• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2230-2234
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• 2003

This paper proposes a distributed simulator for general control system in CEMTool. Systems can be described by SIMTool likes the simulink in Matlab. For distributed simulation, we can seperate any system into several parallel subsystems in SIMTool. The number of parallel subsystem can be determined by the system's property. After seperation, parallel simulator will do initialization, one-step-ahead simulation, block-distribution and ordering and so on. Finally, simulator will create independent C codes and executive files for each subsystem. The whole system is fulfilled by several PCs, and each PC executes one subsystem. There are communications among these subsystem using reflective memory or ethernet. We have made several experiments, and the 5-stand cold rolling mill control system is our main target. The result of parallel simulation has shown effective speedup in comparison with one pc simulation.

• Journal of Power Electronics
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• v.10 no.5
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• pp.555-562
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• 2010

This paper presents the development of a hardware simulator for a 3-parallel grid-connected PMSG wind power system. With the development of permanent magnetic materials in recent years, the capacity of a PMSG based wind turbine system, which requires a full-scale power converter, has been raised up to a few MW. Since it is limited by the available semiconductor technology, such large amounts of power cannot be delivered with only one power converter. Hence, a parallel connecting technique for converters is required to reduce the ratings of the converters. In this paper, a hardware simulator with 3-parallel converters is described and its control issues are presented as well. Some experimental results are given to illustrate the performance of the simulator system.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.84-91
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• 2005

In this paper, we describe the real-time parallel processing simulator developed for the use of performance analysis of rolling missiles. The real-time parallel processing simulator developed here consists of seeker emulator generating infrared image signal on aircraft, real-time computer, host computer, system unit, and actual equipments such as auto-pilot processor and seeker processor. Software is developed from mathematic models, 6 degree-of-freedom module, aerodynamic module which are resided in real-time computer, and graphic user interface program resided in host computer. The real-time computer consists of six TIC-40 processors connected in parallel. The seeker emulator is designed by using analog circuits coupled with mechanical equipments. The system unit provides interface function to match impedance between the components and processes very small electrical signals. Also real launch unit of missiles is interfaced to simulator through system unit. In order to apply the real-time parallel processing simulator to performance analysis equipment of rolling missiles it is essential to perform the performance verification test of simulator.

• Journal of the Korea Society for Simulation
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• v.3 no.1
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• pp.29-42
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• 1994

The architecture of a MIMD-type parallel computer system is specified: a simulator is developed to support design and evaluation of systems based on the architecture: and conducted with the simulator to evaluate system performance. The horizontal/vertical-bus(H/V-bus) system architecture provides an NxN array of processing elements which communicate with each other through a network of N horizontal buses and N vertical buses. The simulator, written in SLAM II and FORTRAN, is designed to provide high-resolution in simulating the IPC mechanism. Parameters provide the user with independent control of system size, PE speed and IPC mechanism speed. Results generated by the simulator include execution times, PE utilizations, queue lengths, and other data. The simulator is used to study system performance when a partial differential equation is solved by parallel Gauss-Seidel method. For comparisons, the benchmark is also executed on a single-bus system simulator that is derived from the H/V-bus system simulator. The benchmark is also solved on a single PE to obtain data for computing speedups. An extensive analysis of results is presented.

• Proceedings of the Korean Information Science Society Conference
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• 1999.10c
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• pp.777-779
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• 1999

A new distributed/parallel algorithm simulator, DASim(Distributed Algorithm Simulator), is proposed in this paper. The idea is to ease the task of design, analysis and implementation of distributed algorithms. A small high level language has been proposed for the purpose. Through this non-language specific high level language, the users are spared from the tedious details about how to program distributed or parallel algorithms. Further, visualization of these algorithms are pretty helpful to understand behaviors of these algorithms.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.2
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• pp.171-177
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• 2010

This paper presents the development of a new 6-DOF parallel-kinematic motion simulator. The moving platform is connected to the fixed base by six P-S-U (Prismatic-Spherical-Universal) serial chains. Comparing with the well-known Gough-Stewart platform-type motion simulator, it uses commercialized linear actuators mounted at the fixed base whereas a 6-UPS manipulator uses telescopic linear ones. Therefore, the proposed motion simulator has the advantages of easier fabrication and lower inertia over a 6-UPS counterpart. Furthermore, since most forces acting along the legs are transmitted to the structure of linear actuators, smaller actuation forces are required. The inverse position and Jacobian matrix are analyzed. In order to further increase workspace, inclined arrangement of universal joints is introduced. The optimal design considering workspace and force transmission capability has been performed. The prototype motion simulator and PC-based real-time controller have been developed. Finally, position control experiment on the prototype has been performed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.965-968
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• 2004

This paper describes the development of the test path for Eclipse-II, a parallel mechanism motion simulator. Eclipse-II which can be used as a base for general motion simulators, enables unlimited continuous 360-degree spinning in any rotational axes plus finite X, Y, and Z translation motions. The advantage of enabling continuous 360-degree spinning allows various motions for virtual reality. In this paper, the development of the test path to verify the robustness of the Eclipse-II motion simulator is described. The test motions, which satisfy the requirements of test path, are suggested and washout filter enables these motions reproduced in the limited workspace. The trial run is conducted to verify the robustness of the Eclipse-II motion simulator. Additionally the standard data format of virtual reality for Eclipse-II One Man Ride is suggested.

• The KIPS Transactions:PartB
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• v.13B no.6 s.109
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• pp.615-624
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• 2006

The objective of this paper is to implement parallel multi-layer ANN(Artificial Neural Network) simulator based on the mobile agent system which is executed in parallel in the virtual parallel distributed computing environment. The Multi-Layer Neural Network is classified by training session, training data layer, node, md weight in the parallelization-level. In this study, We have developed and evaluated the simulator with which it is feasible to parallel the ANN in the training session and training data parallelization because these have relatively few network traffic. In this results, we have verified that the performance of parallelization is high about 3.3 times in the training session and training data. The great significance of this paper is that the performance of ANN's execution on virtual parallel computer is similar to that of ANN's execution on existing super-computer. Therefore, we think that the virtual parallel computer can be considerably helpful in developing the neural network because it decreases the training time which needs extra-time.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.235-240
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• 2001

A four degrees of freedom (dof) motion platform for bicycle simulator is developed. The motion platform, capable of the vertical linear and three angular motions, is designed based on analysis of the typical motion characteristics revealed by the existing six dof bicycle simulator. The platform essentially consists of two parts： the three dof parallel manipulator, consisting of a moving platform, a fixed base and three actuators, and the turntable to generate the yaw motion. The nonlinear kinematics and dynamics of the three dof parallel manipulator with multiple closed loop chains are analyzed for tracking control of the motion platform. The tracking performances of the three control schemes are experimentally compared： the computed torque method (CTM), the sliding mode control (SMC) and the PD control. The CTM and SMC, incorporated with the system dynamics model, are found to be equally better in performance than the PD controller, irrespective of the presence of external disturbance.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.3
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.