• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.831-833
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• 2004

In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.

• Journal of Power Electronics
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• v.16 no.2
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• pp.704-716
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• 2016

Small distributed generation units are usually connected to the main electric grid through single-phase voltage source inverters. Grid operating conditions such as voltage and frequency are not constant and can fluctuate within the range values established by international standards. Furthermore, the requirements in terms of power factor correction, total harmonic distortion, and reliability are getting tighter day by day. As a result, the implementation of reliable and efficient control algorithms, which are able to adjust their control parameters in response to changeable grid operating conditions, is essential. This paper investigates the configuration topology and control algorithm of a single-phase inverter with the purpose of achieving high performance in terms of efficiency as well as total harmonic distortion of the output current. Accordingly, a Second Order Generalized Integrator with a suitable Phase Locked Loop (SOGI-PLL) is the basis of the proposed current and voltage regulation. Some practical issues related to the control algorithm are addressed, and a solution for the control architecture is proposed, based on resonant controllers that are continuously tuned on the basis of the actual grid frequency. Further, intentional islanding operation is investigated and a possible procedure for switching from grid-tied to islanding operation and vice-versa is proposed.

• Journal of Communications and Networks
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• v.18 no.1
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• pp.75-83
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• 2016

In this paper, we propose a multi-channel medium access control (MAC) protocol, named underwater multi-channel MAC protocol (UMMAC), for underwater acoustic networks (UANs). UMMAC is a split phase and reservation based multi-channel MAC protocol which enables hosts to utilize multiple channels via a channel allocation and power control algorithm (CAPC). In UMMAC, channel information of neighboring nodes is gathered via exchange of control packets. With such information, UMMAC allows for as many parallel transmissions as possible while avoiding using extra time slot for channel negotiation. By running CAPC algorithm, which aims at maximizing the network's capacity, users can allocate their transmission power and channels in a distributed way. The advantages of the proposed protocol are threefold: 1) Only one transceiver is needed for each node; 2) based on CAPC, hosts are coordinated to negotiate the channels and control power in a distributed way; 3) comparing with existing RTS/CTS MAC protocols, UMMAC do not introduce new overhead for channel negotiation. Simulation results show that UMMAC outperforms Slotted floor acquisition multiple access (FAMA) and multi-channel MAC (MMAC) in terms of network goodput (50% and 17% respectively in a certain scenario). Furthermore, UMMAC can lower the end-to-end delay and achieves a lower energy consumption compared to Slotted FAMA and MMAC.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.40-50
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• 1996

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.2
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• pp.224-229
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• 2014

This paper presents the novel voltage control method in power distribution system with distributed generators. The voltage in distribution systems is regulated by Under Load Tap Changer(ULTC) of substation and pole transformer of primary feeders. Recently, Step Voltage Regulator(SVR) is getting located at distribution feeders to regulate effectively voltage of primary feeders. But the effectiveness of SVR decreases due to independent operation between SVR and ULTC, and also the existing Line Drop Compensator(LDC) method considering the distributed generators may be not able to regulate the proper voltage in a permissible range. Thus, this paper presents a optimal voltage control algorithm of SVR by using the secondary voltage data of main transformer in substation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.9A
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• pp.916-922
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• 2007

Wireless networks (WNs) are developed and applied widely in a lot of areas. Now, a new generation of wireless networks is coming, and that is Wireless Mesh Network (WMN). At present, there are not so many researches which deal on this area. Most researches are derived from Mobile Ad hoc Networks (MANET) and WNs. In WMNs, there are some applications that require real-time delivery. To guarantee this, rate control and congestion control are needed. This problem leads to optimization issue in transport layer. In this paper, we propose a mathematical model which is applied in rate and congestion control in WNMs. From this model, we optimize rate and congestion control in WMNs by maximizing network utility. The proposed algorithm is implemented in distributed way both in links and sources.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.4B no.4
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• pp.217-224
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• 2004

A novel anti-islanding method for the distributed power generation system (DPGS) is proposed in this paper. Three different islanding scenarios are explored and presented based on the analysis of real and reactive power mismatch. It is shown via investigation that islanding voltage is a function of real power alone, where its frequency is a function of both real and reactive power. Following this analysis, a robust anti-islanding algorithm is developed. The proposed algorithm continuously perturbs ($\pm$5%) the reactive power supplied by the DPGS while simultaneously monitoring the utility voltage and frequency. In the event of islanding, a measurable frequency deviation takes place, upon which the real power of the DPGS is further reduced to 80%. A drop in voltage positively confirms islanding and the DPGS is then safely disconnected. This method of control is shown to be robust: it is able to detect islanding under resonant loads and is also fast acting (operable in one cycle). Possible islanding conditions are simulated and verified through analysis. Experimental results on a 0.5kW fuel cell system connected to a utility grid are discussed.

• Journal of the Optical Society of Korea
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• v.18 no.4
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• pp.414-418
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• 2014

In this paper, we present a method to detect the position of a 3D object in scattering media by using the axially distributed sensing (ADS) method. Due to the scattering noise of the elemental images recorded by the ADS method, we apply a statistical image processing algorithm where the scattering elemental images are converted into scatter-reduced ones. With the scatter-reduced elemental images, we reconstruct the 3D images using the digital reconstruction algorithm based on ray back-projection. The reconstructed images are used for the position detection of a 3D object in the scattering medium. We perform the preliminary experiments and present experimental results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.6
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• pp.516-525
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• 1990

This paper proposes a hierarchical control algorithm for an efficient network management of a loosely-coupled system which consists of functional division and duplicating structure with a LAN to enhance reliability and availability. The algorithm is modeled using the Perti-net and verified with the reachability tree. Here, the proposed algorithm is compared with the purely centralized control algorithm and distributed control algorithm in terms of message traffic for the network management. The result shows that the message traffic related to system performance is as low as centralized control algorithm and the system availability is independent of a specific processor failure.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.12
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• pp.5328-5346
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• 2016

An optimal power control algorithm based on convex optimization is proposed for base stations in long term evolution networks. An objective function was formulated to maximize the proportional fairness of the networks. The optimal value of the objective function was obtained using convex optimization and distributed methods based on the path loss model between the base station and users. Field tests on live networks were conducted to evaluate the performance of the proposed algorithm. The experimental results verified that, in a multi-cell multi-user scenario, the proposed algorithm increases system throughputs, proportional fairness, and energy efficiency by 9, 1.31 and 20.2 %, respectively, compared to the conventional fixed power allocation method.