• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2383-2385
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• 2000

It is proposed a new algorithm for a neural network adaptive tracking control scheme to improve performance in this paper. In supervisory control scheme, the upper and lower bound of the parameters are directly estimated by using RBF neural network without their information, and the weighting parameters of the control input are adjusted on-line by adaptation laws. As a result, the proposed algorithm assured that the output errors go to zero without relation to existing minimum approximation errors and disturbances. The effectiveness of the proposed algorithm is demonstrated through the simulation of one-link rigid robotics manipulator.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.197-203
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• 1998

본 논문에서는 분석적인 방법을 통하여 퍼지 제어기의 안정성을 증명할 경우에 고려해야하는 근사화 에러를 슬라이딩 모드 제어 기법과 적응 제어 법칙을 이용하여 보정하는 방법을 제시하고 있다. 특히 본 논문에서는 퍼지 제어기의 안정성에 관한 이전의 연구들과는 달리 주어진 시스템의 각각의 상태 변수들에 대한 최대 민감도(Upper Bound of Sensitivity)에 관한 정보만이 미리 주어진 경우를 다루고 있다. 모의 실험은 라이프노프(Lyapunov)함수를 사용하여 안정성이 증명될 수 있으며, 모의 실험(Simulation)을 통하여 성능을 확인할 수 있다. 또한 제어기의 적용 방법에 따라서 퍼지 제어기의 특성을 강조하거나 또는 슬라이딩 모드 제어기의 특성을 보다 더 부각 시킬 수 있도록 설계할 수 있다는 장점이 있다.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.5
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• pp.315-322
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• 2004

A direct adaptive state-feedback controller for highly nonlinear systems is proposed. This paper considers uncertain or ill-defined nonaffine nonlinear systems and employs a static fuzzy logic system (FLS). The employed FLS estimates. and adaptively cancels an unknown plant nonlinearity using its proved universal approximation property. A control law and adaptive laws for unknown fuzzy parameters and bounding constant are established so that the whole closed-loop system is stable in the sense of Lyapunov. The tracking error is guaranteed to be uniformly asymptotically stable rather than uniformly ultimately bounded with the aid of an additional robustifying control term. No a priori knowledge of an upper bound on an lumped uncertainty is required.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.657-660
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• 2003

Control of multi-link robot arms is a very difficult problem because of the highly nonlinear dynamics. Decentralized control scheme is developed for control of robot manipulators based on RBF(Radial Basis Function) Neural Networks. RBF Neural Networks is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional force. The compensation controller is also proposed to estimate the bound of approximation error so that the chattering effect of the control effort can be reduced. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for two-link robot manipulator are included to show the effectiveness of controller.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.6
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• pp.62-70
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• 2008

An adaptive fuzzy backstepping controller is proposed for the motion control for a single-link flexible-joint robot in the presence of parametric uncertainties. Fuzzy logic system is used to approximate the uncertainties of functions and a backstepping technique is employed to deal with the mismatched problem. A compensation controller is also employed to estimates the bound of approximation error so that the shattering effect of the control effort can be reduced. Thus the asymptotic stability of the closed loop control system can be obtained based on a Lyapunov synthesis approach. Numerical simulation results for a single-link flexible-joint robot are included to show the effectiveness of proposed controller.

• Bulletin of the Korean Chemical Society
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• v.10 no.2
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• pp.161-167
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• 1989

The results of ab initio(MP2/6-31G) molecular orbital calculations of the dipole moment derivatives and gas phase IR intensities in chloromethanes are reported. The theoretical polar tensors are analyzed into the net charge, charge-flux, and overlap contributions. The charge-flux contribution was found to be dominant in the Cl atom polar tensor, while the net charge effect was the most prominent contribution for the H atom polar tensor. The Cl atom polar tensor appeared, in a good approximation, to be transferable among various chloro molecules. On the other hand, for the prediction of IR spectra of complex hydrocarbons containing chlorine atoms, some empirical adjustment of the H-atom polar tensor seemed to be made depending on the number of Cl atoms bound to the certain carbon atom.

