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Multi-Restricted Area Avoidance Scenario Using Hybrid Dynamical Model and Its Predictive Controller

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Multi-restricted area avoidance scenario using hybrid dynamical model and its predictive controller

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, , , ,

Department of Mathematics, Diponegoro University, Semarang, 50275, Indonesia

Abstract

This article is addressed to show the results of hybrid dynamical modeling in the form of PWA (piecewise-Aﬃne) and equivalent MLD (mixed-logical dynamical) model for multi-restricted areas avoidance of an autonomous system. It is a problem of determining the optimal moving trajectory from plant's initial position to some desired position while avoiding some restricted areas (obstacles) between them. In order to calculate the optimal input value capable of generating the optimal trajectory, the model predictive control (MPC) approach was utilized by minimizing an objective function of state/output prediction subject to the formulated hybrid dynamical model. To illustrate the formulated model and its responses, some computational simulations were performed in a three-dimensional state using two/three box-shape restricted areas. From the simulation results, the optimal trajectory was achieved, and the plant avoided the restricted area. © ASTES Publishers. All rights reserved.

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Author keywords

Hybrid system Mixed-logical dynamic Multi-restricted area avoidance, piecewise-Aﬃne Predictive control

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Universitas Diponegoro UNDIP

Funding text

This work was funded by Universitas Diponegoro under RPI research grant.

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Comparison of Electrogastrograms in Seated and Supine Positions Using Wayland Algorithm Yasuyuki Matsuura, Hiroki Takada

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Optimal Discrete-time Sliding Mode Control for Nonlinear Systems Subject to Input Constraints Olfa Jedda, Ali Douik

Multi-Restricted Area Avoidance Scenario Using Hybrid Dynamical Model and Its Predictive Controller Sutrisno, Widowati, R. Heru Tjahjana, Sunarsih, Kartono

Inference Rule of Collision Risk Index based on Ship Near-Collision via Adaptive Neuro Fuzzy Inference System

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www.astesj.com 42

Comparison of Electrogastrograms in Seated and Supine Positions Using Wayland Algorithm

Yasuyuki Matsuura^1,*, Hiroki Takada²

1Department of Cross Cultural Studies, Gifu City Women’s College, 501-0192, Japan

2Department of Human & Artificial Intelligence Systems, Graduate School of Engineering, University of Fukui, 910-8507, Japan

A R T I C L E I N F O A B S T R A C T Article history:

Received:18 December, 2018 Accepted:26 June, 2019 Online: 11 July, 2019

In previous study, it is difficult to estimate the biological states such as postural ones and aetas in accordance with the previous analysis of electrogastrograms (EGGs), basically the frequency resolution of healthy individuals. In addition, few studies have compared gastric myoelectrical activity in supine and sitting posture. The aim of this study is to evaluate the severity of 3D sickness in daily life. The authors herein conduct nonlinear analysis of EGGs of the healthy young and give the feasibility to discriminate the postural differences. It is suggested that the EGGs acquired in the seated position have increased wavelength irregularity and attractor complexity than those acquired in the supine position.

Keywords:

Electrogastrogram Gastrointestinal motility Postural Change Wayland algorithm

1. Introduction

There are a myriad of activities in our sitting posture, including paper work, light work and others, and fatigue accumulates if this position is maintained for long periods. People usually sleep and respite in a supine position. Likewise, sick people and those affected by 3D sickness take a break in the supine posture.

Moreover, humans hardly get motion sickness while maintaining a supine position [1]. In contrast, a seated position can lead to experience both motion sickness, especially in moving ships, cars, and trains, and visually induced motion sickness (VIMS) that occurs while viewing stereoscopic movies. Still, few studies have made a comparison between gastrointestinal motilities in supine and those in seated posture to evaluate the severity of the VIMS.

One of the most relevant theories for VIMS is the sensory conflict theory [2-4]. According to this theory, sensory mismatch between visual and vestibular signals would be induced in virtual space compared to the real world [5]. Moreover, close anatomical and electrophysiological relationships between the autonomic and vestibular nervous systems have been reported [6]. It has been known that there is interaction between vestibular and autonomic nervous systems in the physiological fields; the motion sickness might affect both systems because dizziness and hidropoiesis are induced by the reaction of the autonomic nervous system due to the excessive stimulus for the vestibular system. For instance, it has been reported that the level of histamine increased in the

hypothalamus and brainstem in rats due to the rotation stimuli, which is possibly associated with vomiting during the motion sickness [7]. In addition, motion sickness seems to be induced by the contradiction among visual, vestibular, auditory, and proprioceptive inputs. These sensory informations can be compared with the previous experiences. The sensory informations are expected from the previous ones, however, they might be deviating from the previous experiences. According to the sensory conflict theory, the motion sickness would be occurred by this kind of the divergence.

