In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method is used to estimate the vehicle parameters, mass, time constant, etc. The inter-vehicle spacing and its derivatives are estimated by using the sliding mode cascade observer introduced in this paper. It is shown that the proposed adaptive controller is uniformly ultimately bounded. It is also shown that the errors of the relative distance, the relative velocity and the relative acceleration asymptotically converge to zero. The simulation results are presented to investigate the effectiveness of the proposed method.

To improve the performance of PID controller of high order systems by model reduction, we proposed two model reduction methods. One, Original model with two point $({\angle}G(jw)=\;-{\pi}/2,\;-{\pi})$ in Nyquist curve used gradient base method and genetic algorithm. The other, Original model without two point$({\angle}G(jw)=\;-{\pi}/2,\;-{\pi})$in Nyquist curve used to add very small dead time. This method has annexed very small dead time on the base model for reduction, and we remove it after getting the reduced model, and , we improved Smith-predictor for a dead-time compensator using genetic algorithms. This method considered four points$({\angle}G(jw)=0,\;-\pi/2,\;-\pi,\;-3\pi/2)$ in the Nyquist curve to reduce steady state error between original and reduced model. It is shown that the proposed methods have more performance than the conventional method.

The accuracy in maneuvering target tracking using multiple models is resulted in by the suitability of each target motion model to be used. The interacting multiple model (IMM) method and the adaptive IMM (AIMM) method require the predefined sub-models and the predetermined acceleration intervals, respectively, in consideration of the properties of maneuvers in order to construct multiple models. In this paper, to solve these problems, a genetic algorithm(GA) based-IMM method using fuzzy logic is proposed. In the proposed method, the acceleration input is regarded as an additive noise and a sub-model is represented as a set of fuzzy rules to calculate the time-varying variances of the process noises of a new piecewise constant white acceleration model. The proposed method is compared with the AIMM algorithm in simulation.

A Coordinate-Transformation Extended Robust Kalman Filter (CERKF) designed in the Krein space is proposed, and then applied to a nonlinear incoming ballistic missile tracking system with parameter uncertainties. First, the Extended Robust Kalman filter (ERKF) is proposed to handle the nonlinearity of measurement equation which occurs whenever the polar coordinate system is transformed into the Cartesian coordinate system. Moreover, linearization error inevitably occurs and deteriorates the tracking performance, which is considerably reduced by the proposed CERKF. Through the simulation results, we show that the proposed CERKF, which uses the measurement coordinate system, has less RMS error than the previous ERKF which is designed in the Krein space using the Cartesian system. We also verify that the robustness and the stability of the proposed filter are guaranteed in two radars: the phased way radar and the scanning radar

A robust tracking control for nonholonomic dynamic systems is proposed in this paper. Since nonholonomic dynamic systems have constraints imposed on motions that are not integrable, i.e., the constraints cannot be written as time derivatives of some functions of generalized coordinates, advanced techniques are needed for their control. It is shown that if the state of nonholonomic systems is mapped into a bounded space by a coordinate transformation, a robust controller for dynamic models of nonholonomic systems with input disturbances can be designed using sliding mode control. Stability and robustness of the proposed controller are proved in the Lyapunov sense. Numerical simulations on the trajectory tracking of a two-wheeled mobile robot are conducted to validate the effectiveness of the proposed controller.

In this study, the balance beam control subsystem, new type of construction machinery using the mechanism of CMG (control moment gyro), for the attitude control of an unstructured object such as a beam carried by a tower crane, is designed and implemented. The balance beam controller consists of a wheel spinning at high speed and an outer gimbal for controlling the attitude of the wheel. Two motors, one for the wheel and the other for the gimbal, are used. Applying force to the spin axis of the wheel, as an input of the system, leads the torque about the axis because of the gyro effects. This torque is used to control the attitude of the unstructured object in this study. For the stabilizer function, in addition, holding the load at the current position, the attitude of the wheel is freed by cutting the power applied to the gimbal motor of the balance beam controller, which result in the braking force to stop the load by gyro effect. The works presented here include the mechanical system of the balance beam controller, the remote controller, the servo controller and the control software for the system. We also present experimental results to show that the system we proposed is useful as a new construction machinery which can control the attitude of the beam hanging from a tower crane.

Texture analysis has been efficiently utilized in the area of terrain classification. In this application features have been obtained in the 2D image domain. This paper suggests 3D co-occurrence texture features by extending the concept of co-occurrence to 3D world. The suggested 3D features are described using co-occurrence histogram of digital elevations at two contiguous position as co-occurrence matrix. The practical construction of co-occurrence matrix limits the number of levels of digital elevation. If the digital elevation is quantized into the number of levels over the whole DEM(Digital Elevation Map), the distinctive features can not be obtained. To resolve the quantization problem, we employ local quantization technique which preserves the variation of elevations. Experiments has been carried out to verify the proposed 3D co-occurrence features, and the addition of the suggested features significantly improves the classification accuracy.

The z-transform method is a basic mathematical tool in analyzing and designing digital signal processing systems for discrete input and output signals. There are may cases where the output signal is in the form of a discrete convolution sum of an input function and a designed digital processing algorithm function. It is well known that the z-transform of the convolution sum becomes the product of the two z-transforms of the input function and the digital processing function, whose proofs require the causality of the digital signal processing function in the almost all the available references. However, not all of the convolution sum functions are based on the causality. Many digital signal processing systems such as image processing system may depend not on the time information but on the spatial information, which has nothing to do with causality requirement. Thus, the application of the causality-based z-transform theorem on the convolution sum cannot be used without difficulty in this case. This paper proves the z-transform theorem on the discrete convolution sum without causality requirement, and make it possible for the theorem to be used in analysis and desing for any cases.

In this study was proposed that a new estimating method for investigation of contractile state changes which generated from continuous isometric contraction of skeletal muscle. The physiological changes(EMG, ECG) and the psychological changes by CNS(central nervous system) were measured by experiments, while the muscle of subjects contracted continuously with isometric contraction in constant load. The psychological changes were represented as three-step-change named 'fatigue', 'pain' and 'sick(greatly pain)' from oral test, and the method which compared physiological change with psychological change on basis of these three steps was developed. The result of analyzing the physiological signals, EMG and ECG signal changes were observed at the vicinity of judging point in time of psychological changes. Namely, it is supposed that contractile states have three kind of states pattern (stable, fatigue, pain) instead of two states (stable, fatigue).

Medical image segmentation is the process by which an original image is partitioned into some homogeneous regions like bones, soft tissues, etc. This study demonstrates an automatic medical image segmentation technique based on independent component analysis. Independent component analysis is a generalization of principal component analysis which encodes the higher-order dependencies in the input in addition to the correlations. It extracts statistically independent components from input data. Use of automatic medical image segmentation technique using independent component analysis under the assumption that medical image consists of some statistically independent parts leads to a method that allows for more accurate segmentation of bones from CT data. The result of automatic segmentation using independent component analysis with square test data was evaluated using probability of error(PE) and ultimate measurement accuracy(UMA) value. It was also compared to a general segmentation method using threshold based on sensitivity(True Positive Rate), specificity(False Positive Rate) and mislabelling rate. The evaluation result was done statistical Paired-t test. Most of the results show that the automatic segmentation using independent component analysis has better result than general segmentation using threshold.