• Journal of Institute of Control, Robotics and Systems
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• v.9 no.4
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• pp.270-276
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• 2003

The disturbance observer (DOB) has been widely utilized fer high precision and high speed motion control application. However, it still lacks the analysis for the robustness brought by using DOB. This paper summarizes six guidelines for the design of DOB taking into account the robustness and control performance in case of the second order system. For effectiveness of the proposed guideline, the actual implementation and experimental results of the DOB is compared in the Optical Disk Drive(ODD) servo system. In the DVD player and DVD-ROM drive, the guidelines of DOB are useful, and the disturbance rejection performance is improved under the DOB system.

• Journal of Korea Multimedia Society
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• v.8 no.12
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• pp.1572-1580
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• 2005

The common requirements for watermarking are usually invisibility, robustness, and capacity. We proposed the watermarking for 3D mesh model based on projection onto convex sets for invisibility and robustness among requirements. As such, a 3D mesh model is projected alternatively onto two convex sets until it converge a point. The robustness convex set is designed to be able to embed watermark into the distance distribution of vertices. The invisibility convex set is designed for the watermark to be invisible based on the limit range of vertex movement. The watermark can be extracted using the decision values and index that the watermark was embedded with. Experimental results verify that the watermarked mesh model has both robustness against mesh simplification, cropping, affine transformations, and vertex randomization and invisibility.

• Communications for Statistical Applications and Methods
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• v.7 no.2
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• pp.574-574
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• 2000

Consider the problem of estimating regression function from a set of data which is contaminated by a long-tailed error distribution. The linear smoother is a kind of a local weighted average of response, so it is not robust against outliers. The kernel M-smoother and the lowess attain robustness against outliers by down-weighting outliers. However, the kernel M-smoother and the lowess requires the iteration for computing the robustness weights, and as Wang and Scott(1994) pointed out, the requirement of iteration is not a desirable property. In this article, we propose the robust nonparametic regression method which does not require the iteration. Robustness can be achieved not only by down-weighting outliers but also by transforming outliers. The rank transformation is a simple procedure where the data are replaced by their corresponding ranks. Iman and Conover(1979) showed the fact that the rank transformation is a robust and powerful procedure in the linear regression. In this paper, we show that we can also use the rank transformation to nonparametric regression to achieve the robustness.

• Communications for Statistical Applications and Methods
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• v.7 no.2
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• pp.575-583
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• 2000

Consider the problem of estimating regression function from a set of data which is contaminated by a long-tailed error distribution. The linear smoother is a kind of a local weighted average of response, so it is not robust against outliers. The kernel M-smoother and the lowess attain robustness against outliers by down-weighting outliers. However, the kernel M-smoother and the lowess requires the iteration for computing the robustness weights, and as Wang and Scott(1994) pointed out, the requirement of iteration is not a desirable property. In this article, we propose the robust nonparametic regression method which does not require the iteration. Robustness can be achieved not only by down-weighting outliers but also by transforming outliers. The rank transformation is a simple procedure where the data are replaced by their corresponding ranks. Iman and Conover(1979) showed the fact that the rank transformation is a robust and powerful procedure in the linear regression. In this paper, we show that we can also use the rank transformation to nonparametric regression to achieve the robustness.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.630-635
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• 1993

In this paper, the Monte-Carlo method was applied to the controller robustness evaluation problems with respect to the uncertainty of critical plant parameters. The plant studied is a aerial vehicle. The-variable parameters are nondimensional stability derivatives, inertias. The nominal nondimensional stability derivatives ,were obtained from wind tunnel test. Also the nominal inertia parameters were calculated from the mass distribution along the vehicle axes. But the parameters obtained from the test or calculations are at best probable and always contain some uncertainties which one can not figure out. So some kinds of robustness evaluation method should be applied. The parametric robustness of the designed classical controller evaluated by the method turned out to be satisfactory.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.775-778
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• 1996

In this research, the robustness of a seam tracking for the automatic welding system is studied. The laser displacement sensor is used as a seam finder. X-Y moving table drived by ac servo motor controls the position and velocity of the torch-and-sensor part. However, dc servo motor is used to control the position and velocity of the torch. The sensor locates ahead of torch to preview the weld line, and brings about the inaccuracy on the torch tracking. To enhance the robustness on this system against the influence of disturbances and model uncertainty, H$\_$.inf./ control is applied to the angular motion of torch. The simulation shows that the tracking accuracy improved significantly. Also, experimental results give a good performance of H$\_$.inf./ control strategy to the automatic seam tracking system for the welding.

• Journal of Communications and Networks
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• v.16 no.3
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• pp.264-269
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• 2014

We consider transmission over body area networks. Due to the difficulty in assessing an accurate statistical model valid for multiple scenarios, we advocate a system design technique favoring robustness. Our approach, which is based on results in [12] and generalizes them, examines the variation of a performance metric when the nominal statistical distribution of fading is replaced by the worst distribution within a given Kullback-Leibler divergence from it. The sensitivity of the performance metric to the divergence from the nominal distribution can be used as an indication of the design robustness. This concept is applied by evaluating the error probability of binary uncoded modulation and the outage probability-the first parameter is useful to assess system performance with no error-control coding, while the second reflects the performance when a near-optimal code is used. The usefulness of channel coding can be assessed by comparing its robustness with that of uncoded transmission.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.51.1-51
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• 2001

Teleoperation is a rapidly progressing field promising to have significant application in space, mining, medical, and other areas. Unfortunately, significant communication delays are expected in teleoperation. With this problem, the two major issues in teleoperation are stability robustness and transparency performance. Recent work in bilateral teleoperation in the two-channel showed that for any two-channel control architecture, stability robustness is enhanced if the feedforward control parameters are lowered. In this paper, we analyze the stability and performance robustness of the three channels control architectures using the passivity-based Llewellyn´s absolute stability criterion as wall as the minimum values and Z-width´s of the operator and environment transmitted impedances. And the stability and the performance robustness of two and three channels control architectures are quantitatively compared.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.39 no.4
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• pp.350-354
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• 2002

In this paper, we designed an autopilot of the unmanned piloted vehicle to guide to the specific position, and analyzed robustness of the designed autopilot. We divide an aircraft velocity into the three case which are low, cruising and high speed, and designed autopilot gains are gain scheduled. We generated the turbulence for the operational altitudes and proved robustness of the designed autopilot for the turbulence using simulation.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.2
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• pp.8-15
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• 2008

Current trend of design technologies shows engineers to objectify or automate the given decision-making process. The numerical optimization is an example of such technologies. However, in numerical optimization, the uncertainties are uncontrollable to efficiently objectify or automate the process. To better manage these uncertainties, Taguchi method, reliability-based optimization and robust optimization are being used. Based on the independence axiom of axiomatic design theory that illustrates the relationship between desired specifications and design parameters, the designs can be classified into three types: uncoupled, decoupled and coupled. To best approach the target performance with the maximum robustness is one of the main functional requirements of a mechanical system. Most engineering designs are pertaining to either coupled or decoupled ones, but these designs cannot currently accomplish a real robustness thus a trade-off between performance and robustness has to be made. In this research, the game theory will be applied to optimize the trade-off.