• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제8권8호
• /
• pp.2647-2662
• /
• 2014

This paper proposes an efficient and low complexity power-loading algorithm for MIMO-OFDM downlink based cognitive radio system that maximizes the sum rate of single secondary user (SU) under constraints on the tolerable interference thresholds between secondary user and primary user's frequency bands and the total transmission power. Our suboptimal algorithm is based on the $2^{nd}$ order interference tracking and nulling mechanism to allocate transmission power of the subcarriers among SU's scheme. The performance of our proposed suboptimal scheme is compared with the performance of the classical power loading algorithms, e.g., water filling, $1^{st}$ order interference tracking, nulling, and other suboptimal schemes. Numerical results show that our algorithm has low complexity but obtains a higher channel capacity than that of some previous suboptimal algorithms in some scenarios. We dedicate also that for a given interference threshold, the $2^{nd}$ order interference tracking mechanism has dynamic number of nulling position instead fixed number of nulling position.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1580-1586
• /
• 2003

This paper presents the design and the analysis of a "fish-like underwater robot". In order to develop swimming robot like a real fish, extensive hydrodynamic analysis were made followed by the study of biology of the fishes especially its maneuverability and propel styles. Swimming mode is achieved by mimicking fish-swimming of carangiform. This is the swimming mode of the fast motion using its tail and peduncle for propulsion. In order to generate configurations of vortices that gives efficient propulsion yawing and surging with a caudal fin has applied and in order to submerge and maintain the body balance pitching and heaving motion with a pair of pectoral fin is used. We have derived the equation of motion of PoTuna by two methods. In first method, we use the equation of motion of underwater vehicle with the potential flow theory for the power of propulsion. In second method, we apply the method of the equation of motion of UVM(Underwater Vehicle-Manipulator). Then, we compare these results.

• Journal of Advanced Marine Engineering and Technology
• /
• 제26권3호
• /
• pp.313-319
• /
• 2002

Since the oil crisis in 1970, a great deal of effort has been made to develop automatic electric load sharing systems as a part of the efforts to save energy. A large scale electric generating system composes more than two generators whose characteristics may be different. When such a system is operated individually or in parallel, the lagrange multiplier's method has difficulty in achieving optimal load distribution because generators usually have the limitations of the operating range with inequality constraints. Therefore, a suitable operating mode of generators has to be decided according to the selection of the generators to meet electric power requirements at the minimum cost. In this study, a method which solves the optimal electric load distribution problem using the dynamic programming technique is proposed. This study also shows that the dynamic programming method has an advantage in dealing with the optimal load distribution problem under the limitations of the operating range with inequality constraints including generator operation mode. In this study, generator operating cost curve of second order equation by shop trial test results of diesel generators are used. The results indicate that the proposed method can be applied to the ship's electric generating system.

• 경영과학
• /
• 제15권2호
• /
• pp.125-142
• /
• 1998

The aggregation on linear large-scale dynamic systems is examined in this paper and a "two-step" approach is proposed. In this procedure, the aggregated system consists of two subsystems. The first subsystem represents aggregation through the retainment of dominant eigenvalues of the original system, leading to a first approximation of the desired output of the original system. The purpose of augmenting it with a second subsystem is to provide an estimation of the error on the first approximation, thus permitting a second correction to the output approximation and resulting in an output approximation of greater accuracy. Optimization techniques are discussed for the determination of unknown parameters in the aggregated system. These techniques use minimization principles of certain suitable performance indices and are developed for both single input-single output and multiple input-multiple output system. Numerical examples illustrating these procedures are given and the results are compared with those obtained using existing methods. Finally, a pharmacokinetics problem is studied from the aggregation point of view.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
• /
• 제54권12호
• /
• pp.592-600
• /
• 2005

In this paper, a low loss magnetic levitation(Maglev) system is suggested and tested. The suggested Maglev system includes four hybrid magnets which consist of permanent magnet and coil. In the steady state, the levitated module system can be supported by attraction force generated by permanent magnet. The coil current controls only dynamic loads due to external disturbances. The module systems are designed by using finite element method(FEM) software tools such as MAXWELL and ANSYS. Also, digital control systems are designed to keep the magnet airgap at a constant value. The control systems include a VME(versa module europa)-based CPU(central processing unit) board, AD(analog to digital) board, PWM(pulse width modulation) board, 4-quadrant chopper, and sensors. In order to estimate the vertical velocity of the magnet, we use second order state observer with acceleration and gap signals as input and output signals, respectively. The characteristics of the suggested low loss Maglev system are demonstrated by experimental results showing coil current of 0A in the steady state of 3m airgap and performance specifications are satisfied for reference gap and force disturbance.