• The KIPS Transactions:PartB
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• v.16B no.5
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• pp.403-410
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• 2009

The two-dimensional bin packing problem(2D-BPP) has been known to be NP-hard, and it is difficult to solve the problem exactly. Many approximation methods, such as genetic algorithm, simulated annealing and tabu search etc, have been also proposed to gain better solutions. However, the existing approximation algorithms, such as branch-and-bound and tabu search, have shown the low efficiency and the long execution time due to a large of iterations. To solve these problems, we first define the fitness function to simplify and increase the utility of algorithm. The function decides whether an item is packed into a given area, and as an important information for a packing strategy, the number of subarea that can accommodate a given item is obtained from the variant of the fitness function. Then we present a heuristic algorithm BF for 2D bin packing, constructed by the fitness function and subarea. Finally, the effectiveness of the proposed algorithm will be expressed by the comparison experiments with the heuristic and the metaheuristic of the literatures. As comparing with existing heuristic algorithms and metaheuristic algorithms, it has been found that the packing rate of algorithm BP is the same as 97% as existing heuristic algorithms, FFF and FBS, or better than them. Also, it has been shown the same as 86% as tabu search algorithm or better.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.45 no.8
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• pp.75-81
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• 2008

The authors present a more accurate analysis of the bit error rate (BER) performance for multicode code division multiple access (CDMA) systems equipped with a multipath interference canceler (MPIC) over multipath fading channels. At first, we consider the problem of previous researches. It is that the previous analyses do not match with simulations even in the case without MPIC. This mismatch also causes the difference between the analysis and simulations when an MPIC is applied. Therefore, what is needed is to verify the reason of this mismatch at the initial stage. Numerical results obtained from the proposed analytical method indicate that the performance mismatch between the previous analysis and simulations is caused by not fie Gaussian approximation which is generally used at the performance analysis of CDMA systems but the additional Gaussian approximation (AGA) for multipath interferences. Based on this effect, we propose a more accurate performance analysis not using AGA and its accuracy is verified by simulations. Furthermore, it is confirmed that the proposed analysis presents an analytical lower bound which can be achieved by MPIC.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.8
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• pp.739-747
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• 2010

Numerical calculations are carried out for evaluating the natural convection induced by the temperature difference between a hot inner circular cylinder and a cold outer square enclosure. A two-dimensional solution for unsteady natural convection is obtained by using the finite volume method to model an inner circular cylinder that was designed by using the immersed boundary method (IBM) for a Rayleigh number of $10^7$. In this study, we investigate the effect of the location ($\delta$) of the inner cylinder, which is located along the vertical central axis of the outer enclosure, on the heat transfer and fluid flow. The natural convection changes from unsteady to steady state depending on the $\delta$. The two critical lower bound and upper bound positions are ${\delta}_{C,L}$ = 0.05 and ${\delta}_{C,U}$ = 0.18, respectively. Within these defined bounds, the thermal and flow fields are in steady state.

• Computational Structural Engineering
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• v.10 no.2
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• pp.255-263
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• 1997

The optimum design of most structural systems used in practice requires considering design variables as discrete quantities. The present paper shows that the linear approximation method is very effective as a tool for the discrete optimum designs of unsymmetric composite laminates. The formulated design problem is subjected to a multiple in-plane loading condition due to shear and axial forces, bending and twisting moments, which is controlled by maximum strain criterion for each of the plys of a composite laminate. As an initial approach, the process of continuous variable optimization by FDM is required only once in operating discrete optimization. The nonlinear discrete optimization problem that has the discrete and continuous variables is transformed into the mixed integer programming problem by SLDP. In numerical examples, the discrete optimum solutions for the unsymmetric composite laminates consisted of six plys according to rotated stacking sequence were found, and then compared the results with the nonlinear branch and bound method to verify the efficiency of present method.