• 한국정밀공학회지
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• 제15권1호
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• pp.101-108
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• 1998

This paper concerns the navigation algorithm of motion reference unit (MRU) for autonomous underwater vehicle (AUV) We apply the strapdown navigation system using middle level inertial sensors. But, because the MRU consists of inertial sensors, the values of AUV motion calculated by navigation computer are increased by drift property of inertial sensors. Therefore, we propose the attitude algorithm using switching method according to the motion of AUV From this algorithm, the drift terms are eliminated effectively for roll and pitch. But, another device is required for yaw angle.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권2호
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• pp.443-461
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• 2014

Overlay routing has emerged as a promising approach to improve reliability and efficiency of the Internet. For one-hop overlay source routing, when a given primary path suffers from the link failure or performance degradation, the source can reroute the traffic to the destination via a strategically placed relay node. However, the over-heavy traffic passing through the same relay node may cause frequent package loss and delay jitter, which can degrade the throughput and utilization of the network. To overcome this problem, we propose a Load-Balanced One-hop Overlay Multipath Routing algorithm (LB-OOMR), in which the traffic is first split at the source edge nodes and then transmitted along multiple one-hop overlay paths. In order to determine an optimal split ratio for the traffic, we formulate the problem as a linear programming (LP) formulation, whose goal is to minimize the worse-case network congestion ratio. Since it is difficult to solve this LP problem in practical time, a heuristic algorithm is introduced to select the relay nodes for constructing the disjoint one-hop overlay paths, which greatly reduces the computational complexity of the LP algorithm. Simulations based on a real ISP network and a synthetic Internet topology show that our proposed algorithm can reduce the network congestion ratio dramatically, and achieve high-quality overlay routing service.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권8호
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• pp.3474-3497
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• 2016

Network Function Virtualization (NFV) and Software Defined Networking (SDN) are recently considered as very promising drivers of the evolution of existing middlebox services, which play intrinsic and fundamental roles in today's networks. To address the virtual service deployment issues that caused by introducing NFV or SDN to networks, this paper proposes an optimal solution by combining quantum genetic algorithm with cooperative game theory. Specifically, we first state the concrete content of the service deployment problem and describe the system framework based on the architecture of SDN. Second, for the service location placement sub-problem, an integer linear programming model is built, which aims at minimizing the network transport delay by selecting suitable service locations, and then a heuristic solution is designed based on the improved quantum genetic algorithm. Third, for the service amount placement sub-problem, we apply the rigorous cooperative game-theoretic approach to build the mathematical model, and implement a distributed algorithm corresponding to Nash bargaining solution. Finally, experimental results show that our proposed method can calculate automatically the optimized placement locations, which reduces 30% of the average traffic delay compared to that of the random placement scheme. Meanwhile, the service amount placement approach can achieve the performance that the average metric values of satisfaction degree and fairness index reach above 90%. And evaluation results demonstrate that our proposed mechanism has a comprehensive advantage for network application.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권10호
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• pp.2509-2528
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• 2012

Time division multiple access (TDMA) is a widely used media access control (MAC) technique that can provide collision-free and reliable communications, save energy and bound the delay of packets. In TDMA, energy saving is usually achieved by switching the nodes' radio off when such nodes are not engaged. However, the frequent switching of the radio's state not only wastes energy, but also increases end-to-end delay. To achieve high energy efficiency and low delay, as well as to further minimize the number of time slots, a multi-objective TDMA scheduling problem for industrial wireless mesh networks is presented. A hybrid algorithm that combines genetic algorithm (GA) and simulated annealing (SA) algorithm is then proposed to solve the TDMA scheduling problem effectively. A number of critical techniques are also adopted to reduce energy consumption and to shorten end-to-end delay further. Simulation results with different kinds of networks demonstrate that the proposed algorithm outperforms traditional scheduling algorithms in terms of addressing the problems of energy consumption and end-to-end delay, thus satisfying the demands of industrial wireless mesh networks.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.76-81
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• 2004

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 Proceedings ICPE 01 2001 International Conference on Power Electronics
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• pp.151-154
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• 2001

In this paper, a two-level switching algorithm of the deadbeat to control PWM inverter is proposed. A modified algorithm of the deadbeat is suitable for the UPS system. Two levels in the pulse pattern are used. This scheme allows the use of higher switching frequency for a given computation time delay, which results in lower total harmonic distortion at the output. The proposed control scheme is implemented using TMS320F240 DSP chip for controlling on inverter.

• Journal of Mechanical Science and Technology
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• 제18권8호
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• pp.1388-1400
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• 2004

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

• Journal of Electrical Engineering and Technology
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• 제10권4호
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• pp.1682-1691
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• 2015

In this paper, a real time implementation of selective harmonic elimination pulse width modulation (SHEPWM) using Real Coded Genetic Algorithm (RGA), Particle Swarm Optimization technique (PSO) and a new technique known as Linearization Method (LM) for Single Phase Matrix Converter (SPMC) is designed and discussed. In the proposed technique, the switching frequency is fixed and the optimum switching angles are obtained using simple mathematical calculations. A MATLAB simulation was carried out, and FFT analysis of the simulated output voltage waveform confirms the effectiveness of the proposed method. An experimental setup was also developed, and the switching angles and firing pulses are generated using Field Programmable Gate Array (FPGA) processor. The proposed method proves that it is much applicable in the industrial applications by virtue of its suitability in real time applications.

• Journal of Power Electronics
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• 제10권1호
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• pp.43-50
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• 2010

This paper proposes a new harmonic elimination PWM (HEPWM) scheme for voltage source inverters (VSI) based on the curve fittings of certain polynomials functions. The resulting equations to calculate the switching angle of the HEPWM require only the addition and multiplication processes; therefore any number of harmonics to be eliminated and the fundamental amplitude of the pole switching waveform (NP1) can be controlled on-line. An extensive angle error analysis is carried out to determine the accuracy of the algorithm in comparison to the exact solution. To verify the workability of the technique, an experimental single phase VSI is constructed. The algorithm is implemented on a VSI using a 16-bit microprocessor. The results obtained from the test rig are compared to the theoretical prediction and the results of the MATLAB simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.103.1-103
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• 2002

In variable structure control algorithms, The control law used to realized the desired sliding mode dynamics is discontinuous on the switching manifold. However, due to imperfections in switching, such as time delays, the system trajectory chatters instead of sliding along the switching manifold. This chattering is undesirable because it may excite unmodeled high frequency dynamics in the physical system. In this paper, to overcome this drawback a self-organizing fuzzy sliding mode control algorithm using gradient descent method is proposed. The proposed method has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbance, parameter variations and uncertainties ill the sliding mode. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum system. The results show that both alleviation of chattering and performance are achieved.