• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.417-420
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• 1987

For an increased level of productivity, it is important that the end-point of a robot manipulator moves from an initial location to final position in the minimum time subject to the available maximum actuator's torque (or force) at each joints. The main issue is to develop an algorithm to compute the actuators in real-time. In this paper, a digital state feedback control algorithm has bean developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm have been established using numerical simulations. A three-link manipulator in chosen for this purpose and results are discussed for three different combinations of initial and final station.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.5
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• pp.609-617
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• 2013

This paper presents a near-minimum time path planning algorithm for autonomous driving. The problem of near-minimum time path planning is an optimization problem in which it is necessary to take into account not only the geometry of the circuit but also the dynamics of the vehicle. The path planning algorithm consists of a candidate path generation and a velocity optimization algorithm. The candidate path generation algorithm calculates the compromises between the shortest path and the path that allows the highest speeds to be achieved. The velocity optimization algorithm calculates the lap time of each candidate considering the vehicle driving performance and tire friction limit. By using the calculated path and velocity of each candidate, we calculate the lap times and search for a near-minimum time path. The proposed algorithm was evaluated via computer simulation using CarSim and Matlab/Simulink.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.6-30
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• 2001

We build near minimum-time trajectory planning algorithm for Wheeled mobile robots (WMRs) With Piece-Wise Constant control voltages satisfying i) initial and final postures and velocities as well as ii) voltage constraints We consider trajectory planning problem for cornering motion with a path-deviation requirement for obstacle avoidance. We divide our trajectory planning algorithm for cornering motion into five ordered sections: translational, transient, rotational, transient, and translational sections. Transforming dynamics into uncorrelated form with respect to translational and rotational velocities, we can make controls for translation/rotational velocities to be independent. By planning each section with constant voltages, and integrating five sections with adjustment of numbers of steps, the overall trajectory is planned. The performance is very close to the minimum-time solution, which is validated via simulation studies.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.44-47
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• 1996

Bang-bang control law provides the optimal solution for a minimum-time control problem, but ignores the intermediate path except for the initial and final points. In this paper, a near minimum-time suboptimal fuzzy logic controller is introduced that can control the intermediate path. A dynamic model for a system is established using the average dynamics method of linearization. System model is continuously updated over the control time periods. This makes it suitable for high speed or variable payload applications. Bang-bang control theory is modified and used to derive the preliminary control law. A fuzzy logic algorithm is then applied to adjust and find the best solution. The solution will provide the suboptimal minimum-time control law which can avoid obstacles in the workspace.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.1
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• pp.20-39
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• 2020

This paper considers a downlink multi-carrier cooperative non-orthogonal multiple access (NOMA) transmission, where no direct link exists between the far user and the base station (BS), and the communication between them only relies on the assist of the near user. Firstly, the BS sends a superimposed signal of the far and the near user to the near user, and then the near user adopts simultaneous wireless information and power transfer (SWIPT) to split the received superimposed signal into two portions for energy harvesting and information decoding respectively. Afterwards, the near user forwards the signal of the far user by utilizing the harvested energy. A minimum data is required to ensure the quality of service (QoS) of the far user. We jointly optimize power allocation, subcarrier allocation, time allocation, the power allocation (PA) coefficient and the power splitting (PS) ratio to maximize the number of data bits received at the near user under the energy causality constraint, the minimum data constraint and the transmission power constraint. The block-coordinate descent method and the Lagrange duality method are used to obtain a suboptimal solution of this optimization problem. In the final simulation results, the superiority of the proposed NOMA scheme is confirmed compared with the benchmark NOMA schemes and the orthogonal multiple access (OMA) scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1330-1333
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• 1997

In this paper, the optimal torque shaping is obtained for 3-axis rotation of a spacecraft. The true optimal 3-axis rotation of rigid spaeraft is first investigated via parameter optimization method with prescribed switching times. Input torque shape of the troque generating device mounted on the central hub is optimized using fourier Series expansion so that the spacecraft may slew while minimizing the vibration energy of flexible modes. Numerical results show that proposed method suggests a reference trahectory for open-loop control, and also verify that it can minimize the vibratory modes of the spacecraft during/after the rest-to-rest maneuver.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.23.4-23.4
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• 2008

In March and April 2001, the apogee (~9 Re) of the Polar spacecraft was located near the subsolar magnetopause with its orbital plane nearly parallel to a magnetic meridian plane. Polar electric and magnetic field data acquired during the two-month interval of solar maximum have been used to study fundamental standing Alfven waves near the subsolar meridian plane (magnetic local time = 1000-1400 hours) at magnetic latitudes from the equator to $\pm45$ degrees and at L values between 7 and 12. In the frequency band from 1.5 to 10 mHz, fundamental mode oscillations were identified based on high coherence (more than 0.7) and an approximately 90-degree phase shift between the azimuthal magnetic and radial electric field components. The L dependence of the fundamental frequencies is studied, and the frequencies are compared with those observed near the solar minimum interval (Takahashi et al. 2001). We found that the average frequencies in solar maximum are lower than those in solar minimum by a factor of ~2. This implies that the mass density in solar maximum is higher than that in solar minimum by a factor of ~4. Since there is a positive correlation between solar irradiance and solar activity, we suggest that the ionosphere in solar maximum produces more ions and load magnetic flux tubes with more ions.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.1
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• pp.20-27
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• 1987

The hierarchical approach method is proposed to sperate each different time scale sub-systems from linear time invariant multi-parameter singular perturbation systems. By means of this proposal, the original multi-parameter singular perturbation systems is completely separated into independent subsystems with each different time scale. It is also investigated that the controllability of the system is invariant. And this paper applies singular perturbation methods to the minimum control effort problem for linear time invariant systems with constrained controls. Also near-optimum control theory, which is based on dividing the total time interval with the time scales respectively, is proposed. As a result, the time scale separation method is show to be particularly useful in a near optimum design which can be otained through a decentralized control structure.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.7
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• pp.650-658
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• 2012

This paper proposes a high performance position controller for a driving system using a time optimal controller which has been widely used to control driving systems to achieve desired reference position or velocity in a minimum response time. The main purpose of this research lies in an improvement of transient response performance rather than that of steady-state response in comparison with other control strategies. In order to refine the scheme of time optimal control, Lyapunov stability proofs are incorporated in a controller of standard second order system model. This scheme is applied to the control of a driving system. In view of the simulation and experiment results, the standard second order system model exhibits better minimum-time control performance and robustness than double integral system model does.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.23 no.61
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• pp.33-39
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• 2000

In this paper, we present an algorithm for the multicast routing problem when there exit the cell replication limits of ATM switching nodes. This problem can be formulated as a Degree Constrained Minimum Steiner Tree Problem(DCSP). The proposed algorithm is a modification of the shortest path heuristic originally devised for minimum Steiner tree problem. From the experimental results, it can be seen that our algorithm is efficient to obtain a near optimal solution with comparatively low computational time.