Contents 1 2 Control engineering Working together with

Contents 1 2 Control engineering Working together with other areas 3 Promoting control engineering 4 Extending control theories 5 A nice bridger in engineering 2

1 1 Control engineering l Control objectives l Wide coverage l An essence of convergence

Control engineering Control objectives 제어와 통제가 안된 시스템 제어와 통제가 완벽히 이루어진 시스템 균형이 이루어지지 않은 시스템 균형이 이루어진 시스템 l Control engineering covers a wide variety of topics. l Control engineering is an essence of convergence. 4

Control engineering Wide coverage l l From low-level device controls to high-level contents or services • From micro scale in a cell or nano system to macro scale over country. • Hierarchical structure leads to more systematic design Putting much weight on platform, interfaces, and tools • Focusing on making good use of the knowledge • Issuing on how to integrate the existing ones or how to make a business model. Go to the room 203 and bring a cup to me Life dynamics : solution for unbalances from cities, energies, information Services : driving and entertainment ( “CPS”, “Intelligent”, “Smart”) Advanced behaviors : walking, dancing, navigating Device controls : motors, circuits, mechanical systems and so on Platforms or interfaces are required !!! 5

Control engineering Essence of convergence l 지능형 로봇 개발을 위한 공통기반 플랫폼 기술 개발 6

Control engineering Essence of convergence e nc ge r ve on C HW Theory SW Control Engineering Additional strategy of convergence (Prof Ahn) Market place Business model 7

2 2 Working together with other areas. l Smart wheelchair l Electric vehicle l Dynamic thermal management l Smart grid

Working together with other areas Smart wheelchair l A wheelchair for the visually and cognitively impaired people ■ Without control ■ With control 9

Working together with other areas Smart wheelchair l Control structure Steering signal Torque signal + - Torque controller Motor driver Speed ratio control ++ Torque controller Motor driver speed Right motor speed Left motor l Hardware structure Voltages Controller Speed Voltage Speeds 10

Working together with other areas Smart wheelchair l A wheelchair made by POSCO ICT l More advanced control scheme ■ With improper control ■ With proper control 11

Working together with other areas Electric vehicle l Electronic differential - Simple vehicle drive arrangement - In-wheel motors - No differential gear “도구와 기계의 원리” 에서 발췌 12

Working together with other areas Electric vehicle l A proposal from industry l Control structures 13

Working together with other areas Electric vehicle l Reference speed ratio l Small scale experiment l Real experiment “Speed ratio control for electronic differentials” Electronics letters, Vol. 47, No. 16, Aug. , 2011. 14

Working together with other areas Electric vehicle l Vehicle dynamic control 15

Working together with other areas Electric vehicle l Improved speed ratio control ■ Without control l Control structure 16

Working together with other areas Dynamic thermal management (DTM) l ECUs l Simulation l Control structure “Control-theoretic dynamic thermal management of automotive electronics control units” IEEE Transactions on emerging and selected topics in circuits and systems, Vol. 1, No. 2, June, 2011. 17

Working together with other areas Smart Grid : V 2 G Economic Load Dispatch (ELD) is planned day-ahead for a few minutes interval (5 -20 minutes) 21 21

Working together with other areas Grid Operator Regulation Up/Down [MW] Vehicle States [Hour, k. Wh, %] Charge / Discharge [KW] + - 15 [k. W] / 8 [Hours] + - +- 18 [k. W] / 3 [Hours] 22 [k. W] / 12 [Hours] + - 30 [k. W] / 10 [Hours] 22

Working together with other areas Smart Grid : V 2 G l Considerations l A problem 23

Working together with other areas Smart Grid : V 2 G l SK energy l AIST 24

Working together with other areas Smart Grid : V 2 G l Benefits Without V 2 G With V 2 G “Estimation of achievable power capacity from plug-in electric vehicles for V 2 G frequency regulation” IEEE Transactions on smart grid, Vol. 2, No. 4, June, 2011. “Development of an optimal Vehicle-to-Grid aggregator frequency regulation” IEEE Transactions on smart grid, Vol. 1, No. 1, June, 2010. 25

3 3 Promoting control engineering. l Applications l Writing a paper l CEMTool l OPRo. S

Promoting control engineering Applicatons l In textbooks l In our life 27

Promoting control engineering Writing a paper “Speed ratio control for electronic differentials” Electronics letters, Vol. 47, No. 16, Aug. , 2011. 28

Promoting control engineering A CACSD tool : CEMTool 29

Promoting control engineering A CACSD tool : CEMTool l MATLAB (Simulink) & CEMTool (SIMTool) 30

Promoting control engineering OPRo. S Repository Server Web-based Test & Evaluation Inside a robot Existing components User-developed components Integrated development Environment (IDE) Framework Component/contents flow 32

Working together with other areas OPRo. S ■ Typical composition ■ Applications “Open Software Platform for Robotics Services” IEEE Transactions on Automation Science and Engineering, Vol. 9, No. 3, Sep, 2012. “Robotics Activities in Korea” submitted to IEEE Robotics and Automation Magazine. 33

4 Extending control theories l The relationship with information theory

Extending control engineering The relationship with information theory ■ Entropy ■ Examples l Uniform distribution l Scalar normal distribution l Vector normal distribution 35

Extending control engineering The relationship with information theory ■ Entropy in control engineering ■ Stochastic interpretation Unitary matrices l The maximum variance of the outputs l Stochastic feedback with a minimum entropy control “Stochastic feedback and its relation to the entropy criterion ” Automatica Vol. 47, No. , 2011. 36

Extending control engineering The relationship with information theory ■ Channel capacity with feedback Message Encoder Channel Decoder Message ■ Strong relationships with control engineering l Controllable / Observable l Spectral factorization l Orthogonality principle l Kalman filter l Riccati equations 37

5 A nice bridger in engineering l A nice bridger l Food for thought

A nice bridger in engineering A nice bridger r de Lea Control engineering Bridger Power electronics Communication Signal processing Power systems Circuit design er Link Electric machine er z li a r st e h rc O ize Harmon r 39

A nice bridger in engineering Examples of nice bridgers ■ Convex optimization Written by Y. Nesterov Written by S. Boyd and A. Nemiroski ■ MATLAB & LAPACK B L A S L A P A C K Inverse, LU, QR, SVD, FFT, …… No problem !!! 40

A nice bridger in engineering A platform for control design Ecosystem of control engineering Power systems Power electronics Robots Platform Theories 플랫폼 Information theory Communication l IT 분야의 플랫폼 : 응용 프로그램이 구동되는 기반(HW구조, SW틀, OS) 등을 의미 l Ecosystem : 제공되는 서비스 내의 각 플레이어들이 부가가치를 서로 공유하면서 상호 작용하는 군집체 41

A nice bridger in engineering Full cycle of control engineering 임베디드 보드 SW 설계 시스템 모델링 및 제어기 설계 New product/New business model Control engineering Analysis 42 31/32

A nice bridger in engineering Food for thought ■ Leading or supporting performance 45