• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1581-1584
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• 1997

This paper poropsed an efficient optimization technuque to resolve redundancy and a trajectory planning for a high precision control using proposed optimization technique. The proposed techniqus is the joint disturbance torque optimizatioin considering redundancy in the joing servo control. Joint disturbance torque is not unknown it is described dynamic equation ignored friction and viscosity. The proposed technique is used the dynamic equatiion included the joint disturbance torque characteristics. Numerical example of 3 joint planar redundant robot manipulator is simulated. In the 2-norm minimization of joint disturbance torque we compared pseudoinverse local optimization with proposed technique, and the results showed better the proposed technique. So the proposed technique can be highly precision controlled redundant robot manipulators in the joint servo control.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.103-107
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• 2009

This paper presents how to minimize the second-order cone programming problem occurring in the 3D reconstruction of multiple views. The $L_{\infty}$-norm minimization is done by a series of the minimization of the maximum infeasibility. Since the problem has many inequality constraints, we have to adopt methods of the interior point algorithm, in which the inequalities are sequentially approximated by log-barrier functions. An initial feasible solution is found easily by the construction of the problem. Actual computing is done by an iterative Newton-style update. When we apply the interior point method to the problem of reconstructing the structure and motion, every Newton update requires to solve a very large system of linear equations. We show that the sparse bundle-adjustment technique can be utilized in the same way during the Newton update, and therefore we obtain a very efficient computation.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.502-505
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• 2004

An intelligent digital redesign technique (IDR) for the observer-based output feedback Takagi-Sugeno (T-S) fuzzy control system with unmeasurable premise variables is developed. The considered IDR condition is cubically parameterized as convex minimization problems of the norm distances between linear operators to be matched.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.64.5-64
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• 2002

This paper concerns a new digital redesign (DR) technique for an observer-based output-feedback control (OBOFC) system. The term DR involves converting an analog controller into an equivalent digital one in the sense of state-matching. The considered DR problem is formulated as convex minimization problems of the norm distances between linear operators to be matched. The stability condition is easily embedded and the separation principle on the DR of the OBOFC is explicitly shown. A numerical example is included for visualizing the feasibility of the proposed technique.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.4
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• pp.145-155
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• 2015

Noise reduction has been actively studied in the digital image processing and recently, block-based denoising algorithms are widely used. In particular, a low rank approximation employing WNNM(Weighted Nuclear Norm Minimization) and block-based approaches demonstrated the potential for effective noise reduction. However, the algorithm based on low rank a approximation generates the artifacts in the image restoration step. In this paper, we analyzes the image content using the STFT(Short Time Fourier Transform) and proposes an effective method of minimizing the artifacts generated from the conventional algorithm. To evaluate the performance of the proposed scheme, we use the test images containing a wide range of noise levels and compare the results with the state-of-art algorithms.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.487-492
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• 2007

This paper presents the development of digital robust fuzzy controller for uncertain nonlinear systems. The proposed approach is based on the intelligent digital redesign(IDR) method with considering the relaxed stability condition of fuzzy control system. The term IDR in the concerned system is to convert an existing analog robust control into an equivalent digital counterpart in the sense of the state-matching. We shows that the IDR problem can be reduced to find the digital fuzzy gains minimizing the norm distance between the closed-loop states of the analog and digital robust control systems. Its constructive conditions are expressed as the linear matrix inequalities(LMIs) and thereby easily tractable by the convex optimization techniques. Based on the nonquadratic Lyapunov function, the robust stabilization conditions are given for the sampled-data fuzzy system, and hence less conservative. A numerical example, chaotic Lorentz system, is demonstrated to visualize the feasibility of the proposed methodology.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.7
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• pp.483-490
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• 2004

The descriptor system model has a high ability in representing dynamical systems. It can preserve physical parameters in the coefficient matrices, and describe the dynamic part, static part, and even the improper part of the system in the same form. The design of mixed $H_{2}/H_{\infty}$ controllers for linear time-invariant descriptor systems is considered in this paper. Firstly, an $H_2$ and $H_{\infty}$ synthesis problems fur a descriptor system are presented separately in terms of linear matrix inequalities (LMIs) based on the bounded real lemma. Then, we show that the existence of a mixed $H_2/H_{\infty}$ controller by which the $H_2$ norm of the second channel is minimized while keeping the $H_2$ norm bound of the first channel less than ${\gamma}$, is reduced to the linear objective minimization problem. The class of desired controllers that are assumed to have the same structure as the plant is parameterized by using the linearizing change of variables.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.5
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• pp.520-525
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• 2003

This paper concerns a design methodology of observer-based output-feedback digital controller for Takagi-Sugeno(TS) fuzzy systems using intelligent digital redesign (IDR). The term of IDR involves converting an analog fuzzy-mode-based controller into an equivalent digital one in the sense of state-matching. The considered IDR problem is viewed as convex minimization problems of the norm distances between linear operators to be matched. The stability condition is easily embedded and the separations principle is explicitly shown.

• Journal of the Institute of Convergence Signal Processing
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• v.20 no.3
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• pp.145-150
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• 2019

We develop the system realization of whale sound reconstruction by inverse MFCC algorithm with the weighted L2-norm minimization techniques. The output products from this research will contribute to the whale tourism and multimedia content industry by combining whale sound contents with the prototype of 3D printing. First of all, we develop the softwares for generating whale sounds and install them into Raspberry Pi hardware and fasten them inside a 3D printed whale. The languages used in the development of this system are the C++ for whale-sounding classification, MATLAB and Python for whale-sounding playback algorithm, and Rhino 6 for 3D printing.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.9
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• pp.1041-1043
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• 2016

This letter proposes a new blind fractionally spaced equalization (FSE). The conventional linear program (LP) FSE reduces the degree of freedom (DOF) by abandoning many equalization filter taps, which causes severe performance degradations. We use singular value decomposition (SVD) to obtain the signal subspace and to fully utilize all samples for performance improvement. The proposed scheme has similar performance with the nuclear norm minimization and has as low complexity as the LP equalizer.