• International Journal of Fuzzy Logic and Intelligent Systems
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• 제1권1호
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• pp.29-34
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• 2001

This paper is devoted to investigating direct adaptive neural control of nonlinear systems with uncertain or unknown dynamic models. In the direct adaptive neural networks control area, theoretical issues of the existing backpropagation-based adaptive neural networks control schemes. The major contribution is proposing the variable index control approach, which is of great significance in the control field, and applying it to derive new stable robust adaptive neural network control schemes. This new schemes possess inherent robustness to system model uncertainty, which is not required to satisfy any matching condition. To demonstrate the feasibility of the proposed leaning algorithms and direct adaptive neural networks control schemes, intensive computer simulations were conducted based on the flexible joint robot systems and functions.

• International Journal of Aeronautical and Space Sciences
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• 제12권4호
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• pp.360-364
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• 2011

Backlash is common in mechanical and hydraulic systems and severely limits overall system performance. In this paper, the development of an adaptive control scheme for systems with unknown backlash is presented. An adaptive backlash inverse based controller is applied to a plant that has an unknown backlash in its input. The harmful effects of backlash are presented. Compensation for backlash by adding a discrete adaptive backlash inverse structure and the gradient-type adaptive algorithm, which provides the estimated backlash parameters, are also presented. The supposed adaptive backlash control algorithms are applied to an aircraft with unknown backlash in the actuator of control surfaces. Simulation results show that the proposed compensation scheme improves the tracking performance of systems with backlash.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.100-104
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• 1998

This paper describes the real-time implementation of an adaptive controller fur the robotic manipulator. Digital signal processors(DSPs) are special purpose micro-processors that are particularly powerful for intensive numerical computations involving sums and products of variables. TMS320C50 chips are used in implementing real time adaptive control algorithms to provide an enhanced motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved Lyapunov second stability analysis based on the direct adaptive control theory. The adaptive controller consists of an adaptive feedforward controller and feedback controller. 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 adaptive controller is illustrated by simulation and experimental results for a assembling robot.

• 한국보육지원학회지
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• 제19권1호
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• pp.23-41
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• 2023

Objective: The purpose of this study is to explain in detail the factors of the father's play interaction that predict children's adaptive emotional regulation. This study examined the moderated mediation effect of a father's rough-and-tough play toward a child's emotional expressiveness and the father's play participation attitude on the child's adaptive emotional regulation. Methods: The study participants included 309 fathers of children aged from 3 to 5 years. Data were analyzed using models of the PROCESS Macro. Results: As a result of this research, the relationship of the father's rough-and-tough play with the child's adaptive emotional regulation was that this was indeed mediated by the child's negative emotional expressiveness. Additionally, the father's responsive and fun play attitude moderated the relationship between the father's rough-and-tough play and the child's adaptive emotional regulation. Further, the father's responsive and fun play attitude according to level had a moderated mediation effect. Conclusion/Implications: These results are meaningful in that they derives a mechanism for why and how a father's rough-and-tough play affects children's adaptive emotional regulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.45-49
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• 1988

This paper presents a centralized adaptive control scheme based on perturbation equations in the vicinity of a desired trajectory,which are used to design a feedback control about the desired trajectory. This adaptive control scheme reduces the manipulator control problem from a nonlinear control to controlling a linear control system about a desried trajectory. Computer simulation studies of a two-joint manipulator are performed on a IBM-PC to illustrate the performance of this adaptive control scheme.

• 한국항행학회논문지
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• 제11권4호
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• pp.423-429
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• 2007

무선 스마트카드는 빌딩 보안 어플리케이션에 주된 역할을 하고 있다. 본 연구는 사용자에게 보다 편리함을 주고 스마트카드 시스템의 성능 개선을 제안한다. 스마트카드는 카드 리더기에 삽입을 하지 않고 장치에서 수센티미터 떨어져도 접근이 허용된다. 적응형 변조와 오류 제어를 통해 전력소비를 제어하는 성능은 필요하다. 본 논문에서는 적응형 리드 솔로몬 코드 기반의 FEC와 링크에서 M계수를 변화시킨 M-FSK변조에 대하여 연구한다. 적응형 변조와 적응형 오류 정정은 다른 다양한 정적스키마와 에너지 효율을 비교한 결과 50% 이상 에너지를 저장한다.