• 제어로봇시스템학회논문지
• /
• 제2권3호
• /
• pp.181-187
• /
• 1996

A frictionless positioning device using cone-shaped active magnetic bearings(AMBs) is developed, which is driven by a brushless DC motor equipped with resolver. The cone-shaped AMB feature that the structure is simple and yet the five d.o.f. rotor motion is controlled by four magnet pairs. A linearized dynamic model, which accounts for the relationship between input voltage and output current in the cone-shaped magnet, is developed and the azimuth motion of the frictionless positioning device is modeled as the second order system. The feedback controller is designed by using linear quadratic regulator with integral action optimal control law so that the cone-shaped AMB system is stabilized and the frictionless positioning device gets the zero steady state. It is observed that the linearized dynamic model is adequate and the frictionless positioning device can achieve the tracking accuracy within the sensor resolution.

• 제어로봇시스템학회논문지
• /
• 제22권11호
• /
• pp.904-911
• /
• 2016

This paper presents a novel driving system by the humanoid robot to drive a vehicle in disaster response situations. To enhance robot's capability for substituting human activities in responding to natural and man-made disaster, the one of prerequisite skills for the rescue robot is the mounted mobility to maneuver a vehicle safely in disaster site. Therefore, our driving system for the humanoid is developed in order to steer a vehicle through unknown obstacles even under poor communication conditions such as time-delay and black-out. Especially, the proposed system includes a tele-manipulation interface and stable navigation strategies. First, we propose a new type of path estimation method to overcome limited communication. Second, we establish navigation strategies when the operator cannot recognize obstacles based on Dynamic Window Approach. The effectiveness of the proposed developments is verified through simulation and experiments, which demonstrate suitable system for driving a vehicle in disaster response.

• 한국산학기술학회논문지
• /
• 제12권11호
• /
• pp.5194-5201
• /
• 2011

본 논문에서는 부분적으로 알고 있는 비선형 마찰력이 있는 2차 기계시스템에 대한 강인한 적응제어 기법을 제시한다. 제시하는 적응제어 방법은 잡음이나 모델링 에러가 없는 경우에는 위치 및 속도 추적 오차는 점근적으로 영으로 수렴함을 보장하며, 잡음이나 모델링 에러가 있는 경우에는 그동안 발표된 다른 논문의 결과와 달리 디자인 변수를 적절하게 선택하면 위치 및 속도 추적 오차를 원하는 범위까지 줄일 수 있음을 보였으며 이는 시뮬레이션 결과를 통해 입증하였다.

• Ocean Systems Engineering
• /
• 제3권4호
• /
• pp.275-294
• /
• 2013

Side-by-side offloading operations are widely utilized in engineering practice. The hydrodynamic interactions between two vessels play a crucial role in safe operation. This study focuses on the coupled effects between two floating bodies positioned side-by-side as a shuttle tanker-FPSO (floating production, storage and offloading) system. Several wave directions with different side-by-side distances are studied in order to obtain the variation tendency of the horizontal hydrodynamic coefficients, motion responses and mean drift forces. It is obtained that the coupled hydrodynamics between two vessels is evidently distinguished from the single body case with shielding and exaggerating effects, especially for sway and yaw directions. The resonance frequency and the peak amplitude are closely related with side-by-side separation distance. In addition, the horizontal hydrodynamics of the shuttle tanker is more susceptible to coupled effects in beam waves. It is suggested to expand the gap distance reasonably in order to reduce the coupled drift forces effectively. Attention should also be paid to the second peaks caused by hydrodynamic coupling. Since the horizontal mean drift forces are the most mainly concerned forces to be counteracted in dynamic positioning (DP) system and mooring system, prudent prediction is beneficial in saving consumed power of DP system and reducing tension of mooring lines.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2009년도 춘계학술대회 논문집
• /
• pp.444-449
• /
• 2009

An engine is one of the most dominant noise and vibration sources in vehicle systems. Therefore, in order to resolve noise and vibration problems due to engine, various types of engine mounts have been proposed. This work presents a new type of active engine mount system featuring a magneto-rheological (MR) fluid and a piezostack actuator. As a first step, six degrees-of freedom dynamic model of an in-line four-cylinder engine which has three points mounting system is derived by considering the dynamic behaviors of MR mount and piezostack mount. In the configuration of engine mount system, two MR mounts are installed for vibration control of roll mode motion whose energy is very high in low frequency range, while one piezostack mount is installed for vibration control of bounce and pitch mode motion whose energy is relatively high in high frequency range. As a second step, linear quadratic regulator (LQR) controller is synthesized to actively control the imposed vibration. In order to demonstrate the effectiveness of the proposed active engine mount, vibration control performances are evaluated under various engine operating speeds (wide frequency range) and presented in time domain.