• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.552-557
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• 2004

This paper presents a disturbance observer based on an $H_{\infty}$ controller synthesis for the trajectory control of a hydraulic excavator. Compared to conventional robot manipulators driven by electrical motors, the hydraulic excavator has more nonlinear and coupled dynamics. In particular, the interactions between an excavation tool and the materials being excavated are unstructured and complex. In addition, its operating modes depend on working conditions, which make it difficult to not only derive the exact mathematical model but also design a controller systematically. In this study, the approximated linear model obtained through off-line system identification is used as nominal plant model for a disturbance observer. A disturbance observer based tracking controller which considers the effect of disturbance and model uncertainty is synthesized in $H_{\infty}$ frameworks. Simulation results are used to demonstrate the applicability of the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.438-443
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• 2003

In this paper, we propose a control algorithm for two-wheel mobile robot that can move the rider to his or her command and autonomously keep its balance. The control algorithm is based on a mixed $H_2/H_{\infty}$ control scheme. In this control problem the main issue is to move the rider while keeping its balance in the presence of disturbances and parameter uncertainties. The disturbance force caused by uneven road surfaces and the uncertainty due to different rider's heights are considered. To this end we first consider a state feedback controller as a basic framework. Secondly, we obtain the state feedback gain $K_2$ minimizing the $H_2$ norm and the state feedback gain $K_{\infty}$ minimizing the $H_{\infty}$ norm over the whole range of parameter uncertainty. Finally, we select mixed $H_2$/$H_{\infty}$ state feedback controller K as the geometric mean of $K_2$ and $K_{\infty}$. Simulation results show that the mixed $H_2/H_{\infty}$ state feedback controller combines the effects of the optimal $H_2$ state feedback controller and robust $H_{\infty}$ controller state feedback controller efficiently in the presence of disturbance and parameter uncertainty.

• Journal of Astronomy and Space Sciences
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• v.37 no.2
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• pp.117-129
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• 2020

In a Satellite communication system, a link budget analysis is the detailed investigation of signal gains and losses moving through a channel from a sender to receiver. It inspects the fading of passed on data signal waves due to the process of spreading or propagation, including transmitter and receiver antenna gains, feeder cables, and related losses. The extent of the proposed tool is to make an effective, efficient, and user-friendly approach to calculate link budget analysis. It is also related to the satellite communication correlation framework by building up a graphical interface link analysis tool utilizing STK^® software with the interface of C# programming. It provides better kinds of graphical display techniques, exporting and importing data files, printing link information, access data, azimuth-elevation-range (AER), and simulation is also possible at once. The components of the link budget analysis tool include transmitter gain, effective isotropic radiated power (EIRP), free space loss, propagation loss, frequency Doppler shift, flux density, link margin, elevation plot, etc. This tool can be useful for amateur users (e.g., CubeSat developers in the universities) or nanosat developers who may not know about the RF communication system of the satellite and the orbital mechanics (e.g., orbit propagators) principle used in the satellite link analysis.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.8
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• pp.3701-3727
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• 2016

Recently Service Function Chaining (SFC) is promising to innovate the network service mode in modern networks. However, a feasible implementation of SFC is still difficult due to the need to achieve functional equivalence with traditional modes without sacrificing performance or increasing network complexity. In this paper, we present a configurable network service chaining (CNSC) mechanism to provide services for network traffics in a flexible and optimal way. Firstly, we formulate the problem of network service chaining and design an effective service chain construction framework based on integrating software-defined networking (SDN) with network functions virtualization (NFV). Then, we model the service path computation problem as an integer liner optimization problem and propose an algorithm named SPCM to cooperatively combine service function instances with a network utility maximum policy. In the procedure of SPCM, we achieve the service node mapping by defining a service capacity matrix for substrate nodes, and work out the optimal link mapping policies with segment routing. Finally, the simulation results indicate that the average request acceptance ratio and resources utilization ratio can reach above 85% and 75% by our SPCM algorithm, respectively. Upon the prototype system, it is demonstrated that CNSC outperforms other approaches and can provide flexible and scalable network services.

• Journal of Communications and Networks
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• v.16 no.1
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• pp.67-80
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• 2014

Spectrum sensing is vital for secondary unlicensed nodes to coexist and avoid interference with the primary licensed users in cognitive wireless networks. In this paper, we develop models for bounding interference levels from secondary network to the primary nodes within a spectrum sensing framework. Instead of classical stochastic approaches where Poisson point processes are used to model transmitters, we consider a more practical model which takes into account the medium access control regulations and where the secondary Poisson process is judiciously thinned in two phases to avoid interference with the secondary as well as the primary nodes. The resulting process will be a modified version of the Mat$\acute{e}$rn point process. For this model, we obtain bounds for the complementary cumulative distribution function of interference and present simulation results which show the developed analytical bounds are quite tight. Moreover, we use these bounds to find the operation regions of the secondary network such that the interference constraint is satisfied on receiving primary nodes. We then obtain theoretical results on the primary and secondary throughputs and find the throughput limits under the interference constraint.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.6
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• pp.2848-2869
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• 2017

