• 한국안전학회지
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• 제18권3호
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• pp.154-160
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• 2003

원격지에 위치한 분산제어 시스템과 센서 데이터 또는 제어 명령을 주고받을 때에는 불확실한 시간지연이 발생한다. TCP/IP 프로토콜을 이용한 데이터 네트워크와 마찬가지로 데이터 네트워크와 디바이스 네트워크를 결합한 가상 디자이스 네트워크도 불확실한 시간지연이 내재되어 있다. 이러한 시간지연은 분산제어시스템의 성능을 저하시키고 불안전성을 야기하는 원인이 된다. 본 논문에서는 이러한 네트워크상에 내재하는 시간지연을 평가하고 부정적인 효과를 최소화하기 위하여 Smith Predictor를 적용하였다. 제안된 제어 알고리즘은 실시간 서보제어를 통하여 효과를 입증하였으며 가상 디바이스 네트워크 개념에 근거한 분산제어 시스템을 이용하여 실시간 예지보전을 수행할 때 효과가 있음을 제시하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.350-353
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• 2004

The increasing use of Ethernet-TCP/IP network in industry has led to the growing interest in its reliability in real-time applications such as automated manufacturing systems and process control systems. However, stochastic behavior of its medium access scheme makes it inadequate for time-critical applications. In order to guarantee hard real-time communication service in Ethernet-TCP/IP network, we proposed an algorithm running over TCP/IP protocol stack without modification of protocols. In this paper, we consider communication services guaranteeing deadlines of periodic real-time messages over MAC protocols that have unbounded medium access time. We propose a centralized token scheduling scheme for multiple access networks. The token is used to allow a station to transmit its message during the time amount that is appended to the token. The real-time performance of the proposed algorithm has been described.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1836-1839
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• 2005

We have developed Ethernet based real-time communication systems called "Vnet/IP" for DCS which is the control system for process automation. This paper describes the features and the technologies of the ASIC which is utilized in the communication interface hardware for Vnet/IP. Vnet/IP has been developed for mission-critical communications. Hence it has real-time feature, high reliability and precise time synchronization capability. At the same time, it is able to deal with standard protocols without influence on mission-critical communications. The communication interface hardware has a host interface and dual redundant network interfaces. The host interface can be chosen PCI-bus or R-bus which is the proprietary internal bus developed for the high reliable redundant controller. Each network interface is a RJ45 connection with 1Gbps maximum in compliance with IEEE802.3.

• 한국자동차공학회논문집
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• 제10권4호
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• pp.175-180
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• 2002

In order to satisfy the requirements of time reduction and cost saving for development of electronic control systems(ECU) in automotive industry, the applications of a standardized real-time operating system(RTOS) and a communication protocol to ECUs are increased. In this study, a body control module(BCM) that employs OSEK/VDX(open system and corresponding interfaces for automotive electronics/vehicle distributed executive) OS tour the RTOS and a controller area network(CAN) fur the communication protocol is designed, and the performances of the system are evaluated. The BCM controls doors, mirrors, and windows of the vehicle through the in-vehicle network. To identify all the transmitted and received control messages, a PC connected with the CAN communication protocol behaves as a CAN bus emulator. The control system based upon in-vehicle network improves the system stability and reduces the number of wiring harness. Furthermore it is easy to maintain and simple to add new features because the system is designed based on the standards of RTOS and communication protocol.

• 한국안전학회지
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• 제21권4호
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• pp.25-32
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• 2006

LonWorks over IP(LonWorks-IP) virtual device network(VDN) is an integrated form of LonWorks device network and IP data network. In especially real-time distributed servo applications on the factory floor, timely response is essential for predictive and preventive maintenance. The time delay in servo control on LonWorks-IP based VDN has highly stochastic nature. LonWorks-IP based VDN induced transmission delay deteriorates the performance and stability of the real-time distributed control system and can't give an effective preventive and predictive maintenance. In order to guarantee the stability and performance of the system, and give an effective preventive and predictive maintenance, LonWorks-IP based VDN induced time-varying uncertain time delay needs to be predicted and compensated. In this paper new Pill control scheme based on Smith predictor, disturbance observer and band pass filter is proposed and tested through computer simulation about position control of DC servo motor. It is shown that how can the proposed control scheme be designed to minimize the effects of uncertain varying time delay and model uncertainties. The validity of the proposed control scheme is compared and demonstrated with the comparison of internal model controllers(IMC) based on Smith predictor with and without disturbance observer.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권7호
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• pp.294-301
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• 2002

