• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2617-2622
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• 2003

The pH neutralization process has long been taken as a representative benchmark problem of nonlinear chemical process control due to its nonlinearity and time-varying nature. For general nonlinear processes, it is difficult to control with a linear model-based control method so nonlinear controls must be considered. Among the numerous approaches suggested, the most rigorous approach is the dynamic optimization. However, as the size of the problem grows, the dynamic programming approach is suffered from the curse of dimensionality. In order to avoid this problem, the Neuro-Dynamic Programming (NDP) approach was proposed by Bertsekas and Tsitsiklis (1996). The NDP approach is to utilize all the data collected to generate an approximation of optimal cost-to-go function which was used to find the optimal input movement in real time control. The approximation could be any type of function such as polynomials, neural networks and etc. In this study, an algorithm using NDP approach was applied to a pH neutralization process to investigate the feasibility of the NDP algorithm and to deepen the understanding of the basic characteristics of this algorithm. As the global approximator, the neural network which requires training and k-nearest neighbor method which requires querying instead of training are investigated. The global approximator requires optimal control strategy. If the optimal control strategy is not available, suboptimal control strategy can be used even though the laborious Bellman iterations are necessary. For pH neutralization process it is rather easy to devise an optimal control strategy. Thus, we used an optimal control strategy and did not perform the Bellman iteration. Also, the effects of constraints on control moves are studied. From the simulations, the NDP method outperforms the conventional PID control.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권4호
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• pp.1603-1623
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• 2020

Multiple Mobile Robots System (MMRS) has shown many attractive features in lots of real-world applications that motivate their rapid and wide diffusion. In MMRS, the Cooperative Localization (CL) is the basis and premise of its high-performance task. However, the statistical characteristics of the system noise should be already known in traditional CL algorithms, which is difficult to satisfy in actual MMRS because of the numerous of disturbances form the complex external environment. So the CL accuracy will be reduced. To solve this problem, an improved Adaptive Active Cooperative Localization (A²CL) algorithm based on information optimization strategy for MMRS is proposed in this manuscript. In this manuscript, an adaptive information fusion algorithm based on the variance component estimation under Extended Kalman filter (VCEKF) method for MMRS is introduced firstly to enhance the robustness and accuracy of information fusion by estimating the covariance matrix of the system noise or observation noise in real time. Besides, to decrease the effect of observation uncertainty on CL accuracy further, an observation optimization strategy based on information theory, the Model Predictive Control (MPC) strategy, is used here to maximize the information amount from observations. And semi-physical simulation experiments were carried out to verity the A²CL algorithm's performance finally. Results proved that the presented A²CL algorithm based on information optimization strategy for MMRS cannot only enhance the CL accuracy effectively but also have good robustness.

• Journal of Information Processing Systems
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• 제5권2호
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• pp.105-116
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• 2009

To solve the general problems surrounding the application of genetic algorithms in stereo matching, two measures are proposed. Firstly, the strategy of simplified population-based incremental learning (PBIL) is adopted to reduce the problems with memory consumption and search inefficiency, and a scheme for controlling the distance of neighbors for disparity smoothness is inserted to obtain a wide-area consistency of disparities. In addition, an alternative version of the proposed algorithm, without the use of a probability vector, is also presented for simpler set-ups. Secondly, programmable graphics-hardware (GPU) consists of multiple multi-processors and has a powerful parallelism which can perform operations in parallel at low cost. Therefore, in order to decrease the running time further, a model of the proposed algorithm, which can be run on programmable graphics-hardware (GPU), is presented for the first time. The algorithms are implemented on the CPU as well as on the GPU and are evaluated by experiments. The experimental results show that the proposed algorithm offers better performance than traditional BMA methods with a deliberate relaxation and its modified version in terms of both running speed and stability. The comparison of computation times for the algorithm both on the GPU and the CPU shows that the former has more speed-up than the latter, the bigger the image size is.

• Journal of Communications and Networks
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• 제15권1호
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• pp.102-110
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• 2013

This paper considers a cooperative orthogonal frequency division multiple access (OFDMA)-based cognitive radio network where the primary system leases some of its subchannels to the secondary system for a fraction of time in exchange for the secondary users (SUs) assisting the transmission of primary users (PUs) as relays. Our aim is to determine the cooperation strategies among the primary and secondary systems so as to maximize the sum-rate of SUs while maintaining quality-of-service (QoS) requirements of PUs. We formulate a joint optimization problem of PU transmission mode selection, SU (or relay) selection, subcarrier assignment, power control, and time allocation. By applying dual method, this mixed integer programming problem is decomposed into parallel per-subcarrier subproblems, with each determining the cooperation strategy between one PU and one SU. We show that, on each leased subcarrier, the optimal strategy is to let a SU exclusively act as a relay or transmit for itself. This result is fundamentally different from the conventional spectrum leasing in single-channel systems where a SU must transmit a fraction of time for itself if it helps the PU's transmission. We then propose a subgradient-based algorithm to find the asymptotically optimal solution to the primal problem in polynomial time. Simulation results demonstrate that the proposed algorithm can significantly enhance the network performance.

