• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.371-379
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents a vibration control solution for industrial robots which have flexible joints. The joint flexibility is modeled as a two-mass system. And we analyze the vibration problem of a classical P-PI controller when it used for the flexible joints of industrial robots. Then a state feedback controller is designed for vibration suppression of the two-mass system. Finally, a gain-scheduling method is designed for maintaining control performance in spite of the time-varying nature of each joint's load side inertia. Simulation and experimental results show effective vibration suppression and uniform properties in overshoot in spite of the variation of load. The result of this study can be applied to the appropriate gain manipulation of many other mechatronic devices which have the two-mass system with varying load side inertia.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.839-845
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• 2013

A CSTR (Continuous Stirred Tank Reactor) is a highly nonlinear process with varying parameters during operation. Therefore, tuning of the controller and determining the transition policy of controller parameters are required to guarantee the best performance of the CSTR for overall operating regions. In this paper, a methodology employing the 2DOF (Two-Degree-of-Freedom) PID controller, the anti-windup technique and a fuzzy gain scheduler is presented for the temperature control of the CSTR. First, both a local model and an EA (Evolutionary Algorithm) are used to tune the optimal controller parameters at each operating region by minimizing the IAE (Integral of Absolute Error). Then, a set of controller parameters are expressed as functions of the gain scheduling variable. Those functions are implemented using a set of "if-then" fuzzy rules, which is of Sugeno's form. Simulation works for reference tracking, disturbance rejecting and noise rejecting performances show the feasibility of using the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2725-2730
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• 2003

In this study we present a vibration controller for articulated robots that has flexible joints modeled as a 2-mass system. Most of articulated robots have time varying load inertias for each axis according to its motion. Moreover, the inertias vary drastically; for the base axis of articulated robots it may vary about 10 times of its minimum value. But, for industrial robots and many mechatronic devices, it is desirable to maintain control performance in spite of load inertia variation. So we propose a control gain adjustment rule considering the time-varying nature of load inertia. In this gain-adjusting algorithm, the pole locations are in proportion to the anti-resonance frequency of the 2-mass system. The simulation and experimental results show uniform properties in overshoot in spite of the variation of load.

• Journal of Korea Society of Digital Industry and Information Management
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• v.8 no.4
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• pp.129-133
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• 2012

Coordinated multi-point transmission (CoMP) is a candidate technique for next generation cellular communications systems. One of the primary elements discussed in LTE-Advanced technology is CoMP, which can improve cell edge user data rate as well as spectral efficiency due to multiple input multiple output - orthogonal frequency division multiplex (MIMO-OFDM). We consider a system with multiple cells in which base stations coordinate with each other by sharing user channel state information (CSI), which mitigates inter cell interference (ICI), especially for users located at the cell edge. We introduce a new user scheduling method of ICI cancellation and the loss reduction of effective channel gain during the beamforming process, the proposed method improves the system sum rate, when compared to the conventional method by an average of 0.55bps/Hz in different number of total users per cell. It also outperforms the conventional method by approximately 0.38bps/Hz using different SNRs.

• Journal of KIISE:Information Networking
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• v.41 no.4
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• pp.192-201
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• 2014

User scheduling boosts the Multi-User Multi-Input Multi-Output (MU-MIMO) gain by selecting an optimal set of users to increase the 802.11 Wi-Fi system capacities. Many kinds of user scheduling algorithms, however, fail to realize the advantages of MU-MIMO due to formidable Channel State Information (CSI) overhead. In this paper, we propose a user scheduling method considering such CSI exchange overhead and its MAC protocol, called ACE (Active CSI Exchange based User Scheduling for MU-MIMO Transmission). Unlike most proposals, where user scheduling is performed after an Access Point (AP) receives CSI from all users, ACE determines the best user set during the CSI exchange phase. In particular, the AP broadcasts a channel hint about previously scheduled users, and the remaining users actively send CSI reports according to their Effective Channel Gains (ECGs) calculated from the hint. Through trace-driven MATLAB simulations, we prove that the proposed scheme improves the throughput gain significantly.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.5
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• pp.346-348
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• 2016

Coordinated multi-point transmission is a candidate technique for next-generation cellular communications systems. We consider a system with multiple cells in which base stations coordinate with each other by sharing user channel state information, which mitigates inter-cell interference (ICI), especially for users located at the cell edge. We introduce a new user scheduling method that considers both ICI and intra-cell orthogonality. Due to the influence of ICI cancellation and the loss reduction of effective channel gain during the beamforming process, the proposed method improves the system sum rate, when compared to the conventional method, by an average of 0.55bps/Hz for different numbers of total users per cell.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.629-632
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• 1991

Load Variation effects on the system driving performance. Therefore, this paper presents as a application example of Anti-windup method using general incremental form for a gun servo system of load variation involved. Also, this method can be easily implemented compared to gain scheduling technique.

• Journal of Electrical Engineering and Technology
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• v.9 no.6
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• pp.1843-1850
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• 2014

In this paper, we investigate a group building based power consumption scheduling to minimize the electricity cost. We consider the demand shift to reduce the peak load and suggest the compensation function reflecting the relationship between the change of the building demand and the occupants' comfort. Using that, the electricity cost minimization problem satisfied the convexity is formulated, and the optimal power consumption scheduling algorithm is proposed based on the iterative method. Extensive simulations show that the proposed algorithm achieves the group management gain compared to the individual building operation by increasing the degree of freedom for the operation.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.20 no.43
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• pp.81-89
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• 1997

This study is concerned with the scheduling problems in flexible manufacturing systems(FMSs). The scheduling problem in FMSs is a complex one when the number of machines and jobs are increased. Thus, a heuristic method is recommended in order to gain near-optimal solutions in a practically acceptable time. The purpose of this study is to develope a machine and AGV dispatching algorithm. The proposed dispatching algorithm is a on-line scheduling algorithm considering the due date of parts and the status of the system in the scheduling process. In the new machine and AGV dispatching algorithm, a job priority is determined by LPT/LQS rules considering job tardiness. The proposed heuristic dispatching algorithm is evaluated by comparison with the existing dispatching rules such as LPT/LQS, SPT/LQS, EDD/LQS and MOD/LQS. The new dispatching algorithm is predominant to existing dispatching rules in 100 cases out of 100 for the mean tardiness and 89 cases out of 100 for the number of tardy jobs.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.129.4-129
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• 2001

The looper control of hot strip finishing mill is one of the most important control item in hot strip rolling mill process. Loopers are placed between finishing mill stands and control the mass flow of the two stands. Another important action of the looper is to control the strip tension which influences on the width of the strip. So it is very important to control both the looper angle and the strip tension simultaneously but the looper angle and the strip tension are strongly interacted by each other. There are many control schemes such as conventional, non-interactive, LQ(Linear Quadratic), Hinf and ILQ(Inverse Linear Quadratic), Adaptive(gain scheduling) control in the looper control system. In this paper, we present the modeling for the looper of a hot strip finishing mill to control the tension of the strip and suggest another control method.