본 논문에서는 RST 공격에 강인성을 갖도록 하기위해 이진 원형 패턴을 사용하는 영상 정규화 기반 워터마킹 방법을 제안한다. 기존의 정규화 기반 워터마킹 방법은 영상에서 무게중심과 중심 모멘트를 구하고 이를 이용하여 영상을 표준 형태(standard form)인 정규 영상으로 변환하고 여기에 워터마크를 삽입하는 방법이다. 그러나 일반적으로 회전(rotation), 크기변화(scaling), 천이(translation)에 기인하는 RST 공격은 영상의 가장자리 영역이 잘리는 경계효과를 수반하게 되며, 이로 인하여 영상 정규화 파라미터 값이 틀려지게 되어 워터마크를 검출할 수 없게 된다. 이러한 문제를 해결하기 위해 본 논문에서는 영상의 외각 부분을 제외하고 영상의 내부 영역만을 이용해 영상을 정규화 한다. 영상의 내부 영역을 추출하기 위해 어떠한 공격에도 변하지 않는 불변의 이진 원형 패턴을 이용하고, 이진 원형 패턴에서 계산된 모멘트 값을 정규화에 이용하는 방법을 제시한다. 실험 결과 이진 원형 패턴을 사용하는 제안 방법이 기존 영상 정규화 방법보다 RST 공격에 우수한 성능을 나타내었다.

  According to the automated manufacturing processes followed by the development of computer manufacturing technologies, products or quality characteristics produced on the processes have measured and recorded automatically. Much amount of data daily prod

건물의 능동 진동 제어에 있어서 제어기의 제어입력의 포화와 건물의 파라미터 불확실성을 동시에 고려하는 제어 방법이 필요하다. 저자들의 이전 논문에서는 제어 입력에 포화가 존재하는 불확실한 선형 시불변계에 대하여 강인 안정성과 제어 성능이 보장되는 강인 포화 제어기를 제안하였다. 본 논문에서는 능동 질량 감쇠기 (AMD)가 설치된 건물의 능동 진동 제어에 대한 제안된 강인 포화 제어기의 유용성을 실험적으로 검증한다. 실험은 유압식 AMD가 설치된 2층의 건물 모형에 대하여 수행된다.

As technique that can contribute in quality improvement in design process to overcome shortcoming of traditional quality control, call design or development department quality control activity that is achieved to reduce gun damage shuddering at circle minimizing change or side effect of product performance as off-line quality control. This paper discuss optimal process design of investment projects expansion and replacement investment on each line or individual in the production. Generally optimal plant design has add to a few method by Subsidiary means with use a especial method. And then in this paper, a Robust design is presented, which may be effective to the processes appraisal or improvement. We propose that should make a optimal plant design model for reducing field failure rate to assign by real data on different factors in plant system. Using this model, robust design of taguchi method used in this comprehensive method for reducing field failure rate in plant system.

Each method for economic evaluation has its own characteristics. Therefore adoption of each of them in evaluation production investment project results in many problems. Hence combination & modification of them are required to perform more accurate evaluation about investment project. This paper discuss evaluation method of investment projects expansion and replacement investment on each line or individual in the production. Generally investment evaluation method has add to a few method by Subsidiary means with use a especial method. And then in this paper, a Taguchi Techniques is presented, which may be effective to the facilities appraisal or improvement. We propose a decision model to incorporates the values assigned by a group of experts on different factors in production. Using this model, SN ratio of taguchi method for each of subjective factors as well as values of weights are used in this comprehensive method for reducing production rate in production management.

Statistical process cintrol is intended to assist operators of a stable system in monitoring whether a change has occurred in the process, and it uses several control charts as main tools. In design and use of control chart, it is rational that probabilit

In this study, we establish bootstrap control limits for robust M-estimator chart by applying the bootstrap method, called resampling, which could not demand assumptions about pre-distribution when the process is skewed and/or the normality assumption is doubt. The results obtained in this study are summarized as follows : bootstrap M-estimator control chart is developed for applying bootstrap method to M-estimator chart, which is more robust to keep Type Ⅰ error when process contain contaminate quality characteristic.

