• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2320-2322
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• 2001

This paper describes the design of a robust adaptive neural-net(NN) observer for uncertain nonlinear dynamical system. The Lyapunov synthesis approach is used to guarantee a uniform ultimate boundedness property of the state estimation error, as well as of all other signals in the closed-loop system. Especially, for reducing the dynamic oder of the observer, we propose a new method in which no strictly positive real(SPR) condition is needed with on-line estimation of weights of the NNs. No a priori knowledge of an upper bounds on the uncertain terms is required. The theoretical results are illustrated through a simulation example.

• Journal of IKEEE
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• v.13 no.1
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• pp.11-18
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• 2009

In this paper, the stability of second order uncertain systems with regulation of PID type controllers is analyzed by using Lyapunov second method for the first time in the time domain. The property of the stability of PID regulation servo systems is revealed in sense of Lyapunov, i.e., bounded stability due to the disturbances and uncertainties. By means of the results of this stability analysis, the maximum norm bound of the error from the output without variation of the uncertainties and disturbances is determined as a function of the gains of the PID control, which make it enable to analyze the effect resulted from the variations of the disturbances and uncertainties using this norm bound for given PID gains. Using the relationship of the error from the output without variation of the uncertainties and disturbances and the PID gain with maximum bounds of the disturbances and uncertainties, the robust gain design rule is suggested so that the error from the output without the variation of the disturbances and uncertainties can be guaranteed by the prescribed specifications as the advantages of this study. The usefulness of the proposed algorithm is verified through an illustrative example.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.637-648
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• 2007

This paper presents a sensor fusion method based on indirect Kalman filter(IKF) for error compensation of low-cost inertial sensors and its application to the determination of attitude and position of small flying robots. First, the analysis of the measurement error characteristics to zero input is performed, focusing on the bias due to the temperature variation, to derive a simple nonlinear bias model of low-cost inertial sensors. Moreover, from the experimental results that the coefficients of this bias model possess non-deterministic (stochastic) uncertainties, the bias of low-cost inertial sensors is characterized as consisting of both deterministic and stochastic bias terms. Then, IKF is derived to improve long term stability dominated by the stochastic bias error, fusing low-cost inertial sensor measurements compensated by the deterministic bias model with non-inertial sensor measurement. In addition, in case of using intermittent non-inertial sensor measurements due to the unreliable data link, the upper and lower bounds of the state estimation error covariance matrix of discrete-time IKF are analyzed by solving stochastic algebraic Riccati equation and it is shown that they are dependant on the throughput of the data link and sampling period. To evaluate the performance of proposed method, experimental results of IKF for the attitude determination of a small flying robot are presented in comparison with that of extended Kaman filter which compensates only deterministic bias error model.

• Journal of Communications and Networks
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• v.11 no.1
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• pp.84-93
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• 2009

This paper focuses on message complexity performance analysis of mobile ad hoc network (MANET) address autoconfiguration protocols (AAPs) in reference to link errors generated by mobile wireless nodes. An enhancement was made using a proposed retransmission limit, S, to be computed for error recovery (based on the link error probability), to measure message complexity of AAPs in reference to the link error probability, $P_e$. The control procedures for the retransmission limit have been included for each of the AAPs. Retransmission limit control is critical for efficient energy consumption of MANET nodes operating on limited portable energy. O-notation has been applied to analyze the upper bound of the number of messages generated by a MANET group of nodes. The AAPs investigated in this paper are strong duplicate address detection (DAD), weak DAD with proactive routing protocol (WDP), weak DAD with on-demand routing protocol (WDO), and MANETConf. Each AAP reacts different to link errors, as each AAP has different operational procedures. The required number of broadcasting, unicasting, relaying, and received messages of the nodes participating in a single-node joining procedure is investigated to asymptotically calculate the message complexity of each AAP. Computer simulation was conducted and the results have been analyzed to verify the theoretical message complexity bounds derived. The message complexity of WDP was lowest, closely followed byWDO, based on the simulation results and analysis of the message complexity under nominal situations. The message complexity of MANETConf was higher than WDO, and strong DAD resulted to be most complex among the four AAPs.

