• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.429-434
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• 2013

This paper proposes a CPSO (Cooperative Particle Swarm Optimization)-based MPC (Model Predictive Control) scheme to deal with formation control problem of multiple nonholonomic mobile robots. In a distributed MPC framework, each robot needs to optimize control input sequence over a finite prediction horizon considering control inputs of the other robots where their cost functions are coupled by the state variables of the neighboring robots. In order to optimize the control input sequence, a CPSO algorithm is adopted and modified to fit into the formation control problem. Experiments are performed on a group of nonholonomic mobile robots to demonstrate the effectiveness of the proposed CPSO-based MPC for multi-robot formation.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1993-1998
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• 2004

This paper proposes a new framework for control system design, called the data-based control approach or data space approach, in which the input and output data of a dynamical system is directly and solely used to analyze or design a control system without the employment of any mathematical models like transfer functions, state space equations, and kernel representations. Since, in this approach, most of the analysis and design processes are carried out in the domain of the data space, we introduce some notions of geometrical objects, e.g., the openloop and closed-loop data spaces, which serve as the system representations in the data space. In addition, we establish a relationship between the open-loop and closed-loop data spaces that the closed-loop data space is contained in the open-loop data space as one of its subspaces. By using this relationship, we can derive the data-based stabilization condition for a linear time-invariant discrete-time system, which leads to a linear matrix inequality with a rank constraint.

• Steel and Composite Structures
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• v.24 no.2
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• pp.265-276
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• 2017

Structures are designed in such a way that they behave in a nonlinear manner when subject to strong ground motions. Energy concepts have been widely used to evaluate the structural performance for the last few decades. Energy based design can be expressed as the balance of energy input and the energy dissipation capacity of the structure. New research is needed for multi degree of freedom systems (MDOFs)-real structures- within the framework of the energy based design methodology. In this paper, energy parameters are evaluated for low-, medium- and high-rise steel special concentrically braced frames (SCBFs) in terms of total energy input and hysteretic energy. Nonlinear dynamic time history analyses are carried out to assess the variation of energy terms along the height of the frames. A seismic energy demand spectrum is developed and hysteretic energy distributions within the frames are presented.

• Korean Management Science Review
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• v.34 no.1
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• pp.57-70
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• 2017

The phenomenon of increasing aging population is one of the crucial social and economic issues in these day. In this paper, drawn from the industrial application cases and relevant literatures, we present the typology of ICT convergent applications targeted for silver generation, referred as silver ICT. Subsequently, the contributional value of ICT as the enabling technology is estimated. We firstly conduct keyword search to collect currently used silver ICT applications. Secondly, drawn from the social welfare literature, we organize distinctive needs of the silver generations. Then, on the basis of task technology fit framework, typology of ICT enabled silver applications is organized through the fit of ICT in the sense of fulfilling those silver needs. Finally, using the industry input-output table figures, potential ICT contributions for silver ICT are estimated. The proposed silver ICT typology and ICT contributions provides useful insights for further research in the area of ICT convergence and silver market research.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.16-23
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• 2011

In this paper, nonlinear model predictive control (NMPC) is addressed to develop formation guidance for multiple unmanned aerial vehicles. An NMPC algorithm predicts the behavior of a system over a receding time horizon, and the NMPC generates the optimal control commands for the horizon. The first input command is, then, applied to the system and this procedure repeats at each time step. The input constraint and state constraint for formation flight and inter-collision avoidance are considered in the proposed NMPC framework. The performance of NMPC for formation guidance critically degrades when there exists a communication failure. In order to address this problem, the modified optimal guidance law using only line-of-sight, relative distance, and own motion information is presented. If this information can be measured or estimated, the proposed formation guidance is sustainable with the communication failure. The performance of this approach is validated by numerical simulations.

• Asia pacific journal of information systems
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• v.6 no.1
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• pp.165-194
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• 1996

Data distribution is one of the most important steps in distributed database design. This paper proposes a methodology for distributing database by using a relational schema as an input. A design support system called DBDD (Database Distribution Design) is implemented within the framework of this methodology. The methodology consists of three phases such as (i) schema analysis, (ii) fragmentation, and (iii) allocation. In the schema analysis phase, all the table names are acquired from a global relational schema. In the fragmentation phase, fragments are generated according to transaction retrieval patterns. Furthermore, DBDD enhances the design quality by allocating fragments in a progressive manner. A real-life case is illustrated to demonstrate the practical usefulness of the DBDD.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.5
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• pp.2166-2180
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• 2016

We investigate the opposite of artificial noise (AN)-assisted communication in multiple-input-multiple-output (MIMO) wiretap channels for the multiuser case by taking the side of the eavesdropper. We first define a framework for an AN-assisted multiuser multiple-input-multiple-output (MU-MIMO) system, for which eavesdropping methods are proposed with and without knowledge of legitimate users' channel state information (CSI). The proposed method without CSI is based on a modified joint approximate diagonalization of eigen-matrices algorithm, which eliminates permutation indetermination and phase ambiguity, as well as the minimum description length algorithm, which blindly estimates the number of secret data sources. Simulation results show that both proposed methods can intercept information effectively. In addition, the proposed method without legitimate users' CSI performs well in terms of robustness and computational complexity.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.1
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• pp.17-25
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• 2014

This paper presents the formulation of an impedance controller for regulating the contact force with the environment. To achieve an accurate force tracking control, uncertainties in both robot dynamics and the environment require to be addressed. As part of the framework of the proposed force tracking formulation, a neural network is introduced at the desired trajectory to compensate for all uncertainties in an on-line manner. Compensation at the input trajectory leads to a remarkable structural advantage in that no modifications of the internal force controllers are required. Minimizing the objective function of the training signal for a neural network satisfies the desired force tracking performance. A neural network actually compensates for uncertainties at the input trajectory level in an on-line fashion. Simulation results confirm the position and force tracking abilities of a robot manipulator.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2015.05a
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• pp.109-110
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• 2015

Estimation of rebar quantity may be used as an index to evaluate the economic feasibility of structural designs. However, when using the software to estimate the rebar quantity, there may be some limitations such as data loss caused by human errors and estimation delays caused by increased input time, since the information on arrangement of rebar is inserted manually. To solve the problems of such quantity estimation software, it is necessary to develop a method on automatic input/output of structural design information for quantity estimation and an algorithm for accurate estimation of rebar quantity. The purpose of this study is to improve the existing rebar quantity estimation by connecting with the database on information related to rebar estimation and the algorithm for rebar estimation, in order to develop an algorithm to estimate an accurate, net rebar quantity. The study result can be used as basic data for development of software for efficient structural designs and automatic framework estimation of buildings.

• Journal of Magnetics
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• v.21 no.4
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• pp.491-495
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• 2016

We developed an embedded Object-Oriented Micromagnetic Frame (OOMMF) script schemes for more flexible simulations for complex and dynamic mircomagnetic behaviors. The OOMMF can be called from any kind of softwares by system calls, and we can interact with OOMMF by updating the input files for next step from the output files of the previous step of OOMMF. In our scheme, we set initial inputs for OOMMF simulation first, and run OOMMF for ${\Delta}t$ by system calls from any kind of control programs. After executing the OOMMF during ${\Delta}t$, we can obtain magnetization configuration file, and we adjust input parameters, and call OOMMF again for another ${\Delta}t$ running. We showed one example by using scripting embedded OOMMF scheme, tunneling magneto-resistance dependent switching time. We showed the simulation of tunneling magneto-resistance dependent switching process with non-uniform current density using the proposed framework as an example.