• 대한전기학회논문지:시스템및제어부문D
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• 제51권2호
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• pp.55-60
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• 2002

This paper presents a controller for the multiple DC motors using the CAN(Controller Area Network). The controller has a benefit of reducing the cable connections and making the controller boards compact through the network including expansibility. CAN, among the field buses, is a serial communication methodology which has the physical layer and the data link layer in the ISO's OSI (Open System Interconnect) 7 layered reference model. It provides the user with many powerful features including multi-master functionality and the ability to broadcast / multicast telegrams. When we use a microprocessor chip embedding the CAN function, the system becomes more economical and reliable to react shortly in the data transmission. The controller, we proposed, is composed of two main controllers and a sub controller, which have built with a one-chip microprocessor having CAN function. The sub controller is plugged into the Pentium PC to perform a CAN communication, and connected to the main controllers via the CAN. Main controllers are responsible for controlling two motors respectively. Totally four motors, actuators for the biped robot in our laboratory, are controlled in the experiment. We show that the four motors are controlled properly to actuate the biped robot through the network in real time.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2000년도 전력전자학술대회 논문집
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• pp.464-467
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• 2000

In this paper we introduce the network based multi-motors control system using CAN(Controller Area Network) The traditional multi-motors control system has many problems in the view of reliability and economy because of the amount and complexity of wiring noise and maintenance problems etc, These problems are serious especially when the motor controllers are separated widely CAN is generally applied in car networking in order to reduce the complexity of the related wiring harnesses. These traditional CAN application techniques are modified to achieve the real time communication for the multi-motor control system. And also the position synchronization technique is developed and the proposed methods are verified experimentally.

• Journal of Information Processing Systems
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• 제13권2호
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• pp.348-359
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• 2017

Nowadays most vehicles are equipped with a variety of electronic devices to improve user convenience as well as its performance itself. In order to efficiently interconnect these devices with each other, Controller Area Network (CAN) is commonly used. However, the CAN requires reconfiguration of the entire network when a new device, which is capable of supporting both of transmission and reception of data, is added to the existing network. In addition, since CAN is based on the collision avoidance using address priority, it is difficult that a new node is assigned high priority and eventually it results in transmission delay of the entire network. Therefore, in this paper we propose a new system component, called CAN coordinator, and design a new CAN framework capable of supporting plug and play functionality. Through experiments, we also prove that the proposed framework can improve real-time ability based on plug and play functionality.

• 정보처리학회논문지C
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• 제15C권3호
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• pp.199-204
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• 2008

CAN은 처음에는 차량 네트워크에서의 사용을 위해 고안되었으나 잡음에 강하고 신뢰성이 높아 공장자동화 등에서도 많이 사용되고 있다. 그러나 1:1통신에서 네트워크 기반의 통신방식으로 변화되면서 각 장치의 기계적인 동작뿐만 아니라 전자, 소프트웨어적인 동작에 대해서도 철저한 검증이 필요하게 되었다. 본 논문은 CAN 기반 시스템에서 통신의 신뢰성을 데이터의 정확성에 대한 부분과 시간상의 정확성에 대한 부분을 검증하는 방법을 제시하고 있다.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.709-716
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• 2005

As a way to build more efficient and intelligent container cranes for todays hub ports, communication networks are used to interconnect numerous sensors, actuators, controllers, and operator switches and consoles that are spatially distributed over a crane. Various signals such as sensor values and operator's commands are digitized and broadcast on the network instead of using separate wiring cables. This not only makes the design and manufacturing of a crane more efficient, but also easier implementation of intelligent control algorithms. This paper presents the performance evaluation of CAN(Controller Area Network), TTP(Time Triggered Protocol) and Byteflight that can be used for cranes. Through discrete event simulation, several important quantitative performance factors such as the probability of a transmission failure, average system delay (data latency) and maximum system delay have been evaluated.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 D
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• pp.1137-1140
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• 1997

This paper presents a fuzzy-neural network controller technique on the load frequency control of two-area power system. Firstly, Fuzzy controller a series of initial selected rules are improved by means of the proposed technique. Secondly, scale factors for error, change rate of error and control input are optimized by the given error back-pagation teaming algorithms. Finally, the related simulation results show that the proposed fuzzy neural network controller technique are more powerful than conventional ones.