A new dynamic scheduling algorithm is proposed for CAN-based real-time system in this paper. The proposed algorithm is extended from an existing EDS(Earliest Deadline Scheduling) approach having a solution to the priority inversion. Using the proposed algorithm, the available bandwidth of network media can be checked dynamically, and consequently arbitration delay causing the miss of deadline can be avoided. Also, non-real time messages can be processed with their bandwidth allocation. Full network utilization and real-time transmission feasibility can be achieved through the algorithm. To evaluate the performance of algorithm, two simulation tests are performed. The first one is transmission data measurement per minute for periodic messages and the second one is feasibility in the system with both periodic messages and non-real time message.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권3호
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• pp.185-191
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• 2008

In this paper, experimental studies of a neural network (NN) control technique for non-model based position control of the x-y table robot are presented. Decentralized neural networks are used to control each axis of the x-y table robot separately. For an each neural network compensator, an inverse control technique is used. The neural network control technique called the reference compensation technique (RCT) is conceptually different from the existing neural controllers in that the NN controller compensates for uncertainties in the dynamical system by modifying desired trajectories. The back-propagation learning algorithm is developed in a real time DSP board for on-line learning. Practical real time position control experiments are conducted on the x-y table robot. Experimental results of using neural networks show more excellent position tracking than that of when PD controllers are used only.

• 에너지공학
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• 제14권2호
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• pp.112-116
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• 2005

본 논문에서는 높은 대역폭과 안정성을 제공하는 DCS용 통신망의 구조를 제시하고 성능을 해석한다. 본 논문에서 제시하는 DCS용 통신망은 DCS 통신망에서 널리 사용되는 리플렉티브 메모리 (Reflective Memory) 구조를 채용하며, 이에 따라 링형 토폴로지를 가진다 물리계층으로 사무용 및 산업용으로 널리 쓰이고 있는 패스트 이더넷(Fast Ethernet)물리 매체를 사용하여 100 Mbps의 대역폭을 가지고, 링형 토폴로지가 가지는 단점인 각 노드에서의 시간 지연을 줄이기 위해 RED(Ring Enhancement Device)라는 장치를 고안하여 사용한다. 본 논문에서 소개하는 DCS용 통신망을 ERCNet(Ethernet based Real-time Control Network)이라고 명명하며, ERCNet의 구조와 동작에 대해 설명한다. ERCNet의 통신 성능에 대한 수학적 해석을 수행하고 개발된 ERCNet을 이용한 실험을 통하여 해석 결과의 정확성과 통신망 성능을 검증한다.

• 대한전자공학회논문지TC
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• 제48권7호
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• pp.1-8
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• 2011

Vehicular Ad-hoc Network (VANET)은 기반시설의 도움 없이 차량 간의 무선통신을 통하여 실시간으로 항상 접속 가능한 네트워크이다. 그러나 VANET 환경을 구성하는 노드들의 잦은 토폴로지 변화, 패킷을 다른 노드로 포워딩 해주지 않는 selfishness 등의 특징은 VANET의 성능을 저하시키는 요인이 될 수 있다. 이러한 네트워크 성능 저하를 개선시키기 위한 기존의 인센티브 시스템에 관한 연구들은 고정 된 값의 인센티브를 제시하거나, 값이 변화하는 인센티브를 제시하더라도 인센티브 조정 과정이 데이터 전송과 동시에 진행되지 않는다. 따라서 selfish 노드들의 데이터 포워딩을 실시간으로 진작시키는데 한계가 있으며, VANET 환경에서의 잦은 토폴로지 변화에 대한 고려가 부족하였다. 본 논문은 노드의 데이터 포워딩을 실시간으로 진작시키기 위하여 데이터 전송 중에 인센티브 값을 실시간으로 조정하여 제시하는 인센티브 구조를 제안한다. 또 경로 설정 단계에서 결정된 초기 경로 내의 노드 순서가 데이터 전송 중에 바뀐 경우, 경로재설정을 요청한 중간노드는 그 요청이 반영되어 경로가 수정되면 인센티브를 받을 수 있도록 알고리즘을 구성하였다. 시뮬레이션을 통하여, 제안하는 인센티브 구조를 사용하면 데이터의 delivery time 및 delivery ratio 측면에서 기존의 알고리즘 대비 우수한 성능을 가짐을 확인하였다.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.318-325
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• 2008

In this paper, a dynamic backoff adjustment method of IEEE 802.15.4 is proposed for time-critical sporadic data in a noisy factory environment. For this, a superframe of IEEE 802.15.4 is applied to a real-time mixed data (periodic data, sporadic data, and non real-time message) transmission in factory communication systems. To guarantee a channel access of real-time sporadic(non-periodic) data, a transmission method using the dynamic backoff is applied to wireless control networks. For the real-time property, different initial BE, CW parameters are used for the dynamic backoff adjustment method. The simulat-ion results show an enhancement of the real-time performance of sporadic emergency data. The proposed method provides the channel access of real-time sporadic data efficiently, and guarantee real-time transmission simultaneously within a limite-d timeframe.