Mobile Wireless Sensor Networks (MWSN) are usually constrained in energy supply, which makes energy efficiency a key factor to extend the network lifetime. The management of the network topology has been widely used as a mechanism to enhance the lifetime of wireless sensor networks (WSN), and this work presents an alternative to this. Software Defined Networking (SDN) is a well-known technology in data center applications that separates the data and control planes during the network management. This paper proposes a solution based on SDN that optimizes the energy use in MWSN. The network intelligence is placed in a controller that can be accessed through different controller gateways within a MWSN. This network intelligence runs a Topology Control (TC) mechanism to build a backbone of coordinator nodes. Therefore, nodes only need to perform forwarding tasks, they reduce message retransmissions and CPU usage. This results in an improvement of the network lifetime. The performance of the proposed solution is evaluated and compared with a distributed approach using the OMNeT++ simulation framework. Results show that the network lifetime increases when 2 or more controller gateways are used.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.10
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• pp.4823-4843
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• 2017

In this paper, an improved utility-based cross-layer dynamic subcarrier allocation (DSA) algorithm is proposed for single carrier frequency division multiple access (SC-FDMA) system, which adopts adaptive service rate control (ASRC) to eliminate the service rate waste and improve the spectral efficiency in heterogeneous network including non-real-time traffic and real-time traffic. In this algorithm, furthermore, a first in first out (FIFO) queuing model with finite space is established on the cross-layer scheduling framework. Simulation results indicate that by taking the service rate constraint as the necessary condition for optimality, the ASRC algorithm can effectively eliminate the service rate waste without compromising the scheduling performance. Moreover, the ASRC algorithm is able to further improve the quality of service (QoS) performance and transmission throughput by contributing an attractive performance trade-off between real-time and non-real-time applications.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.3
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• pp.1074-1086
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• 2015

We Relay-assisted cellular network architecture has been developed to cover cell-edge users and to improve capacity. However, the deployment of relay stations (RSs) in cellular networks may increase the total energy consumption. Though energy efficiency has become a major concern in cellular networks, little work has studied the energy efficiency of relay-assisted cellular networks by sleep scheduling. In this paper, a distributed base stations (BSs) sleep scheduling scheme in relay-assisted cellular networks is proposed. The goal is to maximize the energy efficiency under the spectral efficiency constraint. Firstly, whether the BSs should be sleeping or active is determined by the traffic profile. Then, the transmission powers of the active BSs are optimized within the game-theoretic framework, by using an interior-point method, so as to maximize the energy efficiency. Simulation results demonstrate that the effectiveness of the proposed scheme is superior to that turning on all the BSs without sleep scheduling.

• ETRI Journal
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• v.36 no.1
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• pp.31-41
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• 2014

The heterogeneous network (HetNet) has been discussed in detail in the Long-Term Evolution (LTE) and LTE Advanced standards. However, the standardization of High-Speed Packet Access HetNet (HSPA HetNet) launched by 3GPP is pushing at full steam. Interference coordination (IC), which is responsible for dealing with the interference in the system, remains a subject worthy of investigation in regard to HSPA HetNet. In this paper, considering the network framework of HSPA HetNet, we propose a quasi-distributed IC (QDIC) scheme to lower the interference level in the co-channel HSPA HetNet. Our QDIC scheme is constructed as slightly different energy-efficient non-cooperative games in the downlink (DL) and uplink (UL) scenarios, respectively. The existence and uniqueness of the equilibrium for these games are first revealed. Then, we derive the closed-form best responses of these games. A feasible implementation is finally developed to achieve our QDIC scheme in the practical DL and UL. Simulation results show the notable benefits of our scheme, which can indeed control the interference level and enhance the system performance.

• Proceedings of the Korean Society of Computational and Applied Mathematics Conference
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• 2003.09a
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• pp.15-15
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• 2003

We provide some recent results of approximation algorithms for solving Markov Games and discuss their applications to problems that arise in Computer Science. We consider a receding horizon approach as an approximate solution to two-person zero-sum Markov games with an infinite horizon discounted cost criterion. We present error bounds from the optimal equilibrium value of the game when both players take “correlated” receding horizon policies that are based on exact or approximate solutions of receding finite horizon subgames. Motivated by the worst-case optimal control of queueing systems by Altman, we then analyze error bounds when the minimizer plays the (approximate) receding horizon control and the maximizer plays the worst case policy. We give two heuristic examples of the approximate receding horizon control. We extend “parallel rollout” and “hindsight optimization” into the Markov game setting within the framework of the approximate receding horizon approach and analyze their performances. From the parallel rollout approach, the minimizing player seeks to combine dynamically multiple heuristic policies in a set to improve the performances of all of the heuristic policies simultaneously under the guess that the maximizing player has chosen a fixed worst-case policy. Given $\varepsilon$>0, we give the value of the receding horizon which guarantees that the parallel rollout policy with the horizon played by the minimizer “dominates” any heuristic policy in the set by $\varepsilon$, From the hindsight optimization approach, the minimizing player makes a decision based on his expected optimal hindsight performance over a finite horizon. We finally discuss practical implementations of the receding horizon approaches via simulation and applications.