• The Journal of the Acoustical Society of Korea
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• v.22 no.1E
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• pp.33-42
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• 2003

Kuo et al proposed an on-line method for an adaptive prediction error filter for improving secondary path modeling performance in the modeling method of the secondary path. This method have some disadvantages, namely having to use additive noise with the result that noise control performance is not good since it is focused on the estimated performance of the secondary path. In this paper, we proposes a modified Kuo model using gain control parameter and delay. It uses a reference signal for additive noise to improve the problems in the existing Kuo model.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.283-290
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• 2021

We propose a task and motion planning algorithm for clearing obstacles and wiping surfaces, which is essential for surface disinfection during the pathogen disinfection process. The proposed task and motion planning algorithm determines task parameters such as grasping pose and placement location during the planning process without using pre-specified or discretized values. Furthermore, to quickly inspect many unit motions, we propose a motion feasibility prediction algorithm consisting of collision checking and an SVM model for inverse mechanics and self-collision prediction. Planning time analysis shows that the feasibility prediction algorithm can significantly increase the planning speed and success rates in situations with multiple obstacles. Finally, we implemented a hierarchical control scheme to enable wiping motion while following a planner-generated joint trajectory. We verified our planning and control framework by conducted an obstacle-clearing and surface wiping experiment in a simulated disinfection environment.

• Journal of Ocean Engineering and Technology
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• v.22 no.6
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• pp.95-99
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• 2008

The block assembly of ship consists of a certain type of heat processes such as cutting, bending welding residual stress relaxation and fairing. The residual deformation due to welding is inevitable at each assembly stage. The geometric inaccuracy caused by the welding deformation tends to preclude the introduction of automation and mechanization and needs the additional man-hours for the adjusting work at the following assembly stage. To overcome this problem, a distortion control method should be applied. For this purpose, it is necessary to develop an accurate prediction method which can explicitly account for the influence of various factors on the welding deformation. The validity of the prediction method must be also clarified through experiments. This paper proposes a simplified analysis method to predict the welding deformation of panel block structure. For this purpose, a simple prediction model for fillet welding deformations has been derived based on numerical and experimental results through the regression analysis. On the basis of these results, the simplified analysis method has been applied to some examples to show its validity.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.4
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• pp.347-355
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• 2005

In this paper, a new continuous~time small signal model of an average current mode control is proposed. Sampling effect Is considered to obtain the proposed small signal model. By the proposed model, the high frequency response characteristics of current loop gain might be predicted accurately compared to previous models. And this leads the prediction of inductor current response of the proposed model to be accurate compared to others. In order to show the usefulness of the proposed model, prediction results of the proposed model are compared to those of the circuit level simulator, PSIM and experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.944-952
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• 2001

Inertial navigation system(INS) errors increase with time due to inertial sensor errors, and therefore it is desired to combine INS with external aids such as GPS. However GPS informations have a randomly abrupt jump due to a sudden corruption of the received satellite signals and environment, and moreover GPS can\`t provide navigation solutions. In this paper, smoothing and prediction schemes are proposed for GPS`s jump or unavailable GPS. The smoothing algorithm which is designed as a scalar adaptive filter, smooths abrupt jump. The prediction algorithm which is proved by Schuler error model of INS, estimates INS error in appropriate time. The outputs of proposed algorithm apply stable measurements to GPS aided INS Kalman filter. Simulations show that the proposed algorithm can effectively remove measurement jump and predict INS error.

• Journal of the Korean Society for Railway
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• v.9 no.6 s.37
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• pp.732-738
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• 2006

This research provides a scheme for Highly Accelerated Stress Test that is necessary to demonstrate reliability prediction of Korean Rapid Transit Railway Train Control System sub-equipment, which is calculated by a relevant standard for failure rate prediction of electronic products. Although determining failure information generated in the process of trial running by statistic analysis is widely accepted as a measure of confirmation for reliability prediction, this research suggests the modeling for System Life Test determined by accelerating stress factors as a measure of confirmation for reliability prediction of sub-equipment unit that is generated ahead of a trial running in System Life Cycle. Consequently, the research demonstrates sub-equipment unit reliability test, which is based on the model derived from Accelerated Stress Test, according to accuracy level and the number of samples, and conducts an official experiment by making out a reliability test procedure sheet based on test time as well.

