제안된 부호 부밴드 적응 필터(Sign Subband Adaptive Filter, SSAF)의 성능을 향상시키기 위한 새로운 SSAF를 제안하였다. 기존에 제안된 SSAF는 각각의 부밴드 입력 신호를 모든 부밴드 입력 신호의 $l_2-norm$으로 정규화하기 때문에 밴드의 수를 증가시켜도 수렴속도가 향상되지 않는다. 본 논문에서는 부밴드 입력 신호를 각각의 부밴드 입력 신호의 $l_2-norm$으로 정규화하며 밴드의 수를 증가시킴에 따라 수렴속도가 증가하는 새로운 부호 부밴드 적응필터를 제안하였다. 시스템 식별 환경에서 두 알고리즘의 성능을 비교하는 컴퓨터 모의 실험을 수행하여 제안된 알고리즘의 수렴속도가 더 빠름을 보였다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.628-632
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• 2005

Remote sensing through atmospheric turbulence had been hard works for a long time, because wavefront distortion due to the Earth's atmospheric turbulence deteriorates image quality. But due to the appearance of adaptive optics, it is no longer difficult things. Adaptive optics is the technology to correct random optical wavefront distortions in real time. For past three decades, research on adaptive optics has been performed actively. Currently, most of newly built telescopes have adaptive optical systems. Adaptive optical system is typically composed of three parts, wavefront sensing, wavefront correction and control. In this work, the wavefront sensing technology for adaptive optical system is treated. More specifically, shearing interferometers and Shack-Hartmann wavefront sensors are considered. Both of them are zonal wavefront sensors and measure the slope of a wavefront. . In this study, the shearing interferometer is made up of four right-angle prisms, whose relative sliding motions provide the lateral shearing and phase shifts necessary for wavefront measurement. Further, a special phase-measuring least-squares algorithm is adopted to compensate for the phase-shifting error caused by the variation in the thickness of the index-matching oil between the prisms. Shack-Hartmann wavefront sensors are widely used in adaptive optics for wavefront sensing. It uses an array of identical positive lenslets. And each lenslet acts as a subaperture and produces spot image. Distortion of an input wavefront changes the location of spot image. And the slope of a wavefront is obtained by measuring this relative deviation of spot image. Structures and measuring algorithms of each sensor will be presented. Also, the results of wavefront measurement will be given. Using these wavefront sensing technology, an adaptive optical system will be built in the future.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.101-106
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• 1997

This paper proposes a stable adaptive neural network control(NNC) for fixable joint manipulators. For designing the stable adaptive NNC, the flexible system dynamics is separated into fast and slow subdynamics according to singular perturbation concept. For the slow subdynamics, an adaptive NNC is designed to warrant the system stability and NN learning by lyapunov stability criterion. And to stabilize the fast dynamics, derivative control loop is installed. Through numerical simulation, the performance of the proposed NNC was compared to that of an adaptive controller designed based on the knowledge of the system dynamics. The proposed NNC shows much improvement over the conventional adaptive controller.