• 제목/요약/키워드: Computational burden

검색결과 440건 처리시간 0.033초

다관절 로봇의 계층적 제어를 위한 HQP의 연산 비용 감소 방법 (Computational Cost Reduction Method for HQP-based Hierarchical Controller for Articulated Robot)

  • 박민규;김동환;오용환;이이수
    • 로봇학회논문지
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    • 제17권1호
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    • pp.16-24
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    • 2022
  • This paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical controllers can effectively manage articulated robots with many degrees of freedom (DoFs) to perform multiple tasks. The HQP-based controller is one of the generic hierarchical controllers that can provide a control solution guaranteeing strict task priority while handling numerous equality and inequality constraints. However, according to a large amount of computation, it can be a burden to use it for real-time control. Therefore, for practical use of the HQP, we propose a method to reduce the computational cost by decreasing the size of the decision variable. The computation time and control performance of the proposed method are evaluated by real robot experiments with a 15 DoFs dual-arm manipulator.

A Reinforcement learning-based for Multi-user Task Offloading and Resource Allocation in MEC

  • Xiang, Tiange;Joe, Inwhee
    • 한국정보처리학회:학술대회논문집
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    • 한국정보처리학회 2022년도 춘계학술발표대회
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    • pp.45-47
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    • 2022
  • Mobile edge computing (MEC), which enables mobile terminals to offload computational tasks to a server located at the user's edge, is considered an effective way to reduce the heavy computational burden and achieve efficient computational offloading. In this paper, we study a multi-user MEC system in which multiple user devices (UEs) can offload computation to the MEC server via a wireless channel. To solve the resource allocation and task offloading problem, we take the total cost of latency and energy consumption of all UEs as our optimization objective. To minimize the total cost of the considered MEC system, we propose an DRL-based method to solve the resource allocation problem in wireless MEC. Specifically, we propose a Asynchronous Advantage Actor-Critic (A3C)-based scheme. Asynchronous Advantage Actor-Critic (A3C) is applied to this framework and compared with DQN, and Double Q-Learning simulation results show that this scheme significantly reduces the total cost compared to other resource allocation schemes

확장 참조표를 활용한 허프변환의 성능 분석 (Performance Analysis of Hough Transform Using Extended Lookup Table)

  • 오정수
    • 한국정보통신학회논문지
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    • 제25권12호
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    • pp.1868-1873
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    • 2021
  • 본 논문은 대표적인 직선 검출 알고리즘인 허프변환이 갖고 있는 계산적인 부담을 줄이기 위해 확장된 참조표를 활용한 허프변환을 제안하고, 성능을 분석하고 있다. 기존 허프변환도 계산 부담을 줄이기 위해 관심 에지 화소를 지나는 모든 직선들의 매개 변수 𝜌 계산에 참조표를 적용한다. 그러나 제안된 허프변환은 더 많은 계산 감소를 유도하기 위해 관심 에지 화소뿐만 아니라 그 주변 에지 화소들을 지나는 직선들에도 적용할 수 있는 확장 참조표를 채택하고 있다. 본 논문은 제안된 알고리즘의 유효성을 수학적으로 증명하고 또한 모의실험을 통해 확인하고 있다. 모의 실험 결과는 제안된 허프변환이 기존 허프변환과 비교해 곱셈 계산량을 영상과 적용된 확장 참조표에 따라 49.6%에서 최대 16.1%까지 감소시키는 것을 보여주고 있다.

Adaptive Precompensation of Wiener Systems

  • Kang, Hyun-Woo;Bae, Ki-Taek;Cho, Yong-Soo;Youn, Dae-Hee
    • The Journal of the Acoustical Society of Korea
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    • 제15권2E호
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    • pp.50-59
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    • 1996
  • In this paper, an adaptive precompensator, which can reduce the distortion of a Wiener system effectively, is proposed. The previous techniques for adaptive precompensation, based on the Volterra series modeling to compensate the distortion of a nonlinear system, are not suitable for real-time implementation due to high computational burden and slow convergence burden and slow convergence rate. This paper presents an adaptive precompensation technique for the class of nonlinear subsystem, referred to as Wiener system. An adaptive algorithm for adjusting the parameters of a precompensator, structured by a hammerstein model, is derived using the stochastic gradient method. Also, an adaptive precompensatin technique which can effectively reduce nonlinear distortion in μ-law type of saturation characteristics is proposed. The validity of the proposed algorithm is confirmed through simulation by applying it to known Wiener systmes and a typical loudspeaker model.

