• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.930-932
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• 1996

Some results and a nonlinear controller are proposed for feedback linearizable SISO systems with unknown constant parameters. It is shown that the systems which satisfy the proposed conditions can be transformed into a controllable linear subsystem with unknown parameter and it can be stabilized using the high gain nonlinear feedback linearizing controller. As an example for the proposed theorem, we introduce the single link robot with joint flexibility which is an well known example.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1205-1207
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• 1996

The computed-torque method (CTM) shows good trajectory tracking performance in controlling robot manipulator if there is no disturbance or modelling errors. But with the increase of a payload or the disturbance of a manipulator, the tracking errors become large. So there have been many researchs to reduce the tracking error. In this paper, we propose a new control algorithm based on the CTM that decreases a tracking error by generating new reference trajectory to the controller. In this algorithm we used a fuzzy system based on the rule bases. For the numerical simulation, we used a 2-link robot manipulator. To simulate the disturbance due to a modelling uncertainty, we added errors to each elements of the inertia matrix and the nonlinear terms and assumed a payload to the end-effector. In the simulations of several cases, our method showed better trajectory tracking performance compared with the CTM.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.380-382
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• 1993

In this paper, we derive a simple robust nonlinear control scheme for n-link robot manipulators subject to parameter uncertainty. By using the theory of variable structure system(VSS) and taking advantage of the important property of the robot dynamics, the stability of the derived control scheme is proved. This scheme utilizes the desired trajectory outputs, which can be calculated a priori, instead of the actual joint outputs in the nonlinear compensation controller. So the amount of on-line calculations is largely reduced, and as a result, this scheme can be implemented much more efficiently.

• Journal of Electrical Engineering and Technology
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• v.8 no.4
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• pp.780-786
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• 2013

In the reliability-based design optimization of electromagnetic devices, the accurate and efficient reliability assessment method is very essential. The first-order sensitivity-assisted Monte Carlo Simulation is proposed in the former research. In order to improve its accuracy for wide application, in this paper, the second-order sensitivity analysis is presented by using the hybrid direct differentiation-adjoint variable method incorporated with the finite element method. By combining the second-order sensitivity with the Monte Carlo Simulation method, the second-order sensitivity-assisted Monte Carlo Simulation algorithm is proposed to implement reliability calculation. Through application to one superconductor magnetic energy storage system, its accuracy is validated by comparing calculation results with other methods.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.3
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• Journal of Information Processing Systems
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• v.13 no.1
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• pp.57-67
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• 2017

In this paper, Atanassov's intuitionistic fuzzy set theory is used to handle the uncertainty of students' knowledgeon domain concepts in an E-learning system. Their knowledge on these domain concepts has been collected from tests that were conducted during their learning phase. Atanassov's intuitionistic fuzzy user model is proposed to deal with vagueness in the user's knowledge description in domain concepts. The user model uses Atanassov's intuitionistic fuzzy sets for knowledge representation and linguistic rules for updating the user model. The scores obtained by each student were collected in this model and the decision about the students' knowledge acquisition for each concept whether completely learned, completely known, partially known or completely unknown were placed into the information table. Finally, it has been found that the proposed scheme is more appropriate than the fuzzy scheme.

• Journal of Information Processing Systems
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• v.1 no.1 s.1
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• pp.107-111
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• 2005

When a pedagogical agent system aims to provide students with interactive help, it needs to know what knowledge the student has and what goals the student is currently trying to achieve. That is, it must do both assessment and plan recognition. These modeling tasks involve a high level of uncertainty when students are allowed to follow various lines of reasoning and are not required to show all their reasoning explicitly. In this paper, the student model for interactive edutainment applications is proposed. This model is based on Bayesian Networks to expose constructs and parameters of rules and propositions pertaining to game and problem solving activities. This student model could be utilized as the emotion generation model for student and agent as well.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.57 no.4
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• pp.431-436
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• 2008

We have extended an absolute evaluation method to obtain the ratio error and phase displacement of a current transformer (CT) up to primary current of 40,000 A by measuring four parameters of equivalent circuit in CT. The method was applied to CTs under test with the current ratios in the range of 5,000 A / 5 A - 40,000 A / 5 A. The ratio error and phase displacement of the CTs under test obtained in this study are consistent with those measured at the national institutes in Canada and Germany using the same CTs under test within an expanded uncertainty (k = 2) in the overall current ratios.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1287-1288
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• 2007

The cross capacitor electrode system applied Thompson-Lampard theorem for precise and accurate measurement of dielectric constants is studied in this study. The capacitance derived from cross capacitor is calculated by the equation of ($C=\frac{{\epsilon}ln2}{\pi}{\cdot}$ effectivelength of electrode) which is very different from the equation of capacitance derived from parallel plate capacitor. From above mentioned reason, the capacitance measurement uncertainty of cross capacitor can be reduced then that of the parallel plate capacitor. the measurement dielectric constant measured by cross capacitor electrode method is one order more accurate and precise than that of 3-electrode method.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.1929-1931
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• 2001

An adaptive fuzzy logic controller to regulate molten steel level in the strip casting process is presented, where parameters of fuzzy controllers are adapted stably by using Lyapunov-stability theory and a switching controller is used together to deal with the approximation error of fuzzy logic system. The level error is proven to converge to zero asymptotically. In the simulation, the clogging/unclogging of a stopper nozzle is considered and overcome by the proposed controller. Robustness to uncertainty is shown to be superior to conventional PI controller.