• Journal of the Institute of Electronics Engineers of Korea SC
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• v.38 no.6
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• pp.28-36
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• 2001

A robust adaptive sliding mode robot control algorithm is derived, which consists of a feed-forward compensation part and discontinuous control part. The unknown parameters is categorized into two groups, with group containing the parameters estimated on-line, and group containing the parameters not estimated on-line. Then a sliding control term is incorporated into the torque input in order to account for the effects of uncertainties on the parameters not estimated on-line and of disturbances. Moreover, the algorithm is computationally simple, due to an effective exploitation of the structure of manipulator dynamics. It is shown that, despite the existence of the parameter uncertainty and external disturbances, the controller is globally asymptotically stable and guarantees zero tracking errors.

• Communications for Statistical Applications and Methods
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• v.16 no.2
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• pp.265-275
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• 2009

This paper considers a linear regression model with a spatial autoregressive disturbance with ill-posed data and proposes the generalized maximum entropy(GME) estimator of regression coefficients. The performance of this estimator is investigated via Monte Carlo experiments. The results show that the GME estimator provides efficient and robust estimate for the unknown parameter.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.9
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• pp.21-27
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• 2015

An improved method based on direct extraction and simultaneous optimization is developed to determine model parameters of symmetric inductors fabricated by the high resistivity(HR) silicon-on-insulator(SOI) RF CMOS process. In order to improve modeling accuracy, several model parameters are directly extracted by Y and Z-parameter equations derived from two equivalent circuits of symmetric inductor and grounded center-tap one, and the number of unknown parameters is reduced using parallel resistance and total inductance equations. In order to improve optimization accuracy, two sets of measured S-parameters are simultaneously optimized while same model parameters in two equivalent circuits are set to common variables.

• Journal of Environmental Science International
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• v.20 no.3
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• pp.329-340
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• 2011

The probability concepts mainly used for rainfall or flood frequency analysis in water resources planning are the frequentist viewpoint that defines the probability as the limit of relative frequency, and the unknown parameters in probability model are considered as fixed constant numbers. Thus the probability is objective and the parameters have fixed values so that it is very difficult to specify probabilistically the uncertianty of these parameters. This study constructs the uncertainty evaluation model using Bayesian MCMC and Metropolis -Hastings algorithm for the uncertainty quantification of parameters of probability distribution in rainfall frequency analysis, and then from the application of Bayesian MCMC and Metropolis- Hastings algorithm, the statistical properties and uncertainty intervals of parameters of probability distribution can be quantified in the estimation of probability rainfall so that the basis for the framework configuration can be provided that can specify the uncertainty and risk in flood risk assessment and decision-making process.

• Korean Journal of Mathematics
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• v.21 no.4
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• pp.429-437
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• 2013

Let $X_1$, $X_2$, ${\cdots}$, $X_n$ be independent and identically distributed random variables having common exponential density with unknown mean ${\mu}$. In the sequential confidence interval estimation for the exponential hazard rate ${\theta}=1/{\mu}$, when the loss function is strictly convex, the following stopping rule is proposed with the half length d of prescribed confidence interval $I_n$ for the parameter ${\theta}$; ${\tau}$ = smallest integer n such that $n{\geq}z^2_{{\alpha}/2}\hat{\theta}^2/d^2+2$, where $\hat{\theta}=(n-1)\bar{X}{_n}^{-1}/n$ is the minimum risk estimator for ${\theta}$ and $z_{{\alpha}/2}$ is defined by $P({\mid}Z{\mid}{\leq}{\alpha}/2)=1-{\alpha}({\alpha}{\in}(0,1))$ Z ~ N(0, 1). For the confidence intervals $I_n$ which is required to satisfy $P({\theta}{\in}I_n){\geq}1-{\alpha}$. These estimated intervals $I_{\tau}$ have the asymptotic consistency of the sequential procedure; $$\lim_{d{\rightarrow}0}P({\theta}{\in}I_{\tau})=1-{\alpha}$$, where ${\alpha}{\in}(0,1)$ is given.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.576-583
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• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.2
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• pp.97-106
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• 1999

This paper proposes the structure and the algorithm of the Fuzzy-Neural Controller(FNNC) which is able to adapt itself to unknown plant and the change of circumstances at the Fuzzy Logic Controller(FLC) with the Neural Network. This Learning Fuzzy Logic Controller is made up of Fuzzy Logic controller in charge of a main role and Neural Network of an adaptation in variable circumstances. This construct optimal fuzzy controller applied to the 2-area load frequency control of power system, and then it would examine fitness about parameter variation of plant or variation of circumstances. And it proposes the optimal Scale factor method wsint three preformance functions( E, , U) of system dynamics of load frequency control with error back-propagation learning algorithm. Applying the controller to the model of load frequency control, it is shown that the FNNC method has better rapidity for load disturbance, reduces load frequency maximum deviation and tie line power flow deviation and minimizes reaching and settling time compared to the Optimal Fuzzy Logic Controller(OFLC) and the Optimal Control for optimzation of performance index in past control techniques.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.188-195
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• 2000

This study was conducted to measure the moisture content of powdered food using RF impedance spectroscopic method. In frequency range of 1.0 to 30㎒, the impedance such as reactance and resistance of parallel plate type sample holder filled with wheat flour and red-pepper powder of which moisture content range were 5.93∼-17.07%w.b. and 10.87 ∼ 27.36%w.b., respectively, was characterized using by Q-meter (HP4342). The reactance was a better parameter than the resistance in estimating the moisture density defined as product of moisture content and bulk density which was used to eliminate the effect of bulk density on RF spectral data in this study. Multivariate data analyses such as principal component regression, partial least square regression and multiple linear regression were performed to develop one calibration model having moisture density and reactance spectral data as parameters for determination of moisture content of both wheat flour and red-pepper powder. The best regression model was one by the multiple linear regression model. Its performance for unknown data of powdered food was showed that the bias, standard error of prediction and determination coefficient are 0.179% moisture content, 1.679% moisture content and 0.8849, respectively.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.1
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• pp.119-126
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• 2002

In this paper, we present a new approach based on an elitist genetic algorithm for the task of aligning the position of a robot gripper using CCD cameras. The vision-based control scheme for the task of aligning the gripper with the desired position is implemented by image information. The relationship between the camera space location and the robot joint coordinates is estimated using a camera-space parameter modal that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation. To find the joint angles of a robot manipulator for reaching the target position in the image space, we apply an elitist genetic algorithm instead of a nonlinear least square error method. Since GA employs parallel search, it has good performance in solving optimization problems. In order to improve convergence speed, the real coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using an elitist genetic algorithm with a real coding method.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.6
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• pp.878-884
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• 2012

In this paper, we consider the sway suppression control problem for container cranes with the frictions between the trolley and the rail. If the friction effects in the system can be modelled, there is an improved potential to design controllers that can cancel the effects. The proposed control improves the trolley positioning and sway suppressing against various frictions. The proposed synthesis combines a variable structure control and the adaptive control to cope with various frictions including the unknown constants. First, the variable structure control with the simple switching action is designed, which is based on a class of feedback lineariztion methods for the fast stabilization of the under-actuated sway dynamics of container. Second, the adaptive control with a parameter estimation is designed, which is based on Lyapunov stability methods for suppressing the oscillation of the trolley travelling, especially due to Coulomb friction in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown under initial sway, external wind disturbances, and various frictions.