• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.6 no.9
• /
• pp.2118-2135
• /
• 2012

With the rapid development of heterogeneous emerging wireless technologies and numerous types of mobile devices, the need to support robust mobile video streaming based on the seamless handover in Future Internet is growing. To support the seamless handover, several IP-based mobility management protocols such as Mobile IPv6 (MIPv6), fast handover for the MIPv6 (FMIPv6), Hierarchical MIPv6 (HMIPv6) and Proxy Mobile IPv6 (PMIPv6) were developed. However, MIPv6 depreciates the Quality-of-Service (QoS) and FMIPv6 is not robust for the video services in heterogeneous emerging wireless networks when the Mobile Node (MN) may move to another visited network in contrast with its anticipation. In Future Internet, the possibility of mobile video service failure is more increased because mobile users consisting of multiple wireless network interfaces (WNICs) can frequently change the access networks according to their mobility in heterogeneous wireless access networks such as 3Generation (3G), Wireless Fidelity (Wi-Fi), Worldwide Interoperability for Microwave Access (WiMax) and Bluetooth co-existed. And in this environment, seamless mobility is coupled according to user preferences, enabling mobile users to be "Always Best Connected" (ABC) so that Quality of Experience is optimised and maintained. Even though HMIPv6 and PMIPv6 are proposed for the location management, handover latency enhancement, they still have limit of local mobility region. In this paper, we propose a robust mobile video streaming in Heterogeneous Emerging Wireless Systems. In the proposed scheme, the MN selects the best-according to an appropriate metric-wireless technology for a robust video streaming service among all wireless technologies by reducing the handover latency and initiation time when handover may fail. Through performance evaluation, we show that our scheme provides more robust mechanism than other schemes.

• Ocean and Polar Research
• /
• v.38 no.2
• /
• pp.149-159
• /
• 2016

The statistical measures of the coastal environmental data are used in a variety of statistical inferences, hypothesis tests, and data-driven modeling. If the measures are biased, then the statistical estimations and models may also be biased and this potential for bias is great when data contain some outliers defined as extraordinary large or small data values. This study aims to suggest more robust statistical measures as alternatives to more commonly used measures and to assess the performance these robust measures through a quantitative evaluation of more typical measures, such as in terms of locations, spreads, and shapes, with regard to environmental monitoring data in the Busan coastal sea. The detection of outliers within the data was carried out on the basis of Rosner's test. About 5-10% of the nutrient data were found to contain outliers based on Rosner's test. After removal (zero-weighting) of the outliers in the data sets, the relative change ratios of the mean and standard deviation between before and after outlier-removal conditions revealed the figures 13 and 33%, respectively. The variation magnitudes of skewness and kurtosis are 1.36 and 8.11 in a decreasing trend, respectively. On the other hand, the change ratios for more robust measures regarding the mean and standard deviation are 3.7-10.5%, and the variation magnitudes of robust skewness and kurtosis are about only 2-4% of the magnitude of the non-robust measures. The robust measures can be regarded as outlier-resistant statistical measures based on the relatively small changes in the scenarios before and after outlier removal conditions.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.38 no.4
• /
• pp.117-131
• /
• 2015

Conventional data envelopment analysis (DEA) models require that inputs and outputs are given as crisp values. Very often, however, some of inputs and outputs are given as imprecise data where they are only known to lie within bounded intervals. While a typical approach to addressing this situation for optimization models such as DEA is to conduct sensitivity analysis, it provides only a limited ex-post measure against the data imprecision. Robust optimization provides a more effective ex-ante measure where the data imprecision is directly incorporated into the model. This study aims to apply robust optimization approach to DEA models with imprecise data. Based upon a recently developed robust optimization framework which allows a flexible adjustment of the level of conservatism, we propose two robust optimization DEA model formulations with imprecise data; multiplier and envelopment models. We demonstrate that the two models consider different risks regarding imprecise efficiency scores, and that the existing DEA models with imprecise data are special cases of the proposed models. We show that the robust optimization for the multiplier DEA model considers the risk that estimated efficiency scores exceed true values, while the one for the envelopment DEA model deals with the risk that estimated efficiency scores fall short of true values. We also show that efficiency scores stratified in terms of probabilistic bounds of constraint violations can be obtained from the proposed models. We finally illustrate the proposed approach using a sample data set and show how the results can be used for ranking DMUs.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2018.05a
• /
• pp.114-114
• /
• 2018

과거 수십년간 댐의 운영방법은 과거 관측 유입량 자료를 바탕으로 결정되었지만, 미래 기후변화의 불확실성을 고려하면 기존 운영방법이 더 이상 유효하지 않을 수 있다. 따라서, 이에 대응하여 수자원을 적절히 운용하기 위해서는 기후변화의 불확실성을 고려한 댐의 운영방법에 대한 연구가 필요하다. 본 연구는 예측 유입량의 불확실성을 고려하기 위하여 로버스트(Robust) 의사결정 방법을 댐 운영 최적화에 접목한 다목적 로버스트 최적화(Multi-Objective Robust Optimization) 방법을 제안한다. 이는 기존의 다목적 로버스트 의사결정이론(MORDM, Multi Objective Robust Decision Making)과 로버스트 최적화이론(Robust Optimization)을 결합한 의사결정 방법이다. 로버스트 최적화의 목적함수는 로버스트 항(Robust Term)을 신뢰도, 심각도, 그리고 회복도 등의 여러 관점으로 구성할 수 있으며, 이는 다목적 최적화의 일종으로 볼 수 있다. 본 연구는 신뢰도와 심각도 관점으로 로버스트 항을 적절히 구성하고 그 가중치들을 조절하며, 그에 따라 기후변화의 상황에서 댐 운영의 수행결과가 어떻게 변하는지 의사결정자들이 파악할 수 있도록 가시화한다. 그리고 동시에, 목표하는 댐 운영의 안정성이 다양한 미래 기후변화 시나리오 상에서 유지되도록 하는 로버스트 항과 각 항의 가중치들을 결정하는 방법을 제시한다. 이를 통해 의사결정자는 여러 측면에서 안정적인 다목적 로버스트 최적화의 해를 찾아갈 수 있다. 댐 운영을 위한 로버스트 최적화를 진행하기 위해서 본 연구는 Robust-SDP(Stochastic Dynammic Programming)을 수행하였으며, 대상유역인 보령댐이 이수기동안 인근지역의 수요량만큼 물을 충분히 공급함을 목적으로 로버스트 최적화를 진행하였다. 아울러, 저수지 용량이 로버스트 최적화에 미치는 영향을 분석하기 위해서 남강댐에 동일한 최적화 방법을 적용하고 이를 비교하였다.