The critical problem in dealing with multiple characteristics is how to compromise the conflict among the selected levels of the design parameters for each individual characteristic. In this study, First, Methodology using SN ratio optimized by univariate technique is proposed and a parameter design procedure to achieve the optimal compromise among several different response variables is developed. Second, to solve the issue on the optimal design for multiple quality characteristics, this study modelled the expected loss function with cross-product terms among the characteristics and derived range of the coefficients of the terms. The model will be used to determine the global optimal design parameters where there exists the conflict among the characteristics, which shows difference in optimal design parameters for the individual characteristics. Third, this paper propose a decision model to incorporates the values assigned by a group of experts on different factors in weighting decision of characteristic. Using this model, SN ratio of taguchi method for each of subjective factors as well as values of weights are used in this comprehensive method for weighting decision of characteristic.

구조물의 능동제어 시스템에서 제어기 설계에 사용되는 구조계의 모델과 실구조계의 차이는 시스템의 성능저하 및 불안정성을 유발할 수 있다 이연구에서는 무시된 고차모우드와 같이 주파수영역에서 표현되는 비구조적 불확실성에 대하여 시스템의 안정성을 보장하도록 강인성을 가지는 LQG/LTR제어이론을 사용하여 구조물의 지진응답제어에 효과적으로 사용할 수 있는 제어기 설계방법을 제시한다 특히 고층건물이나 교탑과 같은 구조물의 지진응답 제어에 적용할 수 있도록 각층의 절대 가속도를 측정변수로 층간상대변위를 제어변수로 설정하여 최적제어기를 구성한다 El Centro 지진압력을 받는 6자유도 전단빌딩모델에 대하여 제어기를 설계하거 수치모사를 수행하여 제시한 제어기가 안정도-강인성을 가지고 지진응답제어에 효과적임을 보인다.

In this paper, under JIT kanban system designed by Moeeni, each performance measures (service level, inventory level) identify the robust optimal level at a uncertain environment, and when there are multiple performance characteristics, it propose the optimal design-method and the optimal level decision-method, which consider multiple performance characteristics.

The energy saving is one of the most important factors for profit in marine transportation. In order to reduce the fuel oil consumtion the ship's propulsion efficiency must be increased as possible. The propulsion efficiency depends upon a combination of an engine and a propeller. The propeller has better efficiency as lower rotational speed. This situation led the engine manufacturers to design the engine that has low speed, long stroke and a small number of cylinders. Consequently, the variation of rotational torque became larger than before because of the longer delay-time in fuel oil injection process and an increased output per cylinder. As this new trends the conventional mechanical-hydrualic governors for engine speed control have been replaced by digital speed controllers which adopted the PID control or the optimal control algorithm. But these control algorithms have not enough robustness to suppress the variation of the delay-time and the parameter perturbation. In this paper we consider the delay-time and the perturbation of engine parameters as the modeling uncetainties. Next we design the robust servo controller which has zero offset in steady state engine speed, based on H sub(∞) control theory. The validity of the controller was investigated through the response simulation. We used a personal computer and an analog computer as the digital controller and the engine (plant) part respectively. And, we could certify that the designed controller maintains its robust servo performance even though the engine parameters may vary.

This paper considers robust stability and transient behavior of the Two - Degree - of - Freedom(2DOF) servosystem. A class of uncertainties allowed in the plant model is obtained, to which the servosystem is robustly stable for any gain of the integral compensator. This result implies that if the plant uncertainty is the allowable set defined by the condition, a high - gain compensation can be carried out preserving stability to achieve a high - speed tracking response. The transient behavior attainable by the limit of the high - gain compensation is calculated using the singular perturbation approach.

This paper presents a dynamic compensation methodology for robust trajectory tracking control of uncertain robot manipulators. To improve tracking performance of the system, a full model-based feedforward compensation with continuous VS-type robust control is developed in this paper(i.e,. robust decentralized adaptive control scheme). Since possible bounds of uncertainties are unknown, the adaptive bounds of the robust control is used to directly estimate the uncertainty bounds(instead of estimating manipulator parameters as in centralized adaptive control0. The global stability and robustness issues of the proposed control algorithm have been investigated extensively and rigorously via a Lyapunov method. The presented control algorithm guarantees that all system responses are uniformly ultimately bounded. Thus, it is shown that the control system is evaluated to be highly robust with respect to significant uncertainties.

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.