• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.1
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• pp.31-37
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• 2003

A robust tracking control for nonholonomic dynamic systems is proposed in this paper. Since nonholonomic dynamic systems have constraints imposed on motions that are not integrable, i.e., the constraints cannot be written as time derivatives of some functions of generalized coordinates, advanced techniques are needed for their control. It is shown that if the state of nonholonomic systems is mapped into a bounded space by a coordinate transformation, a robust controller for dynamic models of nonholonomic systems with input disturbances can be designed using sliding mode control. Stability and robustness of the proposed controller are proved in the Lyapunov sense. Numerical simulations on the trajectory tracking of a two-wheeled mobile robot are conducted to validate the effectiveness of the proposed controller.

• Structural Engineering and Mechanics
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• v.44 no.4
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• pp.501-519
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• 2012

Truss weight is one of the most important factors in the cost of construction that should be reduced. Different methods have been proposed to optimize the weight of trusses. The artificial bee colony algorithm has been proposed recently. This algorithm selects the lightest section from a list of available profiles that satisfy the existing provisions in the design codes and specifications. An important issue in optimization algorithms is how to impose constraints. In this paper, the artificial bee colony algorithm is used for the discrete optimization of trusses. The fly-back mechanism is chosen to impose constraints. Finally, with some basic examples that have been introduced in similar articles, the performance of this algorithm is tested using the fly-back mechanism. The results indicate that the rate of convergence and the accuracy are optimized in comparison with other methods.

• Journal of Communications and Networks
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• v.7 no.1
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• pp.87-92
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• 2005

This paper presents basic queueing analysis contributing to teletraffc theory, with commonly accessible mathematical tools. This paper studies queueing systems with bulk arrivals. It is assumed that the number of arrivals and the expected number of arrivals in each bulk are bounded by some constraints B and (equation omitted), respectively. Subject to these constraints, convexity argument is used to show that the bulk-size probability distribution that results in the worst mean queue performance is an extremal distribution with support {1, B} and mean equal to A. Furthermore, from the viewpoint of security against denial-of-service attacks, this distribution remains the worst even if an adversary were allowed to choose the bulk-size distribution at each arrival instant as a function of past queue lengths; that is, the adversary can produce as bad queueing performance with an open-loop strategy as with any closed-loop strategy. These results are proven for an arbitrary arrival process with bulk arrivals and a general service model.

• Journal of Navigation and Port Research
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• v.47 no.2
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• pp.66-74
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• 2023

With the increase of interest in developing Maritime Autonomous Surface Ships (MASS), an optimal ship route planning is gradually gaining popularity as one of the important subsystems for autonomy of modern marine vessels. In the present paper, an optimal ship route planning model for MASS is proposed using a nonlinear MPC approach together with a nonlinear MMG model. Results drawn from this study demonstrated that the optimization problem for the ship route was successfully solved with satisfaction of the nonlinear dynamics of the ship and all constraints for the state and manipulated variables using the nonlinear MPC approach. Given that a route generation system capable of accounting for nonlinear dynamics of the ship and equality/inequality constraints is essential for achieving fully autonomous navigation at sea, it is expected that this paper will contribute to the field of autonomous vehicles by demonstrating the performance of the proposed optimal ship route planning model.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.2
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• pp.54.1-54.1
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• 2019

We use iterative smoothing reconstruction method along with exploring in the parameter space of the light curves of the JLA supernova compilation (Joint Light-curve Analysis) to simultaneously reconstruct the expansion history of the universe as well as putting constrains on the light curve parameters without assuming any cosmological model. Our constraints on the light curve parameters of the JLA from our model-independent analysis seems to be closely in agreement with results assuming ΛCDM cosmology or using Chevallier-Polarski-Linder (CPL) parametrization for the equation of state of dark energy. This implies that there is no hidden significant feature in the data that could be neglected by cosmology model assumption. The reconstructed expansion history of the universe and properties of dark energy seems to be in good agreement with expectations of the standard ΛCDM model. Our results also indicate that the data allows a considerable flexibility for expansion history of the universe.

