• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.337-345
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• 2023

In this paper, we propose a 3D LiDAR sensor-based costmap generation and path planning algorithm using it for reliable autonomous flight in complex indoor environments. 3D path planning is essential for reliable operation of UAVs. However, existing grid search-based or random sampling-based path planning algorithms in 3D space require a large amount of computation, and UAVs with weight constraints require reliable path planning results in real time. To solve this problem, we propose a method that divides a 3D space into several 2D spaces and a path planning algorithm that considers the distance to obstacles within each space. Among the paths generated in each space, the final path (Best path) that the UAV will follow is determined through the proposed objective function, and for this purpose, we consider the rotation angle of the 2D space, the path length, and the previous best path information. The proposed methods have been verified through autonomous flight of UAVs in real environments, and shows reliable obstacle avoidance performance in various complex environments.

• Journal of information and communication convergence engineering
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• v.10 no.2
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• pp.141-148
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• 2012

This paper presents a simple but efficient scheme incorporating a reputation-based approach and a cross-layer approach, called the SIM scheme, for maintaining reliable connectivity and high performance in ad-hoc wireless networks. The SIM scheme incorporates the following two things: an ad-hoc routing scheme with a reputation-based approach exploiting the game theory concept based on an evolutionarily stable strategy, and a cross-layer approach between the network layer and the transport layer employing a reputation-based approach.

• ETRI Journal
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• v.31 no.1
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• pp.83-85
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• 2009

Compared with unicast, multicast over wireless ad-hoc networks do not support reliability due to their inability to exchange request-to-send/clear-to-send (RTS/CTS) and ACK packets with multiple recipients. Although several media access control (MAC) layer protocols have been proposed to provide reliable multicast, these introduce additional overhead, which degrades system performance. A novel MAC protocol for reliable wireless multicast is proposed in this paper. By adapting orthogonal frequency division multiple access characteristics in CTS and ACK packets, the protocol achieves reliability over wireless multicast with minimized overhead.

• International Journal of Control, Automation, and Systems
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• v.6 no.6
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• pp.954-959
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• 2008

This paper is concerned with the reliable $H_{\infty}$ controller design problem for uncertain linear systems against actuator failures. In the design, the $H_{\infty}$ performance of the closed-loop system is optimized during normal operation(without failures) while the system satisfies a prescribed $H_{\infty}$ performance level in the case of actuator failures. Single and parameter-dependent Lyapunov function approaches are applied in designing suboptimal reliable $H_{\infty}$ controllers. Simulation studies are presented to demonstrate the effectiveness of the proposed design procedures.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.3
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• pp.216-224
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• 2004

In this paper we address reliable output feedback control problem for a class of linear systems with actuator/sensor failures. An output feedback control method is proposed which stabilizes the plant and guarantees $H_\inftyt$-norm constraint against all admissible actuator/sensor failures. The controller can be obtainer by solving some LMls that cover all failure cases. Effectiveness of this controller is validated via a numerical example. This paper addresses reliable output feedback control problem for a class of linear systems with actuator/sensor failures. An output feedback control method is proposed which stabilizes the plant and guarantees $H_\inftyt$-norm constraint against all admissible actuator/sensor failures. The controller can be obtained by solving some LMls that cover all failure cases. Effectiveness of this controller is validated via numerical example.

• IEMEK Journal of Embedded Systems and Applications
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• v.8 no.6
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• pp.347-357
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• 2013

Cyber-Physical system(CPS) is characterized by collaborating computational elements controlling physical entities. In CPS, human desire to acquire useful information and control devices anytime and anywhere automatically has increased the necessity of a high reliable system. However, the physical world where CPS is deployed has management complexity and maintenance cost of 'CPS', so that it is impossible to make reliable systems. Thus, this paper presents an 'Autonomic Control System towards High-reliable Cyber-Physical Systems' that comprise 8-steps including 'fault analysis', 'fault event analysis', 'fault modeling', 'fault state interpretation', 'fault strategy decision', 'fault detection', 'diagnosis&reasoning' and 'maneuver execution'. Through these activities, we fascinate to design and implement 'Autonomic control system' than before. As a proof of the approach, we used a ISR(Intelligent Service Robot) for case study. The experimental results show that it achieves to detect a fault event for autonomic control of 'CPS'.

• Journal of Applied Reliability
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• v.12 no.2
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• pp.121-129
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• 2012

This paper deals with a design of reliable state feedback controllers for continuous time polynomial systems with actuator failures. The goal is to find an asymptotically stabilizing controller such that the closed loop system achieves the prescribed decay rate in the actuator failure cases. Based on a sum of squares (SOS) approach, a design method for reliable nonlinear controller is presented. In order to demonstrate our design method, a numerical example is shown.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.498-503
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• 1993

In this paper, a robust and reliable H$_{\infty}$ control problem is considered for linear uncertain systems with time-varying norm-bounded uncertainty in the state matrix, which performs well despite of actuator outages. Using linear static state feedback and the quadratic stabilization with H$_{\infty}$-norm bound, a robust and reliable H$_{\infty}$ controller is obtained that stabilizes the plant and guarantees an H$_{\infty}$-norm bound constraint on disturbance attenuation for all admissible uncertainties and normal state as well as faulty state of actuators. It provides a sufficient condition for robust and reliable stabilization with H$_{\infty}$-norm bound. Reliability is guaranteed provided actuator outages only occur within a prespecified subset of actuators.tors.

• Journal of The Institute of Information and Telecommunication Facilities Engineering
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• v.9 no.3
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• pp.102-106
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• 2010

Recently process industries from oil and gas procedures and mining companies to manufactures of chemicals, foods, and beverages has been exploring the USN (Ubiquitous Sensor Networks) technology to improve safety of production processes. However, to apply the USN technology in the large-scale plant industry, reliability and security issues are not fully addressed yet, and the absence of the industrial sensor networking standard causes a compatibility problem with legacy equipment and systems. Although this situation, process industry such as energy plants are looking for the secure wireless plant solution to provide detailed, accurate safety monitoring from previously hard-reach, unaccordable area. In this paper, SPSF (Smart Plant Safety Framework based on Reliable-Secure USN) is suggested to fulfill the requirements of high-risk industrial environments for highly secure, reliable data collection and plant monitoring that is resistant to interference. The SPSF consists of three main layers: 1) Smart Safety Sensing Layer, 2) Smart Safety Network Layers, 3) Plant Network System Layer.

• Journal of Electrical Engineering and Technology
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• v.9 no.1
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• pp.259-267
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• 2014

This paper presents a simple, consistent and reliable technique to identify detected partial discharges (PD) using an acoustic ultrasonic method. A new reliable algorithm named 'Simple Partial Discharge Identifier' (SPDI) is proposed to perform identification process of the detected ultrasonic signals of PD. Experimental works based on recommended practices were setup and the ultrasonic signals of the PD were recorded. The PD data is then employed as the reference data. The SPDI developed has been tested against commonly used models in Neural Network (NN). Results from the SPDI algorithm shows more reliable results compared to NN models results. Comparison made on the mean square error (MSE) results shows SPDI produces the desired outcome with lower MSE in 97.17% of trials. Low error of SPDI indicates a high reliability to be applied in the identification of PD.