• Journal of the Korean Society for Precision Engineering
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• v.26 no.10
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• pp.40-46
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• 2009

Recently CAN (Controller Area Network) is widely used as an in-vehicle networking protocol for intelligent vehicle. The identifier field (ID) of CAN is used not only to differentiate the messages but also to give different priorities to access the bus. This paper presents a dynamic 10 allocation algorithm in order to enhance the real-time quality-of-service (QoS) performance. When the network traffic is increased, this algorithm can allocate a network resource to lower priority message without degradation of the real-time QoS performance of higher priority message. In order to demonstrate the algorithm's feasibility, message transmission delays have been measured with and without the algorithm on an experimental network test bed.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.94-104
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manpulators to achieve accurate trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed contorl scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Morever, this scheme does not require an accurate dynamic modeling nor values of manpipulator parameters and payload. Performance of the adaptive controller is illustated by simulation and experimental results for a SCARA robot.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.94-97
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• 1999

In this paper, a new real-time neural network connection admission controller is proposed. The proposed controller measures traffic flows, cell loss rate and cell delay periodically each classes. The Neural network learns the relation between those measured information and service quality by real-time. Also the proposed controller uses the DWRR multiplexer with buffer dedicated to every traffic source in order to measure the delay that cells experience in buffer. Experimental result shows that the proposed method can control effectively heterogeneous traffic sources with diverse QoS requirement.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.200-205
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• 1992

The classical control theory has been developed successfully for the design of a system controller and has evolved continually. Even though sophisticated simulation techniques and software packages are available, there is still some difficulty in the design of a complex system controller at the desk. So the trial and error method is sometimes used to design a new controller, but it requires excess time and cost. This paper suggests a controller design method through the experimental approach. The basic concept is to adjust gradually the design parameters of the controller to the simulation results and experimental data of a similar real system. This method will be a very useful and easy way to design an accurate and/or optimal controller for a real plant while reducing time and giving a good solution at a reasonable cost.

• Journal of the Korean Institute of Plant Engineering
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• v.23 no.4
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• pp.21-27
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• 2018

This paper proposed the real-time monitoring methodology of a traffic signal controller. The proposed methodology is based on the simulation technology, and it is necessary to construct a simulation model imitating the behavior of a traffic signal controller. By executing the simulation model, we can obtain the 'nominal system trajectory' of the traffic signal controller. On the other hand, an IoT(Internet of Things)-based monitoring device is implemented in a traffic signal controller. Through the monitoring device, it is possible to obtain the 'actual system trajectory'. By comparing the nominal system trajectory and the actual system trajectory, we can estimate the degree of deterioration of a traffic signal controller.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.12
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• pp.114-124
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• 2013

Recently, the real time simulator to develop the inverter drive board and motor control algorithm for high power induction motor and PM synchronous motor is required. In this paper, the real time simulator based on the voltage control for a PM synchronous motor is proposed. The resistor, inductor, and the induced voltage for the modeling of a PM synchronous motor is implemented by the power converter including the LCL filter and the PWM rectifier. The induced voltage of a PM synchronous motor is simulated by the capacitor voltage of the LCL filter, which is controlled by PI voltage controller and the deadbeat current controller. The operation and the simulated characteristics of the proposed real time simulator for a PM synchronous motor is verified by the simulation.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.9
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• pp.34-40
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• 1999

In order to establish the design technique of the robust current controller in d.c series wound motor driver system, this paper proposes a method of the compensated Bang-Bang current control using d.c series wound motor driver system under the improperly variable load to get minimum time for the torque control. The compensated Bang-Bang current controller structure is simpler than that of PID plus Bang-Bang controller. This paper shows that a general 16 bits microprocessor is efficiently used to implement such an algorithm. The calculation time of software is extremely small when compared with that of conventional PID plus Bang-Bang controller. Both nonlinear operating characteristics of digital switching elements and describing function methods are used for the analysis and synthesis. Real-time implementation of the compensated Bang-Bang current controller is achieved. The concept of design strategy of the control and the PWM waveform generation algorithms are presented in this paper.

• Journal of Electrical Engineering and Technology
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• v.11 no.2
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• pp.490-498
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• 2016

Proportional Integral Derivative (PID) controller tuning is an area of interest for researchers in many areas of science and engineering. This paper presents a new algorithm for PID controller tuning based on a combination of bacteria foraging and particle swarm optimization. BFO algorithm has recently emerged as a very powerful technique for real parameter optimization. To overcome delay in an optimization, combine the features of BFOA and PSO for tuning the PID controller. This new algorithm is proposed to combine both the algorithms to get better optimization values. The real time prototype model of paper machine is designed and controlled by using PIC microcontroller embedded with the programming in C language.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.7
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• pp.155-162
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• 2003

We propose a new technique far real-tine controller design of a autonomous cruise mobile robot with three drive wheels. The proposed control scheme uses a Caussian function as a unit function in the fuzzy neural network. and a back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-foray. The control performance of the proposed controller is illustrated by performing the computer simulation for trajectory tracking of the speed and azimuth of a autonomous cruise mobile robot driven by three independent wheels.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.517-523
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• 2006

This paper is focused on a robust saturation controller for the stable linear time-invariant (LTI) system involving both actuator's saturation and structured real parameter uncertainties. Based on affine quadratic stability and multi-convexity concept, a robust saturation controller is newly proposed and the linear matrix inequality (LMI)-based sufficient existence conditions for this controller are presented. The controller suggested in this paper can analytically prescribe the lower and upper bounds of parameter uncertainties, and guarantee the closed-loop robust stability of the system in the presence of actuator's saturation. Through numerical simulations, it is confirmed that the proposed robust saturation controller is robustly stable with respect to parameter uncertainties over the prescribed range defined by the lower and upper bounds.