• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.450-462
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• 2004

In this paper, we describe a system for controlling the perceptual processes of two cooperative mobile robots that addresses the issue of enhancing perceptual awareness. We define awareness here as knowing the location of other robots in the environment. The proposed system benefits from a formalism called perceptual anchoring. Here, perceptual anchoring enhances the awareness of the system by employing an anchor-based active gaze control strategy or active perceptual anchoring to control the perceptual effort according to what is important at a given time. By anchoring we extend the notion of awareness as knowing what the symbols in the control module represent to by connecting them to the objects or features in the environment. We demonstrate the present system through a simulation of two nonholonomic mobile robots performing a cooperative transportation by carrying a cargo to a target location where there are two other robots moving about. The system is able to efficiently focus the perceptual effort and thus able to safely carry the cargo to the target position.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.907-910
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• 1993

This paper describes the use of fuzzy control and decision making to simulate the control of traffic flow at an intersection. To show the value of fuzzy logic as an alternative method for control of traffic environments. A traffic environment includes the lanes to and from an intersection, the intersection, vehicle traffic, and signal lights in the intersection. To test the fuzzy logic controller, a computer simulation was constructed to model a traffic environment. A typical cross intersection was chosen for the traffic environment, and the performance of the fuzzy logic controller was compared with the performance of two different types of conventional control. In the hardware verifications, fuzzy logic was used to control acceleration of a model train on a circular path. For the software experiment, the fuzzy logic controller proved better than conventional control methods, especially in the case of highly uneven traffic flow between different directions. On the hardware si e of the research, the fuzzy acceleration control system showed a marked improvement in smoothness of ride over crisp control.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.4
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• pp.373-380
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• 1997

In order to implement the real-time operating systems for robot controller, this paper proposes a systematic method for implementing the real-time kernel under the DOS environment. So far, we designed the robot control software and its own operating system simultaneously. Though robot operating systems have simple structure, it allows the developer to have a surplus time and effort to implement complete robot systems. In addition to this, in most cases of this type, operating systems does not support multitasking function, thus, low level hardware interrupts are used for real-time execution. Subsequently, some kinds of real-time tasks are hard to implement under this environment. Nowadays, the operating systems for robot controller requires multitasking functions, intertask communication and task synchronization mechanism, and rigorous real-time responsiveness. Thus, we propose an effective and low costs real-time systems for robot controller satisfying the various real-time characteristics. The proposed real-time systems are verified through real implementation.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1016-1019
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• 1996

This paper discribes automobile processes and introduction for process monitoring and control system for engine plant, truck automobile industries using the MES(Manufacturing Execution Systems) functions.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.591-600
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• 2005

In this paper, we discuss real-time control of networked control systems (NCSs) and practical issues in the choice of the communication networks for this purpose. An appropriate integration of control systems, real-time environments, and network communication systems allows the optimization of the quality-of-control (QoC) in NCSs. We compare several prevailing network types that may be used in control applications to offer a guideline of choosing a proper network. A real-time operating environment is also presented as an important ingredient of NCS design. To evaluate its feasibility and effectiveness, a real-time NCS containing a ball magnetic levitation (Maglev) setup is implemented via an Ethernet. Based on the experimental results, it is concluded in this paper that real-time control via Ethernet is a practical and feasible solution to NCS design.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.156-161
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• 2003

An overview of our approach to autonomous navigation is presented showing how motion information can be integrated into existing navigation schemes. Particular attention is given to our short range motion estimation scheme which utilises a number of unique assumptions regarding the nature of the visual environment allowing a direct fusion of visual and range information. Graduated non-convexity is used to solve the resulting non-convex minimisation problem. Experimental results show the advantages of our fusion technique.

• Journal of the Korean Society of Systems Engineering
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• v.5 no.1
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• pp.33-41
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• 2009

The analog or partly digital typed interface of main control room in nuclear power plant (NPP) is gradually being replaced to the totally digitalized interface suitable for the digital environment. SKN 3,4 Nuclear Power Plant is currently developed in such a way to employ advanced displays and controls such as computerized procedure system(CPS), large display panel(LDP), and Soft control. According to the developed design process, the main control room (MCR) of the SKN3,4 was aesthetically designed based on a design concept of the health and sustainability and technically evaluated with human factors guidelines, which somehow lack of the confidence on the evaluation for the rapidly changing digital environment. The suitable review guideline for the digitalized interface and the environment was developed such as the guideline for CPS with information displays on VDU. For the guideline development, tremendous guidelines and technical papers related to evaluation issues of digital environment has been collected, analyzed and transformed to electric database forms and then built on database management system, called Design Review Supporting System to retrieve the appropriate issues for the practical usage of evaluators-in-field.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.336-339
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• 1995

An approach to efficient implementation of real-time control systems is presented in this paper. A compiler for translation of control algorithms is used in combination with a general program for real-time control. The compiler translates control algorithms written for the simulation in a design language to an implementation language. The translated algorithms are then automatically incorporated in the real-time control program.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.209-212
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• 2003

The following paper deals with a control problem of a mobile robot in home network environment. The home network causes the mobile robot to communicate with sensors to get the sensor measurements and to be adapted to the environment changes. We adopt the reinforcement learning scheme for the solution to the problem, and show some simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.377-384
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• 2004

Nowadays, control systems consist of smart sensors, smart actuators, and controllers connected via fieldbus. Some devices such as motors in plant environments generate high degrees of EMI or noise. This noise may cause communication errors and make the successful transmission of data longer. Therefore, the noise condition has to be considered at the design of a reliable control system based on a network. This paper presents a scheduling method of task and message to guarantee the given end-to-end constraints under noise environments. A noise model with multi-sources of noise is used, and the analysis method of message's response time is presented when the noise model is applied to CAN (Controller Area Network). Two kinds of noise models are applied to an example system, and the effect to each control loop s end-to-end response time is analyzed. We believe that the proposed method help system designers design the control system guaranteeing its requirements under noise environment.