• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.61-64
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS32OC50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator. In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters are determined by the pole-placement method. Performance of self-tuning adaptive controller is illustrated by the simulation and experiment for a SCARA robot.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.1
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• pp.69-75
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• 2000

In this paper, we consider the problem of discrete-time random signal detection problem under the presence of additive noise exhibiting weak dependence The test statistic of the locally optimum detector for correlated random signals under a weakly dependent noise model is derived The performance characteristic of the locally optimum detector is analyzed and compared with that of the square-law detector in terms of the asymptotic relative efficiency.

• Nuclear Engineering and Technology
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• v.52 no.3
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• pp.485-498
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• 2020

A diffusion synthetic acceleration (DSA) technique for the S_N transport equation discretized with the linear discontinuous expansion method with subcell balance (LDEM-SCB) on unstructured tetrahedral meshes is presented. The LDEM-SCB scheme solves the transport equation with the discrete ordinates method by using the subcell balances and linear discontinuous expansion of the flux. Discretized DSA equations are derived by consistently discretizing the continuous diffusion equation with the LDEM-SCB method, however, the discretized diffusion equations are not fully consistent with the discretized transport equations. In addition, a fine mesh rebalance (FMR) method is devised to accelerate the discretized diffusion equation coupled with the preconditioned conjugate gradient (CG) method. The DSA method is applied to various test problems to show its effectiveness in speeding up the iterative convergence of the transport equation. The results show that the DSA method gives small spectral radii for the tetrahedral meshes having various minimum aspect ratios even in highly scattering dominant mediums for the homogeneous test problems. The numerical tests for the homogeneous and heterogeneous problems show that DSA with FMR (with preconditioned CG) gives significantly higher speedups and robustness than the one with the Gauss-Seidel-like iteration.

• Journal of the HCI Society of Korea
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• v.3 no.1
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• pp.49-56
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• 2008

Most recent mobile devices can store a massive amount of images. However, the typical user interface of mobile devices, such as a small-size 2D display and discrete-input buttons, make the browsing and manipulation of images cumbersome and time-consuming. As an alternative, we adopt motion-based interaction along with a 3D layout of images, expecting such an intuitive and natural interaction may facilitate the tasks. We designed and implemented a motion-based interaction scheme for image browsing using an ultra mobile PC, and evaluated and compared its usability to that of the traditional button-based interaction. The effects of data layouts (tiled and fisheye cylindrical layouts) were also investigated to see whether they can enhance the effectiveness of the motion based interaction.

• The Transactions of the Korea Information Processing Society
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• v.3 no.5
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• pp.1329-1336
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• 1996

In many image compression applications, the discrete cosine transform (DCY) is well known for is highly efficient coding performance. However, it produces undesirable block artifacts in low-bit rate coding. In addition, in many practical applications, faster computation and easier VLST implementation of DCT coefficients are also important issues. The removal of the block artifacts and faster DCT computation are therefor of practical interest. In this paper, a modified DCTcomputation scheme was investigated, which provides a simple efficient solution to the reduction of the block artifacts while achieving faster computation. We have applied the new ap-proach to the low-bit rate coding and decoding of images. Simulation results on real images have verified the improved performance of the proposed method over the standar d method.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.571-575
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• 1989

A position control system of D.C. Servo motor based on discrete variable structure system with sliding mode is presented. The sliding mode has been designed for a continuous system, but it is often realized in digital fashion because the complex switching logic can be easily carried out. In digital control system, the ideal sliding mode does not occur since the structure can't be switched during sampling interval. However, there can be exist a motion which is confined to a regoin including the sliding surface and proceeds to the origin along the surface. This notion is called quasisliding mode. In this paper, we introduce this control scheme to the D.C. Servo motor position control in order to reduce the chattering phenonenon.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.51 no.11
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• pp.551-558
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• 2002

A time-domain combined field integral equation (CFIE) is presented to obtain the transient scattering response from arbitrarily shaped three-dimensional conducting bodies. This formulation is based on a linear combination of the time-domain electric field integral equation (EFIE) with the magnetic field integral equation (MFIE). The time derivative of the magnetic vector potential in EFIE is approximated using a central finite difference approximation and the scalar potential is averaged over time. The time-domain CFIE approach produces results that are accurate and stable when solving for transient scattering responses from conducting objects. The incident spectrum of the field may contain frequency components, which correspond to the internal resonance of the structure. For the numerical solution, we consider both the explicit and implicit scheme and use two different kinds of Gaussian pulses, which may contain frequencies corresponding to the internal resonance. Numerical results for the EFIE, MFIE, and CFIE are presented and compared with those obtained from the inverse discrete Fourier transform (IDFT) of the frequency-domain CFIE solution.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.5
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• pp.117-126
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• 2010

In order to obtain more clear x-ray images, an antiscatter grid, which can absorb the scattered rays, is employed. In the high-resolution direct digital radiography, however, the artifacts due to the grid are visible. In this paper, the grid artifacts are reduced by applying simple 1-dimensional low-pass filters in the spatial domain based on the rotated grid. Since the proposed algorithm does not use any detection scheme for the artifact frequencies and discrete Fourier transforms for 2-dimensional filters, it can simply and fast reduce the grid artifacts. The performance using the order 1 average filter is compatible to that of using 2-dimensional filters in the frequency domain.

• Journal of Mechanical Science and Technology
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• v.19 no.11
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• pp.1975-1987
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• 2005

An input time delay always exists in practical systems. Analysis of the delay phenomenon in a continuous-time domain is sophisticated. It is appropriate to obtain its corresponding discrete-time model for implementation via digital computers. In this paper a new scheme for the discretization of nonlinear systems using Taylor series expansion and the zero-order hold assumption is proposed. The mathematical structure of the new discretization method is analyzed. On the basis of this structure the sampled-data representation of nonlinear systems with time-delayed multi-input is presented. The delayed multi-input general equation has been derived. In particular, the effect of the time-discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. Additionally, hybrid discretization schemes that result from a combination of the scaling and squaring technique (SST) with the Taylor series expansion are also proposed, especially under conditions of very low sampling rates. Practical issues associated with the selection of the method's parameters to meet CPU time and accuracy requirements, are examined as well. A performance of the proposed method is evaluated using a nonlinear system with time delay maneuvering an automobile.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.1
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• pp.10-17
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• 1985

A new method is suggested for the solution of plane elasticity problems. With use of the dislocation model in the crack problems, the basic scheme of this method is to find equilibrium Burgers vectors of dislocations which are distributed along the boundary of the first fundamental boundary value problems. The stress distribution in the region can be found by superposition of the contributions of each dislocation. The method is applied to three cases with known analytical solutions, and to a V-notched specimen under uniaxial tension. The numerical results are compared with other available solutions. This method is effective and simple in its use, compared with other numerical methods. The method also provides very accurate solutions in the region except near the boundary where the discretization error is significant. The extrapolation method is suggested for the stresses in the boundary region. Extensive application are also suggested for a general estimate of the computational efficiency of the method.