• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2254-2259
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• 2005

In this paper, we propose a wavelet based fuzzy neural network(WFNN) based direct adaptive control scheme for the solution of the tracking problem of mobile robots. To design a controller, we present a WFNN structure that merges advantages of neural network, fuzzy model and wavelet transform. The basic idea of our WFNN structure is to realize the process of fuzzy reasoning of wavelet fuzzy system by the structure of a neural network and to make the parameters of fuzzy reasoning be expressed by the connection weights of a neural network. In our control system, the control signals are directly obtained to minimize the difference between the reference track and the pose of mobile robot using the gradient descent(GD) method. In addition, an approach that uses adaptive learning rates for the training of WFNN controller is driven via a Lyapunov stability analysis to guarantee the fast convergence, that is, learning rates are adaptively determined to rapidly minimize the state errors of a mobile robot. Finally, to evaluate the performance of the proposed direct adaptive control system using the WFNN controller, we compare the control performance of the WFNN controller with those of the FNN, the WNN and the WFM controllers.

• The Journal of Society for e-Business Studies
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• v.13 no.4
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• pp.93-110
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• 2008

Reference modeling for Collaborative Networked Organizations(CNOs) has just started, and Enterprise Architecture Modeling Languages(EAMLs) for CNOs are very few. Lack of reference models makes it difficult for people to communicate with each other and lack of EAMLs also makes it difficult to implement information systems for CNOs. We propose an EAML for CNO called CAML. It supports (1) multi-level modeling based on Model- Driven Architecture of OMG's for expressive power and efficiency of implementations, and (2) multi-focus modeling based on Zachman Framework for completeness of modeling The effectiveness of the CAML is investigated through modeling of a supply chain and execution of change impact analysis.

• JSTS:Journal of Semiconductor Technology and Science
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• v.16 no.5
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• pp.713-718
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• 2016

Predicting precise specifications of differential mixed-signal circuits is a difficult problem, because analytically derived correlation between process variations and conventional specifications exhibits the limited prediction accuracy due to the phase unbalance, for most self-tests. This paper proposes an efficient prediction technique to provide accurate specifications of differential mixed-signal circuits in a system-on-chip (SoC) based on a nonlinear statistical nonlinear regression technique. A spectrally pure sinusoidal signal is applied to a differential DUT, and its output is fed into another differential DUT through a weighting circuitry in the loopback configuration. The weighting circuitry, which is employed from the previous work [3], efficiently produces different weights on the harmonics of the loopback responses, i.e., the signatures. The correlation models, which map the signatures to the conventional specifications, are built based on the statistical nonlinear regression technique, in order to predict accurate nonlinearities of individual DUTs. In production testing, once the efficient signatures are measured, and plugged into the obtained correlation models, the harmonic coefficients of DUTs are readily identified. This work provides a practical test solution to overcome the serious test issue of differential mixed-signal circuits; the low accuracy of analytically derived model is much lower by the errors from the unbalance. Hardware measurement results showed less than 1.0 dB of the prediction error, validating that this approach can be used as production test.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• 한국생물공학회:학술대회논문집
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• 2004.07a
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• pp.47-84
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• 2004

Principal Component Analysis나 Partial Least Squares와 같은 다변량 통계 기법은 변수간의 correlation structure로부터 공정의 variance를 설명할 수 있는 latent variable를 얻고 이를 이용하여 공정을 효과적으로 modeling할 수 있는 방법으로 최근 들어 많은 관심을 얻고 있다. 하지만 PLS는 공정이 stationary state에 있다고 가정하기 때문에, 생물학적 공정의 non-stationary and time-varying behavior를 설명하기에 부적절하다. 본 논문에서는 PLS 알고리즘의 혐기성 폐수처리 공정에의 적용에 있어, 이와 같은 문제를 해결하기 위해서 adaptive PLS 알고리즘을 사용함으로써 변화하는 공정의 특성에 대응하여 모델을 update하는 방법을 이용하였다. 하지만 실시간 데이터로부터 adaptive PLS 방법을 적용하는 데에는 많은 어려움이 존재하며, 특히 outlier나 abnormal disturbance에 모델이 부적절하게 adaptation하는 문제가 발생할 수 있다. 따라서 이의 해결을 위해 adaptive PLS를 적용하는데 있어 robustness를 향상시키기 위해 monitoring index를 이용하여 abnormal data에 weight를 주고 안정적인 모델의 update가 가능하게 하는 방법을 제안하였으며, 이를 적용하여 성공적으로 혐기성 폐수처리 공정의 Output을 예측하고 효과적으로 공정을 모니터링할 수 있었다. 만들어진 PLS 모델은 산업폐수를 처리하기 위한 industrial plan에서 측정된 실제 데이터에 적용하여 그 효용성을 입증하였으며, 그 결과는 mechanistic model을 적용하기 힘든 실공정에 비교적 쉽게 implementation할 수 있는 장점이 있다.

