• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.5
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• pp.27-34
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• 2005

To accomplish various and complex tasks by intelligent robots, improvement is needed not only in mechanical system architecture but also in control system architecture. Hybrid control architecture has been suggested as a mutually complementing architecture of the weak points of a deliberative and a reactive control. This paper addresses a control architecture of robots, and a behavior representation methodology. The suggested control architecture consists of three layers of deliberative, sequencing, and reactive as hybrid control architecture. Multi-layer behavior model is employed to represent desired tasks. 3D simulation will be conducted to verify the applicability of suggested control architecture and behavior representation method.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2342-2345
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• 2005

Robot control system considers various requirements. Firstly, it needs adaptation for unpredictable and dynamic environment. Secondly, it needs way to make do not injurious action to human because live with a person. Thirdly, it needs processing about aim of robots. In this paper proposed that these requirements effective robot control architecture. Robot control architecture can divide Deliberative, Reactive, Hybrid. Recently, robot control architecture that come Deliberative and use hybrid architecture that apply advantage of Reactive architecture is studied much. Hybrid control purpose to combine the real-time response of Reactive with the rationality of Deliberative. Our purpose is enhancement of hybrid architecture that is studied in these days. Proposed architecture that applied human's nervous system can reduce relativity between each module of existent architecture and drive response speed guarantee and safe robot action.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.984-988
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• 2005

To accomplish various and complex tasks by intelligent robots, improvement is needed not only in mechanical system architecture but also in control system architecture. Hybrid control architecture has been suggested as a mutually complementing architecture of the weak points of a deliberative and a reactive control. This paper addresses a control architecture of robots, and a behavior representation methodology. The suggested control architecture consists of three layers of deliberative, sequencing, and reactive as hybrid control architecture. Multi-layer behavior model is employed to represent desired tasks. 3D simulation will be conducted to verify the applicability of suggested control architecture and behavior representation method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.746-751
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• 2004

Demands for higher productivity in container terminal environments continues to escalate consideration of equipment upgrades. And then transportation of containers using the automated container crane becomes more and more important for productivity enhancements. Introducing a hybrid control architecture to the container crane, it provides a effective means to the automated operation of the container crane. This paper addresses the methodology for automation of container cranes. In addition, this paper proposes a new control architecture for the automated container crane and explains each component of that architecture. The control architecture is composed of a deliberative control layer, a sequencing layer, and a reactive control layer. The proposed architecture is applied to a dual-hoist double-trolley container crane.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.3
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• pp.190-195
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• 2001

The advance of computer, network, and Internet technology enables the control systems to process the massive data in the distributed computing environments. To implement and maintain the software in distributed environment, the component-based methodology is widely used. This paper proposes the middleware architecture for the distributed computer control system. With the proposed middleware services, it is relatively easy to maintain compatibility between products and to implement a portable control application. To achieve the compatibility between heterogeneous systems, the proposed architecture provides the communication protocols based on the XML with lightweight event-based service.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.1
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• pp.103-114
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• 2018

The operational concept of control systems on surface combatants has been changed from individual control for each system to integrated control for all systems due to computing technology development and crew reduction policy of navy. The purpose of this study is to identify current status of control technology, to analyze user requirement and to develop an architecture to support the conceptual change of ship control. An architecture, which integrates several control and monitoring systems on naval surface combatant, is proposed. The proposed architecture is focused on sharing network and computing resources related to user command, and reducing systems complexity. The architecture can be adopted to next surface combatants in Korean navy.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1791-1796
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• 2004

Recently, great improvements have been made in developing autonomous underwater vehicles (AUVs) using stateof- the-art technologies for various kinds of sophisticated underwater missions. To meet increasing demands posed on AUVs, a powerful on-board computer system and an accurate sensor system with an well-organized control system architecture are needed. In this paper, a new control system architecture is proposed for AUV, ORCA (Oceanic Reinforced Cruising Agent) which is being currently developed by Korea Research Institute of Ships and Ocean Engineering (KRISO). The proposed architecture uses a hybrid architecture that combines a hierarchical architecture and a behavior based control architecture with an evaluator for coordinating between the architectures. This paper also proposed a sensor fusion structure based on the definition of 4 categories of sensors called grouping and 5-step data processing procedure. The development of the AUV, ORCA involving the system architecture, vehicle layout, and hardware configuration of on-board system are described.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.297-305
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• 1999

Autonomous mobile robots are required to achieve multiple goals while responding quickly to the dynamic environments. An appropriate robot control architecture, which clearly and systematically defines the relationship among the inputs, the processing functions and the outputs, thus needs to be embedded in the robot controller. This paper proposes a kind of hybrid control architecture which combines the key features of the two well-known robot control architectures; hierarchical and behavioral- based. The overall control architecture consists of three layers, i.e. the highest planner, the middle plan executor, and the lowest monitor and behavior-based controller. In the planned situation, only one behavior module is chosen by the logical coordinator in the plan executor according to the way point bin. In the exceptional situation, the central controller in the plan executor issues an additional control command to reach the planned way point. Several simulations and experiments with autonomous mobile robot show that the proposed architecture enables the robot controller to achieve the multiple sequential goals even in dynamic and uncertain environments.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.4
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• pp.400-410
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• 1992

This paper deals with a design of neural network control architectures for robot motion. Three types of control architectures are designed as follows : 1) a neural network control architecture which has the same characteristics as computed torque method 2) a neural network control architecture for compensating the control error on computed torque method with fixed feedback gain 3) neural network adaptive control architecture. Computer simulation of PUMA manipulator with 6 links is conducted for robot motion in order to examine the proposed neural network control architectures.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.896-902
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• 2004

The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. To make real time control possible by making effective use of recognized information in this dynamic environment, suitable distribution of tasks should be made in consideration of function and role of each performing robots. In this paper, IHMA (Intelligent Hybrid Modular Architecture) of Intelligent combined control architecture which utilizes the merits of deliberative and reactive controllers will be suggested and its efficiency will be evaluated through the adaptation of control architecture to representative multi-robot system.