• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
• /
• pp.163-168
• /
• 2002

The voting algorithm for action selection performs self-improvement by Reinforcement learning algorithm in the dynamic environment. The proposed voting algorithm improves the navigation of the robot by adapting the eligibility of the behaviors and determining the Command Set Generator (CGS). The Navigator that using a proposed voting algorithm corresponds to the CGS for giving the weight values and taking the reward values. It is necessary to decide which Command Set control the mobile robot at given time and to select among the candidate actions. The Command Set was learnt online by means as Q-learning. Action Selector compares Q-values of Navigator with Heterogeneous behaviors. Finally, real-world experimentation was carried out. Results show the good performance for the selection on command set as well as the convergence of Q-value.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.139-142
• /
• 1996

This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.98.2-98
• /
• 2001

It is necessary to have enough transmission capacity for advanced internet techniques and various digital home appliances networking. Home appliances interface IEEE1394 technique has much wealthy transmission skill. IEEE1394 is using home appliances through various information form image and voice change data real time print out. In this paper, AVC CTS technology and IEEE1394 technology are introduced. Digital Video Camera includes compression format using DV. System composition control is consisted of protocols like IEC-61883 and AV/C command set standard.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1384-1387
• /
• 1996

SCPI(Standard Commands for Programmable Instrument) is a standard command sets designed for controlling various types of instruments. In order to control FFT(Fast Fourier Transform) analyzing device using SCPI it is required to support sweep measurement function. We defined SCPI command set for FFT analysis and developed parser of defined command set using lex(Lexical Analyzer Generator) and yacc(Yet Another Compiler Compiler). After developing FFT analyzing test was performed with that parser. Up to audible signal frequency the result of FFT analysis was accurate and that result was agree with that of conventional FFT analyzer. As a result it is proved that various types of instruments including sweep measurement instrument can be controlled with appropriate SCPI command sets. Also when developing new instruments the method used in this experiment will contribute to reducing the time required to develop the SCPI parser and increasing reliability.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제15권12호
• /
• pp.4364-4384
• /
• 2021

The dynamic network state and the mobility of the terminals make the service function chain (SFC) orchestration mechanisms based on static and deterministic assumptions hard to be applied in SDN/NFV mobile edge computing networks. Designing dynamic and online SFC orchestration mechanism can greatly improve the execution efficiency of compute-intensive and resource-hungry applications in mobile edge computing networks. In order to increase the overall profit of service provider and reduce the resource cost, the system running time is divided into a sequence of time slots and a dynamic orchestration scheme based on an improved column generation algorithm is proposed in each slot. Firstly, the SFC dynamic orchestration problem is formulated as an integer linear programming (ILP) model based on layered graph. Then, in order to reduce the computation costs, a column generation model is used to simplify the ILP model. Finally, a two-stage heuristic algorithm based on greedy strategy is proposed. Four metrics are defined and the performance of the proposed algorithm is evaluated based on simulation. The results show that our proposal significantly provides more than 30% reduction of run time and about 12% improvement in service deployment success ratio compared to the Viterbi algorithm based mechanism.

• 제어로봇시스템학회논문지
• /
• 제13권11호
• /
• pp.1053-1059
• /
• 2007

This paper presents a target sate estimator(TSE) with low pass filter for improving the gun driving command. The ballistic computer uses target information such as predicted range, velocity, acceleration of a target to generate the gun command. We adopt the finite impulse response(FIR) filter as our TSE to shorten calculation time for the driving command and due to its inherent stability property. We also introduce a post-processing filter to reduce the high frequency components in the output signal of a TSE which may cause instability of gun driving. The first order low pass filter has been designed based on $H{\infty}$ criteria considering the noise characteristics. To show the validity of the present scheme, simulation results are given for the overall gun driving system including aircraft target information.

• 한국정밀공학회지
• /
• 제9권4호
• /
• pp.36-43
• /
• 1992

This paper presents a hierarchical real-time operation control and monitoring scheme of the FMS/CIM center which has been implemented at the Automation and Systems Research Institute of Seoul National University. The hierarchical structure of the whole scheme consists of three lavers. The upper layer is in charge of on-line scheduling, computer network control, shop-floor monitoring and command generation for AGV dispatching, machining, assembly, inspection, set-up, etc. The middle layer has six modules, which are installed in the FMS host computer with the upper layer and run on the multi-tasking basis. Each module is connected to one of six cell controllers distributed in the FMS model plant and transfers operation command down to each cell controller through the Ethernet/TCP-IP local area network. The lower layer is comprised of six cell control software modules for machining cell, assembly cell, inspection cell, set-up stations. AS/RS and AGV. Each cell controller reports the status of the manufacturing facilites to the middle layer as well as ecxecuting the appropriate sequence control of the manufacturing processes.

• 한국정보처리학회논문지
• /
• 제4권10호
• /
• pp.2501-2511
• /
• 1997

본 논문에서는 위성관제센터와 위성간의 명령어 및 텔레메트리 통신의 안정성을 위해 Shamir의 서명 방식을 변형한 인증 방식을 제안한다. 제안된 방식은 위성 고유 ID를 이용하며 재생 공격에 대한 보호를 위해 시간함수를 도입한 패스워드 개념의 인증 방식으로 위성의 실체 인증을 위해 사용한다. 또 사용중인 키와 알고리즘 내용을 포함한 명령어 카운터가 메시지 로딩과 명령어 실행 시 인증으로 이용되며 이를 기반으로 위성관제통신의 안정성을 위한 인증 모델을 제안하였다. 그밖에 위성관제센터와 위성간의 비밀 통신에 사용했던 비밀 키 교체와 확인을 위해 Two-way 키교체 방식을 제안하였다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.721-724
• /
• 2000

This paper has been demonstrated to be essential to successful telemanipulator control when the communication delay between master arms in the operator control station and telemanipulators in the remote site. This paper includes the human dynamics to generate a control command, the monitoring force feedback in order to robust under short time delays and the controller not to requre the derivative of interaction forces. Simulation results suggest that, the proposed control system should be superior to conventional systems in terms of performance and robustness under short time delays.

• Journal of Electrical Engineering and Technology
• /
• 제13권6호
• /
• pp.2301-2309
• /
• 2018

In a field-oriented vector-controlled permanent magnet synchronous motor (PMSM) control system, the d-axis current control loop can offer a free degree of freedom which can be used to improve control performances. However, in the industry the desired d-axis current command is usually set as zero without using the free degree of freedom. This paper proposes a method to use the degree of freedom for control performance improvement. It is assumed that both the inner loop proportional-integral (PI) current controller and the q-axis outer loop PI speed controller are tuned by the well-known tuning rules. This paper gives an optimal d-axis reference current command generator such that some useful performance indexes are minimized and/or a tradeoff between conflicting performance criteria is made. This paper uses a differential evolution algorithm to autotune the parameter values of the optimal d-axis reference current command generator. This paper implements the proposed control system in real time on a Texas Instruments TMS320F28335 floating-point DSP. This paper also gives experimental results showing the practicality and feasibility of the proposed control system, along with simulation results.