• Environmental Engineering Research
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• v.19 no.1
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• pp.31-36
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• 2014

In this study, the influence of the control and operational parameters within a sewage treatment plant were reviewed by performing multiple regression analysis on the effluent quality of the sewage treatment. The data used for this review are based on the actual data from a sewage treatment plant using the media process within the year 2012. The prediction models of chemical oxygen demand ($COD_{Mn}$) and total nitrogen (T-N) within the effluent of the 2nd settling tank based on the multiple regression analysis yielded the prediction accuracy measurements of 0.93 and 0.84, respectively; and it was concluded that the model was accurately predicting the variances of the actual observed values. If the data on the energy spent on each operating condition can be collected, then the operating parameter that conserves energy without violating the effluent quality standards of COD and T-N can be determined using the regression model and the standardized regression coefficients. These results can provide appropriate operation guidelines to conserve energy to the operators at sewage treatment plants that consume a lot of energy.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.509-523
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• 2005

We are developing a novel framework, PRIDE (PRediction In Dynamic Environments), to perform moving object prediction (MOP) for autonomous ground vehicles. The underlying concept is based upon a multi-resolutional, hierarchical approach which incorporates multiple prediction algorithms into a single, unifying framework. The lower levels of the framework utilize estimation-theoretic short-term predictions while the upper levels utilize a probabilistic prediction approach based on situation recognition with an underlying cost model. The estimation-theoretic short-term prediction is via an extended Kalman filter-based algorithm using sensor data to predict the future location of moving objects with an associated confidence measure. The proposed estimation-theoretic approach does not incorporate a priori knowledge such as road networks and traffic signage and assumes uninfluenced constant trajectory and is thus suited for short-term prediction in both on-road and off-road driving. In this article, we analyze the complementary role played by vehicle kinematic models in such short-term prediction of moving objects. In particular, the importance of vehicle process models and their effect on predicting the positions and orientations of moving objects for autonomous ground vehicle navigation are examined. We present results using field data obtained from different autonomous ground vehicles operating in outdoor environments.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2006.06a
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• pp.55-60
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• 2006

Draw-bead is applied to control the material flow in a stamping process and improve the product quality by controlling the draw-bead restraining force (DBRF). Actual die design depends mostly on the trial-and-error method without calculating the optimum DBRF. Die design with the predicted value of DBRF can be utilized at the tryout stage effectively reducing the cost of the product development. For the prediction of DBRF, a simulation-based prediction model of the circular draw-bead is developed using the Box-Behnken design with selected shape parameters such as the bead height, the shoulder radius and the sheet thickness. The value of DBRF obtained from each design case by analysis is approximated by a second order regression equation. This equation can be utilized to the calculation of the restraining force and the determination of the draw-bead shape as a prediction model. For the evaluation of the prediction model, the optimum design of DBRF in sheet metal forming is carried out using response surface methodology. The suitable type of the draw-bead is suggested based on the optimum values of DBRF. The prediction model of the circular draw-bead proposes the design method of the draw-bead shape. The present procedure provides a guideline in the tool design stage for sheet metal forming to reduce the cost of the product development.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.523-523
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• 2000

We have developed a method to build time series prediction models by Genetic Programming (GP). Our proposed CP includes two new techniques. One is the parameter optimization algorithm, and the other is the new mutation operator. In this paper, the sunspot prediction experiment by our proposed CP was performed. The sunspot prediction is good benchmark, because many researchers have predicted them with various kinds of models. We make three experiments. The first is to compare our proposed method with the conventional methods. The second is to investigate about the relation between a model-building period and prediction precision. In the first and the second experiments, the long-term data of annual sunspots are used. The third is to try the prediction using monthly sunspots. The annual sunspots are a mean of the monthly sunspots. The behaviors of the monthly sunspot cycles in tile annual sunspot data become invisible. In the long-term data of the monthly sunspots, the behavior appears and is complicated. We estimate that the monthly sunspot prediction is more difficult than the annual sunspot prediction. The usefulness of our method in time series prediction is verified by these experiments.