• International Journal of Computer Science & Network Security
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• 제23권7호
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• pp.219-230
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• 2023

Wireless Body Area Networks (WBANs) have made it easier for healthcare workers and patients to monitor patients' status continuously in real time. WBANs have complex and diverse network structures; thus, management and control can be challenging. Therefore, considering emerging Software-defined networks (SDN) with WBANs is a promising technology since SDN implements a new network management and design approach. The SDN concept is used in this study to create more adaptable and dynamic network architectures for WBANs. The study focuses on comparing the performance of two SDN controllers, POX and Ryu, using Mininet, an open-source simulation tool, to construct network topologies. The performance of the controllers is evaluated based on bandwidth, throughput, and round-trip time metrics for networks using an OpenFlow switch with sixteen nodes and a controller for each topology. The study finds that the choice of network controller can significantly impact network performance and suggests that monitoring network performance indicators is crucial for optimizing network performance. The project provides valuable insights into the performance of SDN-based WBANs using POX and Ryu controllers and highlights the importance of selecting the appropriate network controller for a given network architecture.

• 한국인터넷방송통신학회논문지
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• 제17권6호
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• pp.127-135
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• 2017

대부분의 최신 자동차들은 편안하고 안전한 운전 환경을 위해 다양한 종류의 ECU들을 탑재하고 있다. ECU들 사이의 효율적인 통신을 위해 대부분의 자동차 제조사들은 Controller Area Network(CAN) 프로토콜을 사용하고 있다. 그러나 CAN은 데이터 인증을 제공하지 않는다. 이러한 취약점 때문에 CAN은 메시지 재생공격에 취약하다. 본 논문은 자동차 내부 네트워크에 적용 가능한 현실적인 메시지 인증 기법을 제안한다. CAN 데이터 프레임의 제한적인 공간을 고려하여, 데이터와 메시지 인증 코드 (MAC)를 동시에 전송하기 위해서는 짧은 길이의 MAC을 사용하는 것이 가장 적합하다. 그러나 짧은 길이의 MAC은 암호학적 안전성을 충분히 보장하지 않기 때문에 안전성을 보장하기 위한 추가적인 조치가 필요하다. 본 연구에서 제안한 메시지 인증 기술은 CAN의 제한된 데이터 페이로드를 고려하기 때문에 차량 내부의 안전한 네트워크를 설치하는데 유용하게 활용될 수가 있다.

• 융합신호처리학회논문지
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• 제3권3호
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• pp.54-62
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• 2002

본 논문에서는 최근 급속히 진전되고 있는 자동차의 각종 전기신호와 센서 입·출력의 통합제어를 위한 CAN 통신 시스템의 개발에 관해서 기술한다. 본 논문에서 제시하는 CAN 통신을 사용한 통합제어 시스템은 기존의 Wiring Harness (W/H)에 의한 제어기 구성의 문제점인 낮은 신뢰성과 시스템 구성의 비효율성을 개선할 수 있고, 다중화 네트워크에 의한 유니트별 독립적인 제어가 가능함으로 성능향상과 기능확대에 유연하게 대응할 수 있는 특징을 갖는다. 제안 시스템은 성능향상과 함께 높은 신뢰성으로 센서 입·출력의 각종 기능을 통합해서 자동차 신호를 제어 할 수 있는 새로운 통합 시스템의 하나이다. 제안 시스템의 성능을 확인하기 위해, 관련 하드웨어와 프로그램을 개발하고 실제 시스템을 구현해서 그 효율성을 입증한다. 이를 위해 CAN 통신 프로토콜의 특징을 간단히 기술하고, 이를 이용한 차량의 각종 전기신호와 센서들의 통합제어를 수행하는 개발된 하드웨어와 프로그램을 제시한다. CAN 통신의 높은 신뢰성과 각종 신호의 효율적인 제어가 가능함으로 제안된 시스템은 향후 자동 전자제어화에 중요한 모듈이 될 것이다.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.1018-1023
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• 2010

The CAN (Controller Area Network) system is the most dominant protocol for in-vehicle networking system because it provides bounded transmission delay among ECUs (Electronic Control Units) at data rates between 125Kbps and 1Mbps. And, many automotive companies have chosen the CAN protocol for their in-vehicle networking system such as chassis network system because of its excellent communication characteristics. However, the increasing number of ECUs and the need for more intelligent functions such as ADASs (Advanced Driver Assistance Systems) or IVISs (In-Vehicle Information Systems) require a network with more network capacity and the real-time QoS (Quality-of-Service). As one approach to enhancing the network capacity of a CAN system, this paper introduces a CAN system with dual communication channel. And, this paper presents a distributed message allocation method that allocates messages to the more appropriate channel using forecast traffic of each channel. Finally, an experimental testbed using commercial off-the-shelf microcontrollers with two CAN protocol controllers was used to demonstrate the feasibility of the CAN system with dual communication channel using the distributed message allocation method.