• ETRI Journal
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• v.30 no.2
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• pp.227-237
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• 2008

In this paper, an algorithm that provides absolute and proportional differentiation of packet delays is proposed with the objective of enhancing quality of service in future packet networks. It features an adaptive scheme that adjusts the target delay for every time slot to compensate the deviation from the target delay, which is caused by prediction error on the traffic to arrive at the next time slot. It predicts the traffic to arrive at the beginning of a time slot and measures the actual arrived traffic at the end of the time slot. The difference between them is utilized by the delay control operation for the next time slot to offset it. Because the proposed algorithm compensates the prediction error continuously, it shows superior adaptability to bursty traffic and exponential traffic. Through simulations we demonstrate that the algorithm meets the quantitative delay bounds and is robust to traffic fluctuation in comparison with the conventional non-adaptive mechanism. The algorithm is implemented with VHDL on a Xilinx Spartan XC3S1500 FPGA, and the performance is verified under the test board based on the XPC860P CPU.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.28 no.10
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• pp.381-386
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• 2016

An optimization algorithm is developed based on a simulation case of a single family house model equipped with PV arrays. To increase the nationwide use of PV power generation facilities, a market-competitive electricity price needs to be introduced, which is determined based on the time of use. In this study, quadratic programming optimization was applied to minimize the electricity bill while maintaining the indoor temperature within allowable error bounds. For optimization, it is assumed that the weather and electricity demand are predicted. An EnergyPlus-based house model was approximated by using an equivalent RC circuit model for application as a linear constraint to the optimization. Based on the RC model, model predictive control was applied to the management of the cooling load and electricity for the first week of August. The result shows that more than 25% of electricity consumed for cooling can be saved by allowing excursions of temperature error within an affordable range. In addition, profit can be made by reselling electricity to the main grid energy supplier during peak hours.

• Structural Engineering and Mechanics
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• v.29 no.5
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• pp.469-488
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• 2008

Finite element methods have often been used for structural analyses of various mechanical problems. When finite element analyses are utilized to resolve mechanical systems, numerical uncertainties in the initial data such as structural parameters and loading conditions may result in uncertainties in the structural responses. Therefore the initial data have to be as accurate as possible in order to obtain reliable structural analysis results. The typical finite element method may not properly represent discrete systems when using uncertain data, since all input data of material properties and applied loads are defined by nominal values. An interval finite element analysis, which uses the interval arithmetic as introduced by Moore (1966) is proposed as a non-stochastic method in this study and serves a new numerical tool for evaluating the uncertainties of the initial data in structural analyses. According to this method, the element stiffness matrix includes interval terms of the lower and upper bounds of the structural parameters, and interval change functions are devised. Numerical uncertainties in the initial data are described as a tolerance error and tree graphs of uncertain data are constructed by numerical uncertainty combinations of each parameter. The structural responses calculated by all uncertainty cases can be easily estimated so that structural safety can be included in the design. Numerical applications of truss and frame structures demonstrate the efficiency of the present method with respect to numerical analyses of structural uncertainties.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.44 no.6 s.360
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• pp.18-23
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• 2007

In this Paper, we consider multiple input multiple output Feher-patented quadrature phase shift keying (MIMO-FQPSK) system supporting high spectral efficiency and throughput. Based on the fact that the complex baseband signal sampled at every bit duration has only eight phase values and its signal can be considered as 8-phase-shift keying signal, FQPSK demodulation with maximum likelihood sequence estimation(MLSE) is considered and it is extended to MIMO system. The performance of MIMO-FQPSK receiver is analyzed by computer simulation and by considering the union upper bounds for zrero forcing detection and minimum mean square error detection.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.5A
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• pp.317-324
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• 2012

Physical layer network coding (PNC) was first introduce by Zhang et al. for two-way relay channels (TWRCs). By utilizing the PNC, we can complete two-way communications within two time slots, instead of three time slots required in non-PNC systems. Recently, the upper and lower bounds for a bit error rate (BER) of PNC have been analyzed for fading channels. In this paper, we derive an exact BER of the PNC for the TWRC over fading channels. We determine decision regions based on the nearest neighbor rule and partition them into several wedge areas to apply the Craig's polar coordinate form for computing the BER. We confirm that our derived analysis accurately matches with the simulation results.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.11
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• pp.68-74
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• 1998

This paper deals with a model reduction problem for the linear systems with state delay. After defining the controllability/observability Gramians, the concept of a balanced model for the linear systems with state delay is introduced. Based on solutions of linear matrix inequalities, the model reduction method with guaranteed error bounds is developed. In order to demonstrate the efficacy of teh suggested method, a numerical example is also performed.