• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.53-59
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• 1990

In the control of robot manipulators, this paper presents a design of a new variable structure model following controller(VSMFC) using computed torque method (CTM). A sufficient condition for the existence of a sliding mode is derived by Lyapunov function. The reference model is a double integrators and the acceleration input consists of a proportional-derivative controller for the purpose of the stabilization of system and the desired performance. The proposed control scheme which consists of upper bounded and estimated value of each term of the manipulator of matrix inversion. Therefore the simulation results show that this controller is improved to the convergence of desired trajectories.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.101-108
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• 1997

The initial token value required to the optimal performance of discrete event systems can be decided by Sum of Delay Time and Synchronic Time ratio, which are new synchronic variables in Timed Place Petri Nets. For the system consisting of two Live-and-Bounded circuits(LB-circuits) fused in common Transition-Transition-Path or common Place-Place-Path, we prove that the Synchronic Time Ratio is the initial token ratio between two LB-circuits to optimally perform system functions. These results are generalized and formulated as a theorem. The initial tokens of a specific place can imply shared resources. Using the theorem, we can decide the minimum number of the shared resources to obtain the optimal performance, and minimize the idling time of resources. As an example, an automated assembly system is modeled by Timed Place Petri Net, and the initial tokens to achieve the optimal system performance are identified. All the values are verified by simulation.

• Journal of the military operations research society of Korea
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• v.6 no.1
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• pp.93-101
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• 1980

An effectively designed budget system in the poor resources environment necessarily has three design criteria : (i) to be both planning-oriented and control-oriented, (ii) to be both rationalistic and realistic, (iii) to be sensitive to the variations of resources environment. PPB system is an extreme (planning-oriented and rationalistic) and conventional OEB/OUB system is the other extreme (control-oriented and incrementalistic). Generally, the merits of rationalism are limited because of the infeasibility of applications. Hence, mixtures of the two extremes such as MBO, ZBB, and RZBB have been examined and applied during the last decade. The classical mathematical models of capital budgeting are the starting points of the development of the Budget-Mix Model introduced in this paper. They are modified by the followings: (i) technological-resource constraints, (ii) bounded-variable constraint, (iii) the exchange rules. Special emphasis is laid on the above (iii), because we need more efficient interresource exchanges in the budget-mix process. The Budget-Mix Model is not based on optimization, but a heuristic approach which assures a satisficing solution. And the application fields of this model range between the incremental Nonzero-Base Budgeting and the rational Zero-Base Budgeting. In this thesis, the author suggests 'the budget- mix concept' and a budget-mix model. Budget-mix is a decision process of making program-mix and resource-mix together. For keeping this concept in the existing organization realistic, we need the development of quantitative models describing budget-mix situations.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.12
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• pp.5191-5211
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• 2016

It is essential to satisfy class-specific QoS constraints to provide broadband services for new generation networks. The present study proposes a QoS-driven multicast scheme for wireless networks in which the transmission rate and end-to-end delay are assumed to be bounded during a multiple multicast session. A distributed algorithm was used to identify a cost-efficient sub-graph between the source and destination which can satisfy QoS constraints of a multicast session. The model was then modified as to be applied for wireless networks in which satisfying interference constraints is the main challenge. A discrete power control scheme was also applied for the QoS-aware multicast model to accommodate the effect of transmission power level based on link capacity requirements. We also proposed random power allocation (RPA) and gradient power allocation (GPA) algorithms to efficient resource distribution each of which has different time complexity and optimality levels. Experimental results confirm that the proposed power allocation techniques decrease the number of unavailable links between intermediate nodes in the sub-graph and considerably increase the chance of finding an optimal solution.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.7
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• pp.483-490
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• 2004

The descriptor system model has a high ability in representing dynamical systems. It can preserve physical parameters in the coefficient matrices, and describe the dynamic part, static part, and even the improper part of the system in the same form. The design of mixed $H_{2}/H_{\infty}$ controllers for linear time-invariant descriptor systems is considered in this paper. Firstly, an $H_2$ and $H_{\infty}$ synthesis problems fur a descriptor system are presented separately in terms of linear matrix inequalities (LMIs) based on the bounded real lemma. Then, we show that the existence of a mixed $H_2/H_{\infty}$ controller by which the $H_2$ norm of the second channel is minimized while keeping the $H_2$ norm bound of the first channel less than ${\gamma}$, is reduced to the linear objective minimization problem. The class of desired controllers that are assumed to have the same structure as the plant is parameterized by using the linearizing change of variables.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.579-584
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• 2016

