• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.77-79
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• 2004

Because robot hardware architecture generally is consisted of a few sensors and motors connected to the central processing unit, this type of structure is led to time consuming and unreliable system. For analysis, one of the fundamental difficulties in real-time system is how to be bounded the time behavior of the system. When a distributed control network controls the robot, with a central computing hub that sets the goals for the robot, processes the sensor information and provides coordination targets for the joints. If the distributed system supposed to be connected to a control network, the joints have their own control processors that act in groups to maintain global stability, while also operating individually to provide local motor control. We try to analyze the architecture of network-based humanoid robot's leg part and deal with its application using the CAN(Controller Area Network) protocol.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.8
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• pp.1246-1253
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• 2009

This paper presents derived a calculating form of fuzzy inference, based on decomposition of $\alpha$-level sets. Based on the calculating form it is propose that fuzzy logic circuits of PI+PD controller are a body from fuzzy inference to defuzzificaion in cases where the command variable u directly is generated PWM. The effect of quantization on $\alpha$-levels is investigated. with input/out characteristics of fuzzy controller by simulation. It is concluded that 4 quantization levels are sufficient result for fuzzy control performance of DC servo system. Simulation and experimental results demonstrated that the hardware implementation of the proposed controller can successfully provide good performance on the position control of DC servo system.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.579-584
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• 2004

In this paper, we present the mechanical, electrical system design and system integration of controllers including sensory devices of the humanoid, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. Total number of DOF of KHR-2 is 41. Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. To control all axes efficiently, distributed control architecture is used to reduce computation burden of main controller and to expand devices easily. So we developed the sub-controller as a servo motor controller and a sensor interfacing devices using microprocessor. The main controller attached its back communicates with sub-controllers in real-time by CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operation System) for fast development of main control program and easy extension of peripheral devices. And RTX HAL extension commercial software is used to realize the real-time control in Windows XP environment.

• Journal of the Korea Computer Industry Society
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• v.2 no.4
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• pp.481-490
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• 2001

In this paper, we propose the industrial controller with multi-function/multi-purpose in order to cope with a small-amount and large-items environments. The controller designed consists of Main Unit including all of information and Display Unit. The software in the Main Unit is composed of tasks and device drivers and each task is being processed in parallel by operating system supporting multitasking. The controller is structured in three levels to promptly address the control algorithm’s modification, MMI’s change, and so on. We can produce a controller without changing the first layer(hardware) and the second layer(firmware). We only modify the third layer(control algorithm) depending on control targets.

• Journal of Satellite, Information and Communications
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• v.12 no.1
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• pp.18-21
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• 2017

In this paper we present IoT compliant HD Digital Signage Controller design using Raspberry Pi. Nowadays, the digital signage system have gained increasing popularity and rapidly growing communications medium that offers a wide range of exciting ways with customers, enhance brand awareness, increase sales and margin uplift by replacing the traditional static signage system. This paper presents a cost-effective IoT based HD Digital Signage Controller (DSC) using R-Pi computer that can use various kinds of displays in order to make the system as efficient and affordable as possible to provide advertisement or other relevant information to people in public areas. The system is designed in such way the information about surrounding related place is taken through sensors and directly uploaded to the internet, and thus can be accessed anytime and displayed on screens by using Raspberry Pi that serves as controller in the system. The design and implementation of the system developed by using python programming language and its hardware consists of sensors, Arduino, Raspberry Pi 3 model B board and the displays. The main targets of this study are build a cost effective Digital Signage system as well as broadcasting information at display contents in public areas and control those digital signs.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.6
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• pp.885-890
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• 2002

Turbo compressor needs high speed rotation of impeller in structure, high rated gearbox and conventional induction motor. This mechanical system increased the moment of inertia and mechanical friction loss. Resently the study of turbo compressor applied super high speed motor and drive, removing gearbox made its size small and mechanical friction loss minimum. In this study we tried to develope variable super high speed motor controller, compressor controller and MMI controller under one DSP based systems for 1500Hp, 70,000rpm direct drive Turbo compressor. It have to do unitification of each controller"s hardware and software. The result of study is applied to a 150Hp direct turbo compressor and makes it goods.oods.