• Proceedings of the Acoustical Society of Korea Conference
• /
• 1994.06c
• /
• pp.387-390
• /
• 1994

• International Journal of Control, Automation, and Systems
• /
• v.4 no.6
• /
• pp.689-696
• /
• 2006

This paper presents a new algorithm for the closed-loop $H_{\infty}$ composite control of weakly coupled bilinear systems with time-varying parameter uncertainties and exogenous disturbance using the successive Galerkin approximation(SGA). By using weak coupling theory, the robust $H_{\infty}$ control can be obtained from two reduced-order robust $H_{\infty}$ control problems in parallel. The $H_{\infty}$ control theory guarantees robust closed-loop performance but the resulting problem is difficult to solve for uncertain bilinear systems. In order to overcome the difficulties inherent in the $H_{\infty}$ control problem, two $H_{\infty}$ control laws are constructed in terms of the approximated solution to two independent Hamilton-Jacobi-Isaac equations using the SGA method. One of the purposes of this paper is to design a closed-loop parallel robust $H_{\infty}$ control law for the weakly coupled bilinear systems with parameter uncertainties using the SGA method. The other is to reduce the computational complexity when the SGA method is applied to the high order systems.

• Journal of Advanced Navigation Technology
• /
• v.10 no.2
• /
• pp.113-120
• /
• 2006

In this paper, a vision-based robust controller for tracking the desired trajectory a robot manipulator is proposed. The trajectory is generated to move the feature point into the desired position which the robot follows to reach to the desired position. To compensate the parametric uncertainties of the robot manipulator which contain in the control input, the robust controller is proposed. In addition, if there are uncertainties in the Jacobian, to compensate it, a vision-based robust controller which has control input is proposed as well in this paper. The stability of the closed-loop system is shown by Lyapunov method. The performance of the proposed method is demonstrated by simulations and experiments on a two degree of freedom 5-link robot manipulators.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.397-400
• /
• 1996

In this paper, robust motion control of a flexible micro-actuator is presented. The actuator is made of a bimorph piezoelectric high-polymer material (PVDF). No mathematical model system can exactly model a physical system such a flexible micro-actuator. For this reason we must be aware of how modeling errors might adversely affect the performance of a control system for such a model. The H method addresses a wide range of the control problems, combining the frequency and time domain approaches. The design is an optimal one in the sense of minimization of the maximum of the closed-loop transfer function. It includes colored measurement and process noise. It also addresses the issues of robustness due to model uncertainties, and is applicable to the, flexible micro-actuator control problem. Therefore, we adopt the H control problem to the robust motion control of the flexible micro-actuator. Theoretical and experimental results demonstrate the satisfactory performance and the effectiveness of the designed controller. the effectiveness of the designed controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.700-703
• /
• 1997

A robust controller for a 6 DOF magnetically levitated fine manipulator is presented. The proposed controller consists of following two parts : a model reference controller (MRC) and a H$_{\infty}$ controller (HIC). First, the MRC stabilizes the motion of the manipulator. Then, the motion of the manipulator follows that of the reference model. Second, the HIC minimizes errors generated from the MRC due to noise and disturbance since the HIC is a kind of robust controller. The experiments of position control and tracking control are carried out by use of the proposed controller under the conditions of free disturbances and forced disturbances. Also, the experiments using PID controller are carried out under the same conditions. The results from above two controllers are compared to investigate the control performances. As the results, it is observed that the proposed controller has similar position accuracy but better tracking performances comparing to the PID controller as well as good disturbance rejection effect due to the robust characteristics of the controller. In conclusion, it is verified that the proposed controller has the simple control structure, the good tracking performances and good disturbance rejection effect due to the robust characteristics of the controller..

• Earthquakes and Structures
• /
• v.11 no.2
• /
• pp.347-369
• /
• 2016

The main objective of this paper is the robust multi-objective optimization design of semi-active tuned mass damper (STMD) system using genetic algorithms and fuzzy logic. For optimal design of this system, it is required that the uncertainties which may exist in the system be taken into account. This consideration is performed through the robust design optimization (RDO) procedure. To evaluate the optimal values of the design parameters, three non-commensurable objective functions namely: normalized values of the maximum displacement, velocity, and acceleration of each story level are considered to minimize simultaneously. For this purpose, a fast and elitist non-dominated sorting genetic algorithm (NSGA-II) approach is used to find a set of Pareto-optimal solutions. The torsional effects due to irregularities of the building and/or unsymmetrical placements of the dampers are taken into account through the 3-D modeling of the building. Finally, the comparison of the results shows that the probabilistic robust STMD system is capable of providing a reduction of about 52%, 42.5%, and 37.24% on the maximum displacement, velocity, and acceleration of the building top story, respectively.