• The Journal of the Korean dental association
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• v.54 no.2
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• pp.108-122
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• 2016

Prosthetic-driven implant placement is a concept considering the dental implant restoration first based on the final form of that prosthesis to be restored. The latest development of the imaging technology and digital dentistry was able to be obtained the high quality images of CBCT with low radiation exposure and it has also enabled the process to reconstruct the intraoral state in three dimensions due to the development of the intraoral, model and impression scanner. Computer-guided implant placement simulations and template production was able to be more widely used in this context. In this narrative review, the features and the types of implant surgical guides will be introduced. It will also be described the diagnosis and treatment plan using computerguided implant software to reduce the number of visit and to increase the accuracy of the implant surgery through the top-down approach based on the shape and location of the final prosthesis.

• Journal of Information Technology Applications and Management
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• v.15 no.3
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• pp.127-152
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• 2008

This study sought to explore how SMEs are utilizing EC. Drawing on existing research on IT and EC related field, this study presented the framework of EC utilization level and analyzed its affecting factors in the point of organizational perspectives; strategy and competency. The impact of EC utilization on firm performance was also examined by employing BSC. Structural equation model was applied to test the relationships among the theoretical constructs with data from 171 SMEs. The results showed that the rate of EC utilization in SMEs is growing quite rapidly. However, manufacturing related firms still remain at a lower level compared to service related firms. As for the two affecting factors of EC utilization level, it was found that the level of EC utilization appeared to be driven not by strategy but by competency. This result implicates that EC utilization in SMEs doesn't reach to strategic purpose yet, while it is dependent on firm's competency. As far as the impact of EC utilization on firm performance, the study showed that the level of EC utilization has significant relationship with all perspectives performance indicators of BSC. This study can provide the managers with current EC utilization pattern and the guidelines as to where to put the efforts in the EC utilization and how to get an effective EC utilization strategy in the future.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.8 no.4
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• pp.119-125
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• 2008

The traditional way for convergence of smart appliances was software integrations on middleware. It is possible advantage to integrate easily and quickly with this way. But basically the middleware approach is slowly executed as it is huge the size of software. To solve this problem, we suggest a modeling tool for convergence. As we can execute and generate the automatic source code at the design phase with our modeling tool, it is possible to do software integration without the middleware. We use one example of U-Home environment to show the convergence for TV and the door lock system. With our approach, we will be able quickly to develop the convergent products what the customers desire with inexpensiveness, that is, the convergence of smart appliances without the middleware.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.7
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• pp.603-610
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• 2001

Industrial processes are normally operated by skilled humans who have the cumulative and logical information about the system. Fuzzy control has been investigated for many application. Intelligent control approaches based on fuzzy logic have a chance to include human thinking. This paper represents modeling approach based upon operators knowledge without mathematical model of the system and optimize the controller. The experimented system is constructed for sending a ball to the goal position using wind of two DC motors in the predefined path. A vision camera to mimic human eyes detects the ball position. The system used in this experiment could be hardly modeled by mathematical methods and ould not be easily controlled by conventional manners. The controller is designed based on the input-output data and experimental knowledge obtained by trials, and optimized under the predefined performance criterion. And this paper shows the data adaptation for changeable operating condition. When the system is driven in the abnormal condition with unconsidered noise, the new optimal operating parameters could be defined by adjusting membership functions. Thus, this technique could be applied in industrial fields.

• The Journal of Korean Association of Computer Education
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• v.8 no.5
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• pp.97-108
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• 2005

In this paper, we present our prototype of a web manual creator that is based on MSP technology embedded in webMathematica. This tool gives courseware authors more simple ways to make their own mathematical web contents. We first classified authoring models for creating mathematical content development and proposed an advanced model. The final application called phpMath can generate MSP-driven documents automatically using Mathematica commands typed by users. In other words, phpMath users can make interactive dynamic mathematical web contents even though they do not know anything about web server, HTML, and webMathematica. We illustrated the details of the prototype from the user's perspectives followed by comments on usefulness.