• Journal of Power Electronics
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• v.11 no.4
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• pp.542-550
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• 2011

This paper describes the design and hardware implementation of a Single Input Fuzzy Logic Controller (SIFLC) to regulate the output voltage of a boost power converter. The proposed controller is derived from the signed distance method, which reduces a multi-input conventional Fuzzy Logic Controller (CFLC) to a single input FLC. This allows the rule table to be approximated to a one-dimensional piecewise linear control surface. A MATLAB simulation demonstrated that the performance of a boost converter is identical when subjected to the SIFLC or a CFLC. However, the SIFLC requires nearly an order of magnitude less time to execute its algorithm. Therefore the former can replace the latter with no significant degradation in performance. To validate the feasibility of the SIFLC, a 50W boost converter prototype is built. The SIFLC algorithm is implemented using an Altera FPGA. It was found that the SIFLC with asymmetrical membership functions exhibits an excellent response to load and input reference changes.

• Journal of Power Electronics
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• v.16 no.1
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• pp.205-216
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• 2016

The manufacturing sector resorts to automation to increase production and homogeneity of products during mass production, without increasing scarce, expensive, and unreliable manpower. Automation in the form of multiple robotic arms that handle materials in all directions in different stages of the process is proven to be the best way to increase production. This paper thoroughly investigates robotic single-arm movements, that is, 360° vertical rotation, with the help of a brushless DC motor, controlled by a fuzzy proportional-integral-derivative (PID) controller. This paper also deals with the design and performance of the fuzzy-based PID controller used to control vertical movement against the limited scope of conventional PID feedback controller and how the torque of the arm is affected by the fuzzy PID controller in the four quadrants to ensure constant speed and accident-free operation despite the influence of gravitational force. The design was simulated through MATLAB/SIMULINK and integrated with dSPACE DS1104-based hardware to verify the dynamic behaviors of the arm.

• Journal of Auto-vehicle Safety Association
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• v.11 no.2
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• pp.11-16
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• 2019

This paper suggests an algorithm for detecting fault of longitudinal controller in autonomous vehicles. Guaranteeing safety in fault situation is essential because electronic devices in vehicle are dependent each other. Several methods like alarm to driver, ceding control to driver, and emergency stop are considered to cope with fault. This research investigates the fault monitoring process in fail-safe system, for controller which is responsible for accelerating and decelerating control in vehicle. Residual is computed using desired acceleration control command and actual acceleration, and detection of its abnormal increase leads to the decision that system has fault. Before computing residual for controller, health monitoring process of acceleration signal is performed using hardware and analytic redundancy. In fault monitoring process for controller, a process model which is fitted using driving data is considered to improve the performance. This algorithm is simulated via MATLAB tool to verify performance.

• The KIPS Transactions:PartC
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• v.11C no.7 s.96
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• pp.951-958
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• 2004

Nowadays NGN is developed for supporting the e-Commerce, Internet trading, e-Government, e-mail, virtual-life and multimedia. Internet gives us the benefit of remote access to the information but causes the attacks that can break server and modify information. Since 2000 Nimda, Code Red Virus and DSoS attacks are spreaded in Internet. This attack programs make tremendous traffic packets on the Internet. In this paper, we designed and developed the Bandwidth Controller in the gateway systems against the bandwidth saturation attacks. This Bandwidth con-troller is implemented in hardware chipset(FPGA) Virtex II Pro which is produced by Xilinx and acts as a policing function. We reference the TBF(Token Bucket Filter) in Linux Kernel 2.4 and implemented this function in HDL(Hardware Description Language) Verilog. This HDL code is synthesized in hardware chipset and performs the gigabit traffic in real time. This policing function can throttle the traffic at the rate of band width controlling policy in bps speed.