• The Transactions of the Korean Institute of Electrical Engineers A
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• v.52 no.6
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• pp.347-353
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• 2003

In models of imperfect competition of deregulated electricity markets, the key task is to find the Nash equilibrium(NE). The approaches for finding the NE have had two major bottlenecks: computation of mixed strategy equilibrium and treatment of multi-player games. This paper proposes a payoff matrix approach that resolves these bottlenecks. The proposed method can efficiently find a mixed strategy equilibrium in a multi-player game. The formulation of the m condition for a three-player game is introduced and a basic computation scheme of solving nonlinear equalities and checking inequalities is proposed. In order to relieve the inevitable burden of searching the subspace of payoffs, several techniques are adopted in this paper. Two example application problems arising from electricity markets and involving a Cournot and a Bertrand model, respectively, are investigated for verifying the proposed method.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.51 no.4
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• pp.196-201
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• 2002

An important aspect of the study of power system markets involves the assessment of strategic behavior of participants for maximizing their profits. In models for imperfect competition of a deregulated system, the key tack is to find the Nash equilibrium. When the constraints are not considered in the power market, the equilibrium has the form of a pure strategy. However, the constraints are considered, the equilibrium has the form of a mired strategy. In this paper the bimatrix game approach leer finding a mixed equilibrium is analyzed. The Nash equilibrium of a mixed strategy will be used adequately for the analysis of market power.

• Proceedings of the KIEE Conference
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• 2002.07a
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• pp.380-382
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• 2002

An important aspect of the study of power system markets involves the assessment of strategic behavior of participants for maximizing their profits. In models of imperfect competition of a deregulated electricity system the key task is to find the Nash equilibrium. In this paper, the bimatrix approach for finding Nash equilibria in electricity markets is investigated. This approach determines pure and mixed equilibria using the complementarity pivot algorithm. The mixed equilibrium in the matrix approach has the equal number of non-zero property. This property makes it difficult to reproduce a smooth continuous distribution for the mixed equilibrium. This paper proposes an algorithm for adjusting the quantization value of discretization to reconstruct a continuous distribution from a discrete one.

• Proceedings of the KIEE Conference
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• 1993.11a
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• pp.307-309
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• 1993

Robot's kinematic equation is not perfect. In this paper, a method for reducing the positioning error which comes from the imperfect robot kinematics is introduced. This method compensates the parameter of the kinematic equation using real positioning error. And the trajectories using these compensated parameterare compared with uncompensated ones.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.267-269
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• 2009

Incomplete knowledge instances may be registered from misidentifications of sensors, such as vision sensor. In previous study, we proposed robust object instance registration method to robot centered knowledge framework to guarantee the consistency of the registered knowledge. In real environment, a persistent update is necessary due to the objects can be moved dynamically. In this paper, we propose the way to update robot knowledge continually using the registration method. Our experiment in this paper shows that sound and complete knowledge can be registered and updated by the proposed method, even under imperfect sensing data.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.312-316
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• 2004

In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.790-793
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• 1988

It has become clear that through the use of force/torque sensing many previously uneconomical or unsuccessful applications can now be performed successfully. The earlier-anticipated boom of robots dominating factory production has not yet occured. Many robot installations have not met the initial expectations of users or have failed completely, souring the prospects of future robotic applications. Yet the reason many of these earlier applications have failed is very basic, that is that the robot was expected to blindly perform a task perfectly in an imperfect environment. There must be an additional level of feedback so that the robot may adapt to these imperfections, thus ensuring the ultimate success of the application. This additional level of real-world sensing is provided by force/torque sensors and their continued use will ensure the eventual proliferation of factory robots.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.693-698
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• 1991

This paper describes a fuzzy rule-based assembly algorithm for precision parts mating, The difficulties in devising reliable assembly strategies result from the complexity of the assembly process and the uncertainty such as imperfect knowledge of the parts being assembled as well as the limitations of the devices performing the assembly. To cope with above problems, we propose an assembly algorithm utilizing fuzzy set theory. The presented method allows us to represent the uncertainty by using fuzzy membership function and treat nonlinear sapping from measured force/torque to corrective motions using rules. Finally, the performance of this method is evaluated through a series of experiments. Experimental results show that the proposed method can be effectively used for chamferless and precision parts mating.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2000.11a
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• pp.7-11
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• 2000

본 논문에서는 불완전 동기(Imperfect Synchronization)로 인한 칩 동기 에러(timing errors)와 위상 에러(phase errors)를 고려 하여 비동기(Asynchronous) DS-CDMA 시스템의 성능을 이론적으로 분석하였다. 성능 개선 기법으로는 다단 간섭제거기 (Multistage PIC)와 부분 다단 간섭제거기(Partial Multistage PIC)를 채용하였고 칩 동기 에러와 위상 에러가 두 간섭제거기의 간섭제거능력에 미치는 영향의 정도를 정량적으로 분석하였다. 성능분석 결과로부터 칩 동기 에러와 위상 에러로 인한 1단(no cancellation)에서의 성능 열화가 각 단의 상관기 출력(decision statistic)에 영향을 줌으로써 다단 간섭제거기와 부분 다단 간섭제거기의 성능 개선폭을 감소시켰다. 그렇지만, 불완전 동기에도 불구하고 단(stage) 수가 증가할수록 두 간섭제거기 모두 강한 간섭제거능력을 보였다. 실제 시스템에서는 성능 개선과 구현상의 복잡도를 동시에 고려해야하므로 다단 간섭제거기 보다 구조가 간단하고 계산량이 적은 부분 다단 간섭제거기의 활용도가 높아질 것이 예상된다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.55-59
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• 2000

Nonlinearity is one of the primary causes of error in precision length measurement using laser interferometer. It arises periodically. The periodical nonlinearity usually ranges from sub-naometre to several namertres. In the homodyne interferometer, it results from a number of factors including polarization mixing, imperfect optical clement, unequal gain of detectors, misalignment of axes between input beam and beam splitter. In this paper, we described a method for measuring and compensating the nonlinearity of homodyne interferometer using the elliptical least-square fitting technique associated with electric method and experimental results in one frequency polarization interferometer.