• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.365-368
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• 1992

This paper presents an approach to the design of real time task scheduling for a line controller of continuous manufacturing process automation. The line controller has multiprocessor-based architecture with shared memory and is operated by firmware. This firmware contains menu-driven software supporting real-time database management and fuction-block control language. The multitasking line control processor performs the following three functions: 1) interprets the function block control language by virtue of shared memory in the database; 2) invokes an interupt service routine as required by external hardware; 3) detects errors and notifies the user. We propose real time task scheduling method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.346-349
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• 1996

In this paper development of a CAD of control systems is introduced which enables us to do not only analysis of control systems, design of controllers but also real-time implementation of controllers. By utilizing this software, the control engineer is able to repeat the procedure of modification of controllers and experiments without recompile to attain better performance. The software also offers the facility to update the parameters of controllers without stopping real-time control, which helps on-line tuning of controllers. If some parameters of the controller is changed on-line, the control input may change discontinuously. It has serious effect on the control systems. A method for on-line tuning of state feedback controller with state observer is proposed and verified through the experiment with an inverted pendulum.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.65-68
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• 1996

Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. The TMS32OC31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the, network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time, control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2000년도 춘계학술대회 학술발표 논문집
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• pp.264-267
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• 2000

The need for including time variables in various type of modeled Discrete Event Dynamic Systems(DEDSs) is apparent since the modeled systems are real time in nature. In the real world, almost all event is related to time. A Time Petri Net(TPN) is one of methods for model ins and analyzing of DEDSs with real time values. Two time values, ${\alpha}$$\sub$i/ and ${\beta}$$\sub$i/ are defined for each transition. In this paper, Ire present Fuzzy Transition Timed Petri Net(FTTPN) to determine the optimal transition firing time between ${\alpha}$$\sub$i/ and ${\beta}$$\sub$i/ using fuzzy theory. The traffic signal controller in an intersection is modeled and analyzed by FTTPN.

• 한국신뢰성학회지:신뢰성응용연구
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• 제18권2호
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• pp.153-160
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• 2018

Purpose: A traffic signal controller needs to control and coordinate to ensure that traffic and pedestrians move as smoothly as possible. Since a traffic signal controller has a significant impact on the safety of vehicles and pedestrians, it is important to monitor the failure and deterioration of the traffic signal controller. The purpose of this paper is to propose an IoT (Internet of Things)-based monitoring system for a traffic signal controller. Methods: Every traffic signal controller has a nominal system trajectory specified when it is deployed. The proposed IoT-based monitoring system collects the system trajectory information through real-time monitoring. By comparing the nominal system trajectory and the monitored system trajectory, we are able to detect the failure and deterioration of the traffic signal controller. Conclusion: The proposed IoT-based monitoring system can contribute to the safety of vehicles and pedestrians by maximizing the availability of a traffic signal controller.

• 정보과학회 컴퓨팅의 실제 논문지
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• 제21권3호
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• pp.173-182
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• 2015

다양한 산업 자동화 분야에 활용되고 있는 모션 제어 시스템의 핵심 요소인 모션 제어기는 모션 명령의 전송의 주기성과 각 모터 드라이브 간 동작시점의 편차 최소화 등 실시간 성능 요구사항을 가진다. 이러한 요구사항을 만족시키기 위해 모션 제어기는 전통적으로 하드웨어 중심의 전용기 형태로 구현되어 왔으나 시스템 간 호환성과 확장성의 한계로 소프트웨어 중심의 범용 모션 제어기로 대체되는 추세이다. 한편 최근에는 저비용, 고성능의 범용 임베디드 플랫폼을 이용한 모션 제어기에 대한 관심도 커지고 있다. 본 논문에서는 고정밀 모션 제어 응용을 위해 ARM 기반 범용 임베디드 보드 상에서 Xenomai 기반 임베디드 제어기를 오픈소스 소프트웨어로 구현한 결과를 제시한다. 구현된 임베디드 제어기의 성능 평가를 위해 실제 응용 상황에서 측정 실험을 수행하였으며, 실험 결과 구현된 제어기는 드라이브 3개를 2 ms 제어주기로 동시 구동하는 환경에서도 안정적인 성능을 보임을 알 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.364-364
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• 2000

Timed Petri Net(TPN) is one of methods to model and to analyze Discrete Event Dynamic Systems(DEDSs) with real time values. It has two time values, earliest firing time ($\alpha$$_{i}$) and latest firing time ($\beta$$_{I}$) for the each transition. A transition of TPN is fired at arbitrary time of time interval ($\alpha$$_{I}$, $\beta$$_{i}$). Uncertainty of firing time gives difficulty to analyze and estimate a modeled system. In this paper, we proposed the Fuzzy Transition Timed Petri Net(FTTPN) with fuzzy theory to determine the optimal transition time (${\gamma}$$_{i}$). The transition firing time (${\gamma}$$_{i}$) of FTTPN is determined from fuzzy controller which is modeled with information of state transition. Each of the traffic signal controllers are modeled using the proposed method and timed petri net. And its Performance is evaluated by simulation of traffic signal controller. controller.

• 제어로봇시스템학회논문지
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• 제8권12호
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• pp.1056-1060
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• 2002

Model-based tuning rules of the PID controller are proposed incorporating with real-coded genetic algorithms. The optimal parameter sets of the PID controller for step set-point tracking are obtained based on the first-order time delay model and a real-coded genetic algorithm as an optimization tool. As for assessing the performance of the controllers, performance indices(ISE, IAE and ITAE) are adopted. Then tuning rules are derived using the tuned parameter sets, potential rule models and another real-coded genetic algorithm A set of simulation works is carried out to verify the effectiveness of the proposed rules.

• 한국정보통신학회논문지
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• 제10권1호
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• pp.191-196
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• 2006

본 논문에서는 비젼 시스템을 이용하여 이동 물체를 추적하는 방법을 제안하였다. 이동 물체를 계속적으로 추적하기 위해서는 이동 물체의 영상이 화상의 중심점 부근에 위치하도록 해야 한다. 따라서 이동 물체의 영상이 화상의 중심점의 부근에 위치하도록 하기 위하여 팬/틸트(Pan/Tilt)구조의 카메라 모듈을 제어하는 퍼지 제어기를 구현하였다. 향후, 시스템을 이동로봇에 적용하기 위하여 비젼 시스템을 위한 영상처리보드를 설계 제작하였고, 대상물체의 색상과 형태를 파악한 후 퍼지 제어기를 이용하여 카메라모듈이 물체를 추적할 수 있도록 StrongArm 보드를 이용하여 구성하였다. 그리고, 실험에 의해서 제안된 퍼지 제어기 가 실시간 이동물체 추적 시스템에 적용 가능함을 확인 하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2325-2327
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• 2003

This thesis is concerned with the control of Arago's disk system using CAN(Controller Area Network). CAN protocol is used widely for the real time control in networked control systems(NCS). A networked control system using CAN is constructed to perform position control of Arago's disk. The mathematical model, of overall system is derived to design an appropriate controller analytical1y. Various operating points of the Arago's disk system in the real time control are chosen as stable region ($45^{\circ}$), marginal1y stable region($90^{\circ}$) and unstable region($120^{\circ}$), and the experiment for the position control of arago's disk system is done for each operating point. The performance of the suggested NCS is verified by experiments. It is shown that the NCS using CAN has stability and excel1ency in real time control.