• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2953-2955
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• 1999

In this paper, the concept of evolvable hardware and evolutionary robotics are introduced and constructing the mobile robot controller without human operator is suggested. The robot controller is evolved to avoid obstacles by genetic learning which determines the weights between sensor inputs and motor outputs. Genetic algorithms which is executed in a computer(PC) searches the best weights by interacting with robot performance under it's environment. The experiment is done by real mobile robot Khepera and a simple GA.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1022-1027
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• 2003

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

• Proceedings of the KIEE Conference
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• 2002.07b
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• pp.976-979
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• 2002

A new controller for switching audio power amplifier with digital PWM input is proposed- Bi-directional Saw-tooth Error Correction (BSEC). This control method for high quality switching amplifier is based on a pulsed edge correction approach using PWM audio signal input as a reference of power switching digital to analog converter. The proposed controller has excellent features such as wide error correction range and no limitation on the modulation index. The controller is implemented in the half-bridge class D amplifier and the performance is verified through hardware experiments. It delivers 100W into 4${\Omega}$ load with less than 0.2% of total harmonic distortion (THD) all over operating range and an maximum efficiency of 82%.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1211-1217
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• 2001

This paper presnts a controller for the heat capacity of thermal storage systems using off-peak electricity which is composed of an identifier using neural networks and a storage time adjuster in order to store exactly the required thermal energy without loss. Since thermal storage systems have nonlinear characteristics and large time constant, even if we predict the heating load accurately, it is very difficult to store exactly the required thermal energy. Thus, in the neural network for the identifier, the adaptive learning rate for high learning speed and bit inputs based on state changes of thermal storage power source are used. Also a hardware for the controller using a microprocessor is developed. The performance of the proposed controller is shown by experiment.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.1
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• pp.29-34
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• 2016

A controller area network (CAN) controller is an integral part of an electronic control unit, particularly in an advanced driver assistance system application, and its characteristics should always be advantageous in all aspects of functionality especially in real time application. The cost should be low, while maintaining the functionality and reliability of the technology. However, a CAN protocol implementing serial operation results in slow throughput, especially in a cyclical redundancy checking (CRC) unit. In this paper, digital signal processing (DSP) algorithms are implemented, namely pipelining, unfolding, and retiming the CAN controller in the CRC unit, particularly for the encoder and decoder sections. It must attain a feasible iteration bound, a critical path that is appropriate for a CAN system, and must obtain a superior design of a high-speed parallel circuit for the CRC unit in order to have a faster transmission rate. The source code for the encoder and decoder was formulated in the Verilog hardware description language.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.203-207
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• 2001

This paper presents a multi output converter system that controls, simultaneously and independently, the separate Buck converter and Boost converter with the different specification by one DSP digital controller. As two separate converters are regulated by only one DSP, it is possible to achieve the simple digital control circuit for regulating the multi output DC-DC converter. By setting the software switch state, PI or Fuzzy controller can be applied as a controller for each converter without any change of hardware. Also, PI and Fuzzy control characteristics of each DC-DC converter is validated by experimental results.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.6
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• pp.222-228
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• 2003

Lane departure avoidance system is one of the key technologies for the future active-safety passenger cars. The lane departure avoidance system is composed of two subsystems; lane sensing algorithm and active-steering controller. In this paper, the road image is obtained by vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active-steering controller is designed to prevent the lane departure. The developed active-steering controller can be realized by steer-by-wire actuator. The lane-sensing algorithm and active-steering controller are implemented into the steering HILS(Hardware-In-the-Loop Simulation) and their performance is evaluated with a human driver in the loop.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2397-2401
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• 2005

It is well understood that force reflecting coupled with visual display can be an important two-way communication channel in human-computer interaction. In this work, important components for a high-fidelity system bandwidth are force reflecting device and that all the computations including contact determination and response computation have to be performed in less than a millisecond. This paper describes a force-reflecting device and an embedded controller. The realized force-reflecting device is based on a novel serial type mechanical structure, and features compactness, high sustained output force capability, low friction, zero backlash, and enough workspace. The embedded controller reduces software computational load via main processor and simplifies hardware strictures by the time-division control. The device is integrated with existing dynamic simulation algorithms running separate workstation, so that objects can be manipulated in real time and the corresponding forces felt back by the operator.

• Journal of Industrial Technology
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• v.31 no.B
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• pp.75-79
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• 2011

In this paper a new PFC Controller for 3-Phase Modular UPS(Uninterruptible Power Supplies) is proposed. The PFC circuit for 3-Phase Modular UPS is implemented using three 1-phase 3-level boost PFC circuits. To control DC output voltage, single voltage controller considering imbalance of two capacitor voltages and to regulate AC input current three independent current controllers are used in proposed PFC controller. By the proposed method, without additional hardware, THD(Total Harmonic Distortion) of input currents can be readily limited below 5% which is the harmonic current requirements by IEEE std. 519. Its validity is verified by simulations and experiments.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.11
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• pp.494-502
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• 2002

In this paper, a suspension control of a magnetic levitation(MagLev) system with flexible rail is designed and presented. The numerical modelling for the electromagnetic system to be controlled as a target plant is carried out. And dome kinds of the hardware system including CPU board, AD board, DA board, sensors, and switching power amplifier are described. Using the derived model, the stabilizing controllers, such as PID and $H_{\infty}$ controller, for the MagLev system are designed using the MATLAB toolbox. The designed controllers are validated by some experimental results as well as numerical simulations. So it is shown that $H_{\infty}$ controller can give the better performance for the plant with flexible modes than PID controller.