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매니퓰레이터의 실시간 적응제어 (Real time Adaptive control of the Manipulator)

  • 정찬수;이상철;나채둥;구춘근
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1991년도 하계학술대회 논문집
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    • pp.771-776
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    • 1991
  • In this paper. an indirect adaptive controller for manipulator which is composed of two controller structure is considered. One is feedforward controller in which the dynamics equation solved and the other is feedback controller in which the output error compensated. This controller has a good performance, but the computation burden of the feed forward controller keep from real time control. At this point, we proposed the two time adaptive controller where the sampling time of the feedforward controller is quite longer than that of the feedback controller. By the computer simulation, this proposed two time adaptive controller shows good performance in the view of accuracy in spite of decreasing computational burden.

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비선형 연속계를 위한 다단계 시간최적 제어기 (Time-Optimal Multistage Controllers for Nonlinear Continuous Processes)

  • 윤중선
    • 한국정밀공학회지
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    • 제12권6호
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    • pp.128-136
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    • 1995
  • The problem addressed in this paper is that of the on-line computational burden of time-optimal control laws for quick, strongly nonlinear systems like revolute robots. It will be demonstrated that a large amount of off-line computation can be substituted for most of the on-line burden in cases of time optimization with constrained inputs if differential point-to- point specifications can be relaxed to cell-to-cell transitions. These cells result from a coarse discretization of likely swaths of state space into a set of nonuniform, contiguous volumes of relatively simple shapes. The cell boundaries approximate stream surfaces of the phase fluid and surfaces of equal transit times. Once the cells have been designed, the bang- bang schedules for the inputs are determined for all likely starting cells and terminating cells. The scheduling process is completed by treating all cells into which the trajectories might unex- pectedly stray as additional starting cells. Then an efficient-to-compute control law can be based on the resulting table of optimal strategies.

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안정화 필터 알고리즘을 적용한 IIR 구조 능동 머플러의 설계 (Design of IIR Structure Active Mufflers using Stabilized Filter Algorithms)

  • 안동준;남현도
    • 한국산학기술학회논문지
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    • 제20권3호
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    • pp.570-575
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    • 2019
  • 능동 머플러는 자동차 머플러의 배기소음을 저감하기 위하여 능동 소음 제어 기법을 적용하여 구현된다. 기존의 보편적인 Filtered_x LMS 알고리즘은 음향 궤환이 존재할 경우 제어필터의 차수가 매우 커지고 수렴성이 악화되는 문제가 있다. 이를 보완할 수 있는 Recursive LMS 알고리즘은 적응필터의 적응과정에서 쉽게 발산할 수 있어 적용이 제한되어 왔다. 본 논문에서는 수렴 성능과 계산량 부담이 개선되도록 1차 경로와 2차 경로 전달함수의 구조를 IIR 필터로 설계하였으며 IIR 필터 구조의 단점인 안정성 확보를 위해 안정화 필터 알고리즘을 적용하였다. 안정화 필터 알고리즘은 적응과정 중에 음향 궤환에 해당하는 전달함수의 극점이 발산하는 것을 방지하기 위하여 극점을 단위원 내부로 끌어 당기는 역할을 수행한다. 이러한 방법으로 능동 머플러 시스템의 계산량 절감과 수렴성능을 향상시킬 수 있다. 제안한 시스템의 유용성을 보이기 위하여 가변 환경인 디젤 엔진의 배기음향을 대상으로 기존의 Filtered_x LMS 알고리즘과 제안한 시스템과의 성능을 비교하여 그 우수성을 보였으며, 계산량은 절반 이하, 수렴 특성은 4배 이상의 성능을 보였다.

