• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2002년도 추계학술대회 논문집
• /
• pp.256-261
• /
• 2002

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.

• 한국정보과학회논문지:소프트웨어및응용
• /
• 제34권5호
• /
• pp.487-501
• /
• 2007

고성능 다중 이슈 DSP의 하드웨어 리소스 사용률을 높이기 위해서, 제공되는 상용 컴파일러는 일반적으로 반복 모듈로 스케쥴링(Iterative Modulo Scheduling)을 포함하고 있다. 하지만, 통신 및 미디어 처리 응용의 루프에 존재하는 과도한 순환 데이타 의존관계는 모듈로 스케쥴링 자유도를 제한하고 있다. 결과적으로, 멀티 이슈를 위한 DSP의 병렬 기능 유닛들은 완전히 사용되고 있지 못하다. 이러한 하드웨어 리소스 저사용 문제를 해결하기 위하여, 이 논문은 효율적인 모듈로 스케쥴링을 위한 새로운 컴파일러 전처리 기법을 기술하고 있다. 제안하는 전처리 기법은 두 가지로서 클로닝과 디스맨틀링으로 불리우며, 이 두가지 기법들은 StarCore SC140 DSP 컴파일러에 구현하여 검증하였다.

• 제어로봇시스템학회논문지
• /
• 제12권12호
• /
• pp.1220-1230
• /
• 2006

In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• 한국정보과학회:학술대회논문집
• /
• 한국정보과학회 2003년도 가을 학술발표논문집 Vol.30 No.2 (1)
• /
• pp.196-198
• /
• 2003

Virtually every digital signal processors(DSPs) support on-chip multi- memory banks that allow the processor to access multiple words of data from memory in a single instruction cycle. Also, all existing fixed-point DSPs have irregular architecture of heterogeneous register which contains multiple register files that are distributed and dedicated to different sets of instructions. Although there have been several studies conducted to efficiently assign data to multi-memory banks, most of them assumed processors with relatively simple, homogeneous general-purpose resisters. Therefore, several vendor-provided compilers fer DSPs were unable to efficiently assign data to multiple data memory banks. thereby often failing to generate highly optimized code fer their machines. This paper presents an algorithm that helps the compiler to efficiently assign data to multi- memory banks. Our algorithm differs from previous work in that it assigns variables to memory banks in separate, decoupled code generation phases, instead of a single, tightly-coupled phase. The experimental results have revealed that our decoupled algorithm greatly simplifies our code generation process; thus our compiler runs extremely fast, yet generates target code that is comparable In quality to the code generated by a coupled approach

• 상하수도학회지
• /
• 제19권3호
• /
• pp.330-337
• /
• 2005

This study was carried out to propose the managemental improvement of the purification plants and the distribution facilities which can minimize the formation of disinfection by-products in drinking water distribution system. The disinfection by-products were highly created in the water treatment plant that the organic matters were high and the chlorine dosage was excessive. The concentration of DSPs was shown the highest value in August and the lowest value in December, because of temperature and pre-chlorine dosage effect. From the result of tracer test, the travel time from the treatment plant to the end of pipeline was around 3-4 days in summer, 5-6 days in winter, respectively, and the DSPs concentration of the reservoir(end of pipe) was 2-3 times higher than that of the beginning point. The improvement of the chlorination process and structural reformation of distribution facility was demanded to minimize the DSPs increase from purification plant to the end of pipe.

• The Journal of the Acoustical Society of Korea
• /
• 제14권2E호
• /
• pp.91-97
• /
• 1995

본 논문은 저비트율을 갖는 고품질의 HDTV용 멀티채녈 오디오 코덱을 구현에 대해 기술한다. 이 코덱은 저주파수 효과 채널을 포함한 최대 3/2 스테레오 채널 구성, 최대 채널 구성보다 낮은 채널 구성과의 호환성, 기존 2채널 스테레오 시스템과의 호환성(MPEG-1 오디오), 그리고 다중 대화 채널 등을 제공하는 특징을 갖는다. 구현한 멀티채널 오디오 코덱의 인코더는 3개의 DSP(TI의 TMS320C40)로 구성되었고, 최대 48KHz 샘플링율과 16비트의 부호화를 갖는 5.1 채널의 아날로그 및 AES/EBU, IEC 958등의 포맷을 갖는 스테레오 2채널의 디지털 오디오를 이력으로 받아 지각 심리음향 모델을 사용하여 압축한후 384Kbps의 빛 스트림으로 전송하는 특징을 가지며, 디코더는 2개의 DSP로 구성되어 있고, 384Kbps로 입력되는 비트 스트림을 받아 최대 5.1 채널의 아날로그 및 2개의 2채널 스테레오의 디지털 오디오 신호로 출력시키는 특징을 갖는다. DSP를 이용한 다중처리는 DMA를 통한 통신포트를 이용한 DSP들간의 고속 데이터 전송에 의해 이루어진다. 끝으로, 멀티 채널 오디오 코덱의 구현을 통하여 나타난 실시간 처리는 위해 고려해야할 기술적 사항을 제안한다.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2002년도 춘계학술대회 논문집
• /
• pp.573-578
• /
• 2002

In this paper, it Is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-negro control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2001년도 추계학술대회(한국공작기계학회)
• /
• pp.122-127
• /
• 2001

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2000년도 ITC-CSCC -2
• /
• pp.953-956
• /
• 2000

Application specific DSPs often employ irregular datapath structures with distributed registers. In the scheduling phase of retargetable compilation, resolution of register usage conflicts comes to be a new constraint for such datapaths. This paper presents a method of register constraint analysis which attempts to minimize the number of the spill codes required for resolving the register usage conflicts. It searches for a set of ordering restrictions among operations which sequentialize the lifetimes of the values residing in the same register as much as possible and thus minimize the number of the register conflict. Experimental results show that a combination of the proposed register constraint, analysis and list-based scheduling reduces the number of the register spills into 25%.

• 방송공학회논문지
• /
• 제6권1호
• /
• pp.66-71
• /
• 2001

본 논문에서는 디지털 오디오 방송 시스템의 소스 부호화기로 사용하기 위한 AAC (MPEG-2 Advanced Audio Coding) 코덱 시스템의 개발에 관하여 기술한다. 인코더 및 디코더는 ETRI에서 제안한 디지털 오디오 방송 시스템에 접속하기 위해 MPEG-2 (moving Picture Exports Group Phase 2) 시스템의 TS(Transport Stream) 형식으로 입출력한다. 내부 오디오 신호처리를 위한 DSP (Digital Signal Processor)는 TI(Texas Instruments) 사의 TMS320C6701 (Floating point 166 MHz)을 사용하였으며, 인코더 에서는 DSP를 4개까지, 디코더에서는 3개까지 사용하여 구성할 수 있도록 설계하였다. DSP에서는 시스템 제어. 오디오 신호 입 력. 오디오 신호 처리, TS 신호 발생, 비트스트림 출력 등의 처리를 수행하며, 각 DSP는 직렬 및 병렬 접속에 의해 데이터를 전 달한다 현재 본 시스템을 사용하여 2채널의 AAC 코덱을 구현하였으며, 이후 본 시스템을 이용하여 멀티채널 AAC 코덱, MPEG-4 오디오 코덱을 구현할 예정이며. DAB 및 디지털 방송 분야에 활용될 것이다.