• Proceedings of the Korea Society for Simulation Conference
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• 2003.06a
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• pp.91-100
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• 2003

In this paper we investigate the role that warfare played In the formation of the network of alliances between sites that are associated with the formation of the state in the Valley of Oaxaca, Mexico. A model of state formation proposed by Marcos and Flannery (1996) is used as the basis for an agent-based simulation model. Agents reside in sites and their actions are constrained by knowledge extracted from the Oaxaca Surface Archaeological Survey (Kowalewski 1989). The simulation is run with two different sets of constraint rules for the agents. The first set is based upon the raw data collected in the surface survey. This represents a total of 79 sites and constitutes a minimal level of warfare (raiding) in the Valley. The other site represents the generalization of these constraints to sites with similar locational characteristics. This set corresponds to 987 sites and represents a much more active role for warfare in the Valley. The rules were produced by a data mining technique, Decision Trees, guided by Genetic Algorithms. Simulations were run using the two different rule sets and compared with each other and the archaeological data for the Valley. The results strongly suggest that warfare was a necessary process in the aggregations of resources needed to support the emergence of the state in the Valley.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.549-554
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• 2012

In this paper, we consider the optimal fuzzy filter of nonlinear discrete-time with estimation error variance constraint. First, the Takagi and Sugeno(T-S) fuzzy model is employed to approximate the nonlinear system. Next, the error state is mean square bounded, and the steady state variance of the estimation error of each state is not more than the individual predefined value. It is shown that, the addressed problem can be carried out by solving linear matrix inequality(LMI) and some algebraic quadratic matrix inequalities. Finally, some examples are provided to illustrate the design procedure and expected performance through simulations.

• The Transactions of the Korea Information Processing Society
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• v.2 no.3
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• pp.288-298
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• 1995

Load balancing attempts to improve the performance of a distributed computing system by transferring some of the workload of a congested site to others. A load balancing scheme that supports both the source-initiated and the server- initiated load balancing is proposed in this paper. It can model both the m/m/1 queue(no load balancing) and the m/m/n queue(perfect load balancing) as the extreme State variables are replicated into every site, and copy consistency constraints are relaxed more weakly. We propose weak copy consistency constraints which correlate the outdated state information to that of the current state. We also derive sufficient conditions under which each scheduler can guarantee the load balancing without communication Using this model, the problem of load balancing is converted to that of maintaining the consistency of states and communication overhead becomes less than that of the bidding algorithm. The scheme is simulated by event tracing, compared to the two extreme cases and the bidding algorithm. The results show that the mean response time and the number of messages are reduced by 0-35% and 40-100% respectively, compared with the bidding algorithm. Finally the effects of some system parameters are described.

• The KIPS Transactions:PartA
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• v.9A no.1
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• pp.61-74
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• 2002

This paper presents a method which synthesizes asynchronous circuits from free-choice Signal Transition Graphs (STGs) with timing constraints. The proposed method synthesizes asynchronous circuits by analyzing: the relations between signal transitions directly from the STGs without generating state graphs. The synthesis procedure decomposes a free-choice STG into deterministic STGs which do not have choice behavior. Then, a timing analysis extracts the timed concurrency and tamed causality relations between any two signal transitions for each deterministic STG. The synthesis procedure synthesizes circuits for each deterministic STG and synthesizes the final circuit by merging the circuits for each deterministic STG. The experimental results show that our method achieves significant reductions in synthesis time for the circuits which have a large state space, and generates circuits that have nearly the same area as compared to previous methods.

• ETRI Journal
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• v.30 no.2
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• pp.216-226
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• 2008

This paper proposes a novel transport network architecture for the next generation network (NGN) based on the optical burst switching technology. The proposed architecture aims to provide efficient delivery of various types of network traffic by satisfying their quality-of-service constraints. To this end, we have developed a soft-state bandwidth reservation mechanism, which enables NGN transport nodes to dynamically reserve bandwidth needed for active data burst flows. The performance of the proposed mechanism is evaluated by means of numerical analysis and NS2 simulation. Our results show that the packet delay is kept within the constraint for each traffic flow and the burst loss rate is remarkably improved.