• 한국지능시스템학회논문지
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• 제10권5호
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• pp.423-431
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• 2000

In this paper, the effect of computing time-delay in the real-time digital fuzzy control systems is investigated and the design methodology of a real-time digital fuzzy controller(DFC) to overcome the problems caused by it is presented. We propose the fuzzy feedback controller whose output is delayed with unit sampling period. The analysis and the design problem considering computing time-delay is very easy because the proposed controller is syncronized with the sampling time. The stabilization problem of the digital fuzzy control system is solved by the linear matrix inequality(LMI) theory. Convex optimization techniques are utilized to find the stable feedback gains and a common positive definite matrix P for the designed fuzzy control system Furthermore, we develop a real-time fuzzy control system for backing up a computer-simulated truck-trailer with the consideration of the computing time-delay. By using the proposed method, we design a DFC which guarantees the stability of the real time digital fuzzy control system in the presence of computing time-delay.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.375-378
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• 1996

Robot control software is a hard real-time system that must output the planned trajectory points within an explicit short time period. In this paper, we present a design and implementation method for robot control software using commercial real-time operating systems, RTKemel 4.5. Therefore, various robot motions, efficient user interface, and system failure check are easily implemented by using multitasking function, intertask communication mechanism, and real-time runtime libraries of RTKernel. The performance analysis of commercial real-time operating system for robot control is presented based on Timed Petri net(TPN) and we can use these results to design an optimal system.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.263-272
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• 2008

We implemented a real-time servo system for a manipulator based on Laser Range Finder (LRF). and established algorithms for grasping a moving cylinder. We devised a manipulator mechanism and driving hardware based on a system board equipped with Xscale Processor with real-time operating system RTAI on Linux. The manipulator motor driver is connected to the system board via CAN communication link, and LRF is connected via RS-232C. We implemented real-time software including CAN device driver, RS-232C device driver, manipulator trajectory generator, and LRF control software. A typical application experiment for grasping a cylinder with circle motion demonstrated our system's real-time performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.40-43
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• 1996

An off-line programming, OLP, system is widely used in automation fines. To help an on-line robot system to carry out desirable tasks planned by the off-line simulation, an approach to the real-time communication is presented. The OLP system developed consists of a software, a host computer(PC), a SCARA robot body, four servo drivers, and four independent joint controllers. This study focuses on the software where real-time communication is included. The software, can be used in teaching, trajectory planning, real-time running, and performance evaluation. The evaluation of different control algorithms is one of the merits of the software. The software can give servo commands for task running. A comparison of generated and corresponding actual trajectories provides the evaluation of task performance. The safety, of the OLP system is ensured by alarming malfuntions of the system. The OLP system developed can reduce the teaching time and increase the user's convenience.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 B
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• pp.777-779
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• 2003

This paper describes the real-time data linkage of the field control system for distributed control in nuclear power plant environment. The most important keys of digital control system in nuclear power plant are the reliability and stability of system, and real-time control ability. This Paper brought up the hardware construction using a new method about the design of each station located upon control transmission network to improve real-time ability of field control system, and measured the station binding time between devices connected to field control module. And it was confirmed performance improvement of overall system for real-time data linkage between control devices.

• 한국멀티미디어학회논문지
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• 제22권2호
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• pp.281-291
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• 2019

In order to reflect complex and diverse building types, resident characteristics and disaster factors, it is necessary to introduce a flexible situation-based response system based on real-time information. Intelligent CCTV, hybrid sensor, location scanner, and customized broadcasting device were examined to introduce for the real-time response intelligent response system and its feasibility was verified through field test. In addition, based on the real-time information, the evacuation simulation was executed by assuming the dormitory building and the resident of the school, and the safety of the evacuation and the shortening of the pinnacle time were confirmed. The feasibility of real time information based evacuation comparing with the existing evacuation system were verified in the case of evacuation.

• Geomechanics and Engineering
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• 제16권2호
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• pp.159-168
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• 2018

In this study, a real-time grouting management system based on the clogging theory was established to manage injection procedure in real time. This system is capable of estimating hydraulic permeability with the passage of time as the grout permeates through the ground, and therefore, capable of estimating real time injection distance and flow rate. By adopting the Controlled Injection Pressure (CoIP) model, it was feasible to predict the grout permeation status with the elapse of time by consecutively updating the hydraulic gradient and flow rate estimated from a clogging-induced alteration of pore volume. Moreover, a method to estimate the volume of the fractured gap according to the reduction in injection pressure was proposed. The validity of the proposed system was successfully established by comparing the estimated values with the measured field data.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1803-1804
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• 2006

The purpose of this paper is to implement a Labview based TFDR Real Time system through the instruments of Pci eXtensions for Instrumentation(PXI). The proposed load impedance measurement algorithm was verified by experiments via the implemented real time system. The TFDR real time system consisted of the reference signal design, signal generation, signal acquisition, algorithm execution and results display parts. To implement real time system, all of the parts wore programmed by the Labview which is one of graphical programming languages. In the application software implemented by the Labview we were able to design a suitable reference signal according to the length and frequency attenuation characteristics of the target cable and controled the arbitrary waveform generator(ZT500PXI) of the signal generation part and the digital storage oscilloscope(ZT430PXI) of the signal acquisition part. By using the TFDR real time system with the terminal resistor on the target cable, we applied to the load impedance measurements. In the proposed load impedance algorithm a normalized time-frequency cross correlation function and a cross time-frequency distribution function was employed to calculate the reflection coefficient and phase difference between the input and the reflected signals.

• International Journal of Internet, Broadcasting and Communication
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• 제8권1호
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• pp.19-26
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• 2016

In this paper, the existing domestic HVAC systems, devices TCP / IP does not support the most, thereby, not performed remote management, it is necessary to regularly field service, inefficiency and cost bring a burden. This is through a comparison of the IoT-based primary, real-time protocol of what has become a hot topic recently, to be able to control and real-time monitoring through the CCU device in the HVAC system. Compare for this Internet of Things device for real-time monitoring and control of the XMPP, CoAP, MQTT main real-time protocol is used on. Finally, flexibility, light weight, based on MQTT a two-way messaging protocols with reliable message delivery, implements the protocol on the real-time HVAC system in the cloud platform.

• JSTS:Journal of Semiconductor Technology and Science
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• 제5권4호
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• pp.243-248
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• 2005

The UAV (Unmanned Aerial Vehicle) systems like unmanned autonomous helicopters are used in various missions of flight navigation and used to collect the environmental information of the surroundings. To realize the full functionalities of the UAV, the software part becomes a challenging problem. In this paper embedded real-time software architecture for unmanned autonomous helicopter is proposed that guarantee real-time performance of hard-real time tasks and re-configurability of soft-real time and non-real time tasks. The proposed software architecture has four layers: hardware, execution, service agent and remote user interface layer according to the reactiveness level for external events. In addition, the layered separation of concurrent tasks makes different kinds of mission reconfiguration possible in the system. An Unmanned autonomous helicopter system was implemented (Kyosho RC Helicopter) in our lab to test and evaluate the performance of the proposed system.