Physiological and psychological measurements are used to evaluate the influence of VIMS on the body. The latter method to evaluate VIMS is the simulator sickness questionnaire [8]. On the other hand, physiological evaluation of VIMS has been conducted using parameters such as the high- and low- frequency components of electrogastrography, skin resistance, blood pressure, heart rate volubility, sweat rate, number of blinks, and respiratory rate [9–

11].

A unique rhythm is associated with each variation of a physiological phenomenon. These include short repeated cycles, such as pulses, which are repeated in units of seconds, and long cycles, such as seasonal variations, which repeat in units of years.

For instance, we can observe the circadian-dependent variability in the human blood pressure [12]. This is known as intra-day blood pressure fluctuation and can have an intra-day variation pattern characterized by high blood pressure in the daytime and decreased blood pressure at night [13]. Autonomous nerve activity

ASTESJ ISSN: 2415-6698

*Yasuyuki Matsuura, 7-1 Hitoichiba Kitamachi Gifu 501-0192 Japan, +81-58- 296-3131 & [email protected]

Advances in Science, Technology and Engineering Systems Journal Vol. 4, No. 4, 42-46 (2019) www.astesj.com

Special Issue on Recent Advances in Engineering Systems

https://dx.doi.org/10.25046/aj040405

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www.astesj.com 47

The Study of PSi & PSo Algorithm for Reducing Power of the Mobile Communication Network

Jongsin Kim^*,1, Yonggil Choi², Younghoon Oh²

1Department of IT Policy and Management, Soongsil University, 06978, South Korea

2SK Telecom, Western Infra Engineering Team, 62355, South Korea

A R T I C L E I N F O A B S T R A C T Article history:

Received: 09 April 2019 Accepted: 26 June, 2019 Online: 11 July, 2019

Recently, the trend of mobile communication network in Korea has been dramatically increasing the number of operating equipment for managing the explosion of wireless data traffic in 4G LTE network. This phenomenon has caused an increase in the operating cost to the mobile telecommunication service provider. Especially, the study about the reduction of the operating cost through the reduction of the power consumption in the power consumption area and the efficient operation method are under study. Through these studies, we consider the method to maintain the best service quality of mobile communication subscriber while minimizing the power consumption of LTE equipment, find out PSi & PSo algorithm that can realize this and verify it in commercial network. Applying this algorithm to a commercial network will save both power consumption and service experience of mobile subscribers to the best level, and it will be more effective in the 5G era that has already begun.

Keywords:

Power Saving Energy Saving 4G/5G LTE Algorithm

1. Introduction

This paper is an extension of work originally presented in 2018 International Conference on Information and Communication Technology Convergence (ICTC) [1].

The world has already begun to enter the 5G world, and the first 5G signal in Korea has started to be transmitted. There are also many killer services available to satisfy customers' needs. This means that a lot of people are using smartphones and are getting into daily life. In the past, the use patterns of voice-based usage changed with data, and the network that accommodates customers changed quickly. As the LTE network matured, the frequency bandwidth and the number of equipment services are continuously increasing to accommodate the increasing subscriber traffic [2].

This provides a pleasant environment for various services and accommodates a growing number of subscribers, but the cost of operating of equipment has increased. SK Telecom's electricity costs account for about 30% of the total cost of operating a network, exceeding 30% in 2017, which is still rising. In 2019, electricity costs are expected to account for 35% of total operating costs.

This increase in network operating costs is bringing considerable stress to mobile telecom operators, and it is also

evolving to a level that significantly affects corporate EBITDA [3].

As a result, each company has a great interest in reducing the cost of network operation, especially in the field of electric power. In previous mobile communication areas, there has been much interest in battery efficiency aspects such as SoC (System on Chip) upgrade [4] and C-DRX(Connected Mode Discontinuous Reception) [5]. Recently, attention has been focused on the reduction of power consumption of network equipment itself.

Figure 1: Electricity charges and ratio in operating costs

We used the power saving function of SK Telecom's NOKIA equipment to investigate how to reduce the power consumption of the network equipment itself. Through the derivation of optimal values of PSi and PSo, which are control variables for triggering

30.3%

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35.5%

27.0%

28.0%

29.0%

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31.0%

32.0%

33.0%

34.0%

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0 200 400 600 800 1000 1200 1400

2015 2016 2017 2018 2019_E

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Total operating costs Electricity charges ratio

ASTESJ ISSN: 2415-6698

*Jongsin Kim, +8210-3768-6309, Email: [email protected]

Advances in Science, Technology and Engineering Systems Journal Vol. 4, No. 4, 47-50 (2019) www.astesj.com

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