• 한국항해항만학회지
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• 제32권10호
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• pp.829-835
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• 2008

본 연구의 목적은 컨테이너터미널에서 사용되는 다기능 이송차량을 위한 2단계 배차전략을 제시하는 것이다. 2단계 배차는 실시간 위치 제어를 사용하여 이송차량과 크레인간의 대기시간을 절감시키기 위한 방법이다. 배차 1단계는 실시간 위치정보를 바탕으로 목적지 위치를 할당하는 것이며, 기존의 실시간 배차에서 이용되는 방식에 모니터링을 보안한 것이다. 배차 2단계는 이송차량의 싣기, 놓기, 집기 등의 기능을 작업장소의 작업상황에 따라 선택하여 작업지시를 내리는 것이다. 다기능 이송차량의 2단계 배차전략은 하역시스템의 대기시간을 감소시켜 생산성 향상에 기여할 것이다.

• 제어로봇시스템학회논문지
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• 제7권7호
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• pp.559-566
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• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• 디지털융복합연구
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• 제10권10호
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• pp.155-163
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• 2012

본 연구의 목적은 현재 한국 광고의 메시지 전략 및 트랜드를 분석하기 위해 실시되었다. 본 연구 목적을 실행하기 위해서 한국 주요 3사 방송국 (KBS, MBC, SBS)의 주요 시간대 (저녁 7시-9시)의 광고를 내용분석 하였다. 내용분석 결과 한국 방송 광고의 주요 내용은 직접적인 메시지가 간접적인 메시지보다 많았고, 제품과 광고 메시지의 관계가 높았다. 더불어 브랜드 광고 빈도가 높았으며, 유머가 적게 나타났고, 회사의 명성을 중요시하는 광고가 많았다. 본 연구의 결과는 글로벌 기업들에게 한국시장의 프로모션에 관련된 지역화 전략을 수립하는데 유용할 것으로 판단된다.

• Journal of Power Electronics
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• 제3권4호
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• pp.205-214
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• 2003

This paper proposes a simple control strategy based on the discontinuous PWM (DPWM) to balance the DC-link voltage of three-level neutral-point-clamped (NPC) inverter at low modulation index. It introduces new DPWM methods in multi-level inverter and one of them is used for balancing the DC-link voltage. The current flowing in the neutral point of the DC-link causes the fluctuation of the DC-link voltage of the NPC inverter. The proposed DPWM method changes the path and duration time of the neutral point current, which makes the overall fluctuation of the DC-link voltage zero during a sampling time of the reference voltage vector. Therefore, by using the proposed strategy, the voltage of the DC-link can be balanced fairly well and the voltage ripple of the DC-link is also reduced significantly. Moreover, comparing with conventional methods which have to perform the complicated calculation, the proposed strategy is very simple. The validity of the proposed DPWM method is verified by the experiment.

• Journal of East Asia Management
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• 제3권2호
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• pp.1-19
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• 2022

This study suggests an integrated theoretical framework for the relationship between political risk and multinational corporation (MNC) subsidiary's performance in the emerging market. The political risk would have a negative impact on MNC subsidiary's performance in the emerging countries that are developing in Asia, the Commonwealth of Independent States, Africa, and South America. The major reason is that political risks could generate a loss of benefit or a loss of control for MNC's subsidiary. In this study, I suggest that corporate social responsibility (CSR) strategy would be a solution to overcome various political risks. Specifically, the affiliated firms with diversified industries or greater financial resources could mitigate the negative impact of political risk than unaffiliated firms. Because they can use their tangible or nontangible asset such as information, technology, and construction in order to gain legitimacy and trust from local government, local community, and local firms in the emerging market. Finally, I claimed the costs of the affiliated firms would exceed the benefits at the initial stages, while the benefits of affiliated firms would exceed the costs over time when political risks become higher. The reason is that the trust gained from local stakeholders accumulates over time and the impact of CSR strategy would become an important solution to overcome the risks in and unstable context.

• Journal of Power Electronics
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• 제14권3호
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• pp.519-530
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• 2014

A novel simplified pulse width modulation(PWM) strategy for neutral point clamped (NPC) three-level converter is proposed in this paper.The direct output voltage modulation is applied to reduce the calculation time. Based on this strategy, several optimized control methods are proposed. The neutral point potential balancing algorithm is discussed and a fine neutral point potential balancing scheme is introduced. Moreover, the minimum pulse width compensation and switching losses reduction can be easily achieved using this modulation strategy. This strategy also gains good results even with the unequal DC link capacitor. The modulation principle is studied in detail and the validity of this simplified PWM strategy is experimentally verified in this paper. The experiment results indicated that the proposed PWM strategy has excellent performance, and the neutral point potential can be balanced well with unequal DC link captaincies.