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변증남(Z. Zenn Bien),서일홍(Il Hong Suh) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.3
Referring to various definitions, we first examine the identity issue of intelligent control and, have tried to explain the nature and attributes of intelligent control in terms of two categories of positions, that is, the Noumenalist`s position and the Phenomenologist"s position. And then, we give detailed descriptions for (1) FUZZY-based intelligent control and (2) learning control. Finally, as a noticeable new technique of intelligent control for robotic applications, we present (3) Cognitive control.
박광현,변증남,Park, Kwang-Hyun,Bien, Z. Zenn 대한전자공학회 2001 電子工學會論文誌-SC (System and control) Vol.38 No.4
본 논문에서는 반복 학습 제어의 수렴 특성에 대해 다룬다. 우선, 기존의 ${\lambda}$-노옴을 사용하여 반복 학습 법칙의 수렴성을 증명한 것과는 달리 상한노옴(sup-norm)을 사용한 수렴성 증명방법을 보인다. 또한, 구간화된 학습 방법을 사용한 반복 학습 법칙을 제안하고, 임의의 시간구간에 대해 상한노옴 관점에서 출력 오차의 단조감소적 수렴 특성을 얻을 수 있음을 보인다. 마지막으로, 제안한 구간화된 학습 방법에서의 나누어진 시간 구간이 학습 이득값에 의해 영향을 받는다는 것을 보이고, 적절한 학습 이득값을 선택함에 따라 학습 속도가 증가함을 보인다. 제안한 반복 학습 법칙의 유효성을 보이기 위하여 두 가지 수치 예를 보인다. In this paper, we study the convergence property of iterative learning control (ILC). First, we present a new method to prove the convergence of ILC using sup-norm. Then, we propose a new type of ILC algorithm adopting intervalized learning scheme and show that the monotone convergence of the output error can be obtained for a given time interval when the proposed ILC algorithm is applied to a class of linear dynamic systems. We also show that the divided time interval is affected from the learning gain and that convergence speed of the proposed learning scheme can be increased by choosing the appropriate learning gain. To show the effectiveness of the proposed algorithm, two numerical examples are given.
사용자 특성을 고려한 장애인 및 노령 인구를 위한 보조 소프트웨어의 개발 : 작업용 특수 전동의자를 위한 통합 사용자 인터페이스
김상철(Sangchul Kim),전문진(Moonjin Jeon),이상완(Sang Wan Lee),박광현(Kwang-Hyun Park),변증남(Z. Zenn Bien) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.4
Social participation of the elderly and the disabled continuously becomes more active due to the improvement of social systems and technological development. Various systems such as intelligence robots and intelligence home systems have been developed to support their social participation, and those systems obviously contribute to the independent lives of the elderly and the disabled. Those systems, however, usually require special hardware, which make them very expensive. Considering the economic difficulties of the users, the problem should be tackled with software-oriented approaches using existing hardware such as laptops. The software should be adapted to users with limited capabilities by enabling them to utilize the system without much knowledge related to computers and also without keyboards and mice. This paper suggests software-oriented approaches to solve those problems with the description of the unified user interface for a special work chair, and introduces an actual development procedure of the program together with real application of related theories.