• 전자공학회논문지
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• 제53권11호
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• pp.89-96
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• 2016

잠수함 정숙화 기술의 발달로 대잠 소나의 탐지성능 향상이 요구되고 있다. 이와 같은 성능향상의 필요성에 의해 소나체계에 널리 쓰이는 일반적인 빔형성 기법(CBF : Conventional BeamForming)보다 성능이 뛰어난 적응 빔형성(ABF : Adaptive BeamForming) 기법이 대체 알고리즘으로 검토되고 있다. 소나 체계에 적응 빔형성기를 적용하여 성능향상을 도모하기 위해서는 적응 빔형성 기법의 체계 적용성이 검증되어야 하는데 이를 위해서는 체계 적용성을 측정하기 위한 성능지표가 정립되어야 한다. 본 논문에서는 적응 빔형성기와 일반적인 빔형성기의 추적 개시(Tracking initiation) 확률을 산출하여 두 기법의 성능을 정량화하여 적응 빔형성기의 체계 적용성을 검토하였다.

• 한국생산제조학회지
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• 제6권1호
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• pp.7-17
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• 1997

During the past decade, there were many well-established theories for the adaptive control of linear systems, but there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of industrial robot control. Neural network computing methods provide one approach to the development of adaptive and learning behavior in robotic system for manufacturing. Computational neural networks have been demonstrated which exhibit capabilities for supervised learning, matching, and generalization for problems on an experimental scale. Supervised learning could improve the efficiency of training and development of robotic systems. In this paper, a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator using digital signal processors is proposed. Digital signal processors, DSPs, are micro-processors that are developed particularly for fast numerical computations involving sums and products of variables. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be an efficient control scheme for implementation of real-time control for SCARA robot with four-axes by experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1132-1136
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• 2005

In this paper, adaptive equalizer receiver for a turbo code direct sequence code division multiple access (DSCDMA) by using least mean square (LMS) adaptive algorithm is presented. The proposed adaptive equalizer is using soft output of decision feedback adaptive equalizer (DFE) to examines the output of the equalizer and the Log- maximum a posteriori (Log-MAP) algorithm for the turbo decoding process of the system. The objective of the proposed equalizer is to minimize the bit error rate (BER) of the data due to the disturbances of noise and intersymbol interference (ISI)phenomenon on the channel of the DS-CDMA digital communication system. The computer program simulation results shown that the proposed soft output decision feedback adaptive equalizer provides a good BER than the others one such as conventional adaptive equalizer, infinite impulse response adaptive equalizer.

• 한국통신학회논문지
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• 제29권5C호
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• pp.673-682
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• 2004

적응 빔포밍(beam-forming)기법은 디지털보청기 시스템에서 노이즈를 제거하기 위한 적절한 방식이다. 적응 빔포밍 기법은 디지털 신호처리프로세서의 발전과 더불어 최근에 주목을 받고 있는 방식으로 신호처리 과정에서 일반적으로 LMS(Least Mean Square)알고리즘을 사용하여 웨이트 벡터를 업데이트 시킨다. 본 논문에서는 신호의 환경에 따라 적응상수가 변화하는 가변스텝사이즈 알고리즘을 적용한 고속 웨이블렛 기반 적응알고리즘를 제안한다. 제안한 알고리즘을 적응 빔포머 방식인 디지털보청기 시스템에 적용하여 기존 시간영역 알고리즘과 그 특성을 비교하여 그 결과 제안한 알고리즘이 디지털보청기 시스템에 적합함을 입증한다. 그리고 제안한 알고리즘은 계산량에서도 시스템의 환경변화에도 안정하게 수렴한다는 장점이 있는 것을 보인다.