When surgical instruments are tracked in an image-guided surgical navigation system, a stereo vision system with high accuracy is generally used, which is called optical tracker. However, this optical tracker has the disadvantage that a line-of-sight between the tracker and surgical instrument must be maintained. Therefore, to complement the disadvantage of optical tracking systems, an internal vision sensor is attached to a surgical instrument in this paper. Monitoring the target marker pattern attached on patient with this vision sensor, this surgical instrument is possible to be tracked even when the line-of-sight of the optical tracker is occluded. To verify the system's effectiveness, a series of basic experiments is carried out. Lastly, an integration experiment is conducted. The experimental results show that rotational error is bounded to max $1.32^{\circ}$ and mean $0.35^{\circ}$, and translation error is in max 1.72mm and mean 0.58mm. Finally, it is confirmed that the proposed tool tracking method using an internal vision sensor is useful and effective to overcome the occlusion problem of the optical tracker.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.1
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• pp.1-10
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• 2017

Recently, with the ever-increasing complexity of industrial robot systems, it has been greatly attention to adopt a multi-core based motion controller with high cost-performance ratio. In this paper, we propose a software architecture that aims to utilize the computing power of multi-core processors. The key concept of our architecture is to use shared memory for the interplay between threads running on separate processor cores. And then, we have integrated our proposed architecture with an industrial standard compliant IDE for automatic code generation of motion runtime. For the performance evaluation, we constructed a test-bed consisting of a motion controller with Preempt-RT Linux based dual-core industrial PC and a 3-axis industrial robot platform. The experimental results show that the actuation time difference between axes is 10 ns in average and bounded up to 689 ns under $1000{\mu}s$ control period, which can come up with real-time performance for industrial robot.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.1
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• pp.241-269
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• 2012

Wireless networks composed of multimedia-enabled resource-constrained sensor nodes have enriched a large set of monitoring sensing applications. In such communication scenario, however, new challenges in data transmission and energy-efficiency have arisen due to the stringent requirements of those sensor networks. Generally, congested nodes may deplete the energy of the active congested paths toward the sink and incur in undesired communication delay and packet dropping, while bit errors during transmission may negatively impact the end-to-end quality of the received data. Many approaches have been proposed to face congestion and provide reliable communications in wireless sensor networks, usually employing some transport protocol that address one or both of these issues. Nevertheless, due to the unique characteristics of multimedia-based wireless sensor networks, notably minimum bandwidth demand, bounded delay and reduced energy consumption requirement, communication protocols from traditional scalar wireless sensor networks are not suitable for multimedia sensor networks. In the last decade, such requirements have fostered research in adapting existing protocols or proposing new protocols from scratch. We survey the state of the art of transport protocols for wireless multimedia sensor networks, addressing the recent developments and proposed strategies for congestion control and loss recovery. Future research directions are also discussed, outlining the remaining challenges and promising investigation areas.

• Advances in aircraft and spacecraft science
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• v.9 no.2
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• pp.131-148
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• 2022

The paper presents the surface-modified NACA 2412 airfoil performance with variable cavity characteristics such as size, shape and orientation, by numerically investigated with the pre-validation study. The study attempts to improve the airfoil aerodynamic performance at 30 m/s with a variable angle of attack (AOA) ranging from 0° to 20° under Reynolds number (R_e) 4.4×10⁵. Through passive surface control techniques, a boundary layer control strategy has been enhanced to improve flow performance. An intense background survey has been carried out over the modifier orientation, shape, and numbers to differentiate the sub-critical and post-critical flow regimes. The wall-bounded flows along with its governing equations are investigated using Reynolds Average Navier Strokes (RANS) solver coupled with one-equational transport Spalart Allmaras model. It was observed that the aerodynamic efficiency of cavity airfoil had been improved by enhancing maximum lift to drag ratio ((l/d) max) with delayed flow separation by keeping the flow attached beyond 0.25C even at a higher angle of attack. Detailed investigation on the cavity distribution pattern reveals that cavity depth and width are essential in degrading the early flow separation characteristics. In this study, overall general performance comparison, all the cavity airfoil models have delayed stalling compared to the original airfoil.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.9
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• pp.2764-2781
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• 2024

Federated learning (FL) has been proposed as an emerging distributed machine learning framework, which lowers the risk of privacy leakage by training models without uploading original data. Therefore, it has been widely utilized in the Industrial Internet of Things (IIoT). Despite this, FL still faces challenges including the non-independent identically distributed (Non-IID) data and heterogeneity of devices, which may cause difficulties in model convergence. To address these issues, a local surrogate function is initially constructed for each device to ensure a smooth decline in global loss. Subsequently, aiming to minimize the system energy consumption, an FL approach for joint CPU frequency control and bandwidth allocation, called FCBAFL is proposed. Specifically, the maximum delay of a single round is first treated as a uniform delay constraint, and a limited-memory Broyden-Fletcher-Goldfarb-Shanno bounded (L-BFGS-B) algorithm is employed to find the optimal bandwidth allocation with a fixed CPU frequency. Following that, the result is utilized to derive the optimal CPU frequency. Numerical simulation results show that the proposed FCBAFL algorithm exhibits more excellent convergence compared with baseline algorithm, and outperforms other schemes in declining the energy consumption.