에너지 효율적 반복 SIC-MMSE MIMO 검출 (Energy efficient joint iterative SIC-MMSE MIMO detection)

  • 클라우파브리스;아흐메드살림;김수영
    • 한국위성정보통신학회논문지
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    • 제10권1호
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    • pp.22-28
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    • 2015
  • 본 논문에서는 연판정 간섭 소거 최소 자승-오류(soft interference cancellation and minimum mean squared-error; SIC-MMSE) 방법을 이용한 새로운 에너지 효율적 다중안테나(multi-input multi-output; MIMO) 검출 기법을 소개한다. SIC-MMSE 방법의 가장 큰 계산 복잡도는 복소 행렬에 대하여 안테나 개수 만큼의 여러 번 역행렬 계산을 해야 하는데 있다. 본 논문에서는 행렬에 대한 테일러 시리즈 확장(Taylor series expansion) 기법을 이용하여 안테나 개수에 상관없이 단 한번의 역행렬 계산만을 필요로 하는 방법을 제안하며, 이와 같은 방법을 이용하여 계산의 복잡도를 감소시킬 수 있다. 본 논문에서 제안한 기법의 복잡도 감소 효과는 안테나 개수가 증가함에 따라 더 크게 나타난다. 본 논문에서 제시한 시뮬레이션 결과를 통하여 제안한 기법이 기존의 SIC-MMSE 기법에 비하여 더 적은 복잡도로 거의 동일한 성능을 도출할 수 있음을 알 수 있다.

Prediction of aerodynamic coefficients of streamlined bridge decks using artificial neural network based on CFD dataset

  • Severin Tinmitonde;Xuhui He;Lei Yan;Cunming Ma;Haizhu Xiao
    • Wind and Structures
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    • 제36권6호
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    • pp.423-434
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    • 2023
  • Aerodynamic force coefficients are generally obtained from traditional wind tunnel tests or computational fluid dynamics (CFD). Unfortunately, the techniques mentioned above can sometimes be cumbersome because of the cost involved, such as the computational cost and the use of heavy equipment, to name only two examples. This study proposed to build a deep neural network model to predict the aerodynamic force coefficients based on data collected from CFD simulations to overcome these drawbacks. Therefore, a series of CFD simulations were conducted using different geometric parameters to obtain the aerodynamic force coefficients, validated with wind tunnel tests. The results obtained from CFD simulations were used to create a dataset to train a multilayer perceptron artificial neural network (ANN) model. The models were obtained using three optimization algorithms: scaled conjugate gradient (SCG), Bayesian regularization (BR), and Levenberg-Marquardt algorithms (LM). Furthermore, the performance of each neural network was verified using two performance metrics, including the mean square error and the R-squared coefficient of determination. Finally, the ANN model proved to be highly accurate in predicting the force coefficients of similar bridge sections, thus circumventing the computational burden associated with CFD simulation and the cost of traditional wind tunnel tests.

A MODIFIED SOLUTION PROCEDURE FOR THE ELLIPTIC-TYPE CONDITIONAL MOMENT CLOSURE MODEL IN NONPREMIXED TURBULENT REACTING FLOW

  • Liu, Tao;Huh, Kang-Yul
    • 한국연소학회:학술대회논문집
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    • 한국연소학회 1997년도 제15회 KOSCO SYMPOSIUM 논문집
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    • pp.113-122
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    • 1997
  • The conditional moment closure formulation considering the molecular and turbulent diffusion is derived. A simplified solution procedure is proposed to reduce the computational burden due to the increased dimensionality of the conditionally averaged variables. A conditionally averaged variable is expressed as a linear weighted average of the two extremes, 'no reaction' and 'equilibrium' states. The modified elliptic-type conditional moment closure formulation is implemented to simulate a two dimensional nonpremixed mixing layer reacting flow. Results show good agreement for the conditional averages of the species concentration in Bilger et al.

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