• 제어로봇시스템학회논문지
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• 제12권7호
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• pp.719-727
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• 2006

This paper proposes a new method to obtain a maximum allowable delay bound for a scheduling of networked discrete control systems and event-based scheduling method. The proposed method is formulated in terms of linear matrix inequalities and can give a much less conservative delay bound than the existing methods. A network scheduling method is presented based on the delay obtained through the proposed method, and it can adjust the sampling period to allocate same utilization to each control loop. The presented method can handle three types of data (sporadic, emergency data, periodic data and non real-time message) and guarantees real-time transmission of periodic and sporadic emergency data using modified EDF scheduling method.

• 제어로봇시스템학회논문지
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• 제18권8호
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• pp.731-737
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• 2012

In this paper the usage of Bluetooth in networked control systems is described. ACL links and commonly used serial port profile built on top of ACL links are analyzed and their problems such as unpredictable latency are discovered. SCO link packet scheduling, latency estimation and setup procedure are examined. SCO link is suggested as proper link for NCS, due to its low latency and low variance. Smith predictor use for latency compensation is described and its impact on control performance is estimated. A number of experiments on DC motor position control are performed and control performance of system utilizing SCO link with and without Smith predictor is proved to be higher than control performance of system utilizing ACL link.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권1호
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• pp.18-23
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• 2008

A FCM with locational price and regional information between locations are proposed in this paper. Any point in a networked system has its own values indicating the physical characteristics of that networked system and regional information at the same time. The similarity measure used for FCM in this paper is defined through the system-wide characteristic values at each point. To avoid the grouping of geometrically distant locations with similar measures, the locational information are properly considered and incorporated in the proposed similarity measure. We have verified that the proposed measure has produced proper classification of a networked system, followed by an example of a networked electricity system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.354-356
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• 2006

In this paper, the position control performance of networked control systems is analyzed when time delay through the network is considered. Integrating a control system into a network has great advantages over the traditional control system which uses point to point connection: it allows remarkable reduction in wiring, makes it easy to install and maintain the system, and improves compability. However, a networked control system has the critical defect that network uncertainties, such as time delay, can degrade the control system's performance. Therefore, the major concern of a networked control system is analyzing the effect of network uncertainties. This paper is concerned with PID controller performance for stability region, critical stability region and unstability region under the time delay in the Controller Area Network.

• 정보처리학회논문지C
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• 제9C권5호
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• pp.757-764
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• 2002

본 논문에서는 분산 멀티미디어 응용을 위한 객체 지향형 프레임워크 방식으로 설계된 네트워크 멀티미디어 관리 시스템 개발에 관한 설계 이슈 및 프로토타입 개발 경험을 기술하고, 특히 멀티미디어 관리 시스템의 일부로서 개발한 비디오 서버 상에 적용 가능한 통합형 QoS-자원 협상 프로토콜의 주요 특징에 관하여 설명한다. 구현된 멀티미디어 프레임 워크 상에서 효율적인 멀티미디어 스트리밍을 지원하기 위하여 새로 제안된 QoS 협상 정책을 실제 서버에 적용하는데 있어서 고려해야 할 중요 이슈에 대해서도 분석하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.38-40
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• 2004

An $H_2$ servo controller is proposed for networked control systems. The network-induced delay is assumed to be time-varying and vary in the known range. The proposed controller guarantees stability and $H_2$ performance for all time-varying delay in the known range. The proposed controller is verified using a simple networked motor control system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권2호
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• pp.161-166
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• 2006

Localization of mobile agent within a sensing network is a fundamental requirement for many applications, using networked navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, This paper describes a networked sensor-based navigation method in an indoor environment for an autonomous mobile robot which can navigate and avoid obstacle. In this method, the self-localization of the robot is done with a model-based vision system using networked sensors, and nonstop navigation is realized by a Kalman filter-based STSF(Space and Time Sensor Fusion) method. Stationary obstacles and moving obstacles are avoided with networked sensor data such as CCD camera and sonar ring. We will report on experiments in a hallway using the Pioneer-DX robot. In addition to that, the localization has inevitable uncertainties in the features and in the robot position estimation. Kalman filter scheme is used for the estimation of the mobile robot localization. And Extensive experiments with a robot and a sensor network confirm the validity of the approach.

• 한국멀티미디어학회논문지
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• 제3권2호
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• pp.157-163
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• 2000

네트워크를 이용한 가상현실에 실시간 동영상이 도입되면서 가상공간은 더욱 현실감이 있게 되었다. 그러나 인터넷과 같이 자원을 예약할 수 없는 네트워크를 이용하여 가상현실을 제공하는 시스템에서 실시간 동영상을 처리하기 위해서 시스템의 확장성(scalability)을 고려하는 것은 중요하다. 본 논문에서는 실시간 동영상을 처리하는 가상현실 시스템을 위한 가상공간의 품질조정 방법을 제안하여 확장성을 고려한 네트워크형 가사연실 시스템을 설계 및 구현을 한다. 제안한 방법은 가상공간의 각 객체들의 중요도를 나타내는 IoP(Importance of Presence)를 제안하고, 가상현실 시스템에 과부하가 발생하면 제안된 IoP를 토대로 객체들의 품질을 제어함으로써 시스템의 확장성을 제공한다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제18권1호
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• pp.64-88
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• 2024

Security and reliability are the utmost importance facts in intelligent networked vehicles. Stochastic Petri Net and Z (SPZN) as an excellent formal verification tool for modeling concurrent systems, can effectively handles concurrent operations within a system, establishes relationships among components, and conducts verification and reasoning to ensure the system's safety and reliability in practical applications. However, the application of a system with numerous nodes to Petri Net often leads to the issue of state explosion. To tackle these challenges, a refinement and abstraction method based on SPZN is proposed in this paper. This approach can not only refine and abstract the Stochastic Petri Net but also establish a corresponding relationship with the Z language. In determining the implementation rate of transitions in Stochastic Petri Net, we employ the interval average and weighted average method, which significantly reduces the time and space complexity compared to alternative techniques and is suitable for expert systems at various levels. This reduction facilitates subsequent comprehensive system analysis and module analysis. Furthermore, by analyzing the properties of Markov Chain isomorphism in the case study, recommendations for minimizing system risks in the application of intelligent parking within the intelligent networked vehicle system can be put forward.

• 제어로봇시스템학회논문지
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• 제17권11호
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• pp.1067-1073
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• 2011

In this paper, the methodology of a CA (Control Allocation) based FTNCS (Fault-Tolerant Networked Control System) is proposed. Control allocation is a control surface management technique by redistributing the redundant control surfaces in overactuated systems. In modern high performance aircrafts, they adopt many redundant control surfaces to provide high performance and to satisfy various tactical requirements. Moreover, redundant control surfaces provide an opportunity to compensate performance degradation due to failures in more than one actuator by re-allocating redundant control surfaces. Simulation results with an F-18 HARV demonstrate that the proposed CA based FTNCS can achieve a fast and accurate tracking performance even in the presence of actuator faults.