• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.139-139
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• 2000

The subject of this paper is the tole operation for unmanned vehicle. The aim is studied in context of motor control system and algorithms for the mid to low level control of tele operation unmanned vehicle described. Modern, vehicle related researches have been implemented about control, chassis, body and safe쇼 but now is to driving comfort, I.T.S. and human factor, etc. As a result of this fact, unmanned vehicle is main research topic over the world but it is still very expensive and unreasonable. A hierarchical approach is studied in context of motor control system and algorithms for the mid to low level control of tele operation unmanned vehicle described. The real time control and monitoring of longitudinal, lateral, Pitching motion is to be solved by system integration and optimization technique. We show the experimental result about fixed brake range test and acceleration test. And all system is to integrated for driving simulator and unmanned vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.4
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• pp.420-426
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• 1998

It is the purpose of this paper to make a preliminary study on the use of repetitive control to improve velocity accuracy by eliminating repetitive disturbances caused by machining inaccuracies of the axis of rotation location. If the control system can be intelligent enough to compensate for such machining errors, then one may be able to improve the accuracy of the velocity control, or alternatively, one may maintain the same accuracy and relax the machining tolerances required. This could decrease cost significantly. Experiments are performed testing repetitive control methods on a constant speed rolling operation testbed. The experimental results show very substantial decreases in the tracking error of the system. Spectral data of the output motion are given to demonstrate the attenuation of the disturbance frequencies and harmonics, related to the bandwidth being used. It is seen that the simplest form of repetitive control which is very easily implemented, can produce striking improvement in control system performance in such belt drive rolling operations, and the learning can be accomplished in a short time.

• Journal of The Korean Society For Urban Railway
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• v.6 no.4
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• pp.279-286
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• 2018

Recently, a safety control platform to monitor the safety of train operation in real time and prevent accidents and risks through control is under study. In the initial design, DDS communication method supporting distributed network is adopted for real-time processing of large amount of data according to the integration of existing distributed safety data. However, communication between server and console inside the safety control platform is applied to existing TCP socket communication. In the case of TCP socket communication, it is possible to process data for a small system of a safety control test bed by one-to-one communication. However, if the data is expanded all over the country in the future, it becomes difficult to cope with a case where communication traffic occurs due to vast amount of data. In this paper, we propose DDS communication method to support distributed network between server and console of security control platform, and demonstrate TCP socket and DDS method, and compare throughput and speed. As a result, we have found that the scalability and flexibility are improved in case of applying DDS communication to future systems.

• Journal of the Korea Society of Computer and Information
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• v.21 no.8
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• pp.21-28
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• 2016

In this paper, we propose a fast small target detection method using multiple filters, and describe system implementation using IPP libraries. To detect small targets in Infra-Red images, it is mandatory that you should apply a filter to eliminate a background and identify the target information. Moreover, by using a suitable algorithm for the environments and characteristics of the target, the filter must remove the background information while maintaining the target information as possible. For this reason, in the proposed method we have detected small targets by applying multi area(spatial) filters in a low luminous environment. In order to apply the multi spatial filters, the computation time can be increased exponentially in case of the sequential operation. To build this algorithm in real-time systems, we have applied IPP library to secure a software optimization and reduce the computation time. As a result of applying real environments, we have confirmed a detection rate more than 90%, also the computation time of the proposed algorithm have been improved about 90% than a typical sequential computation time.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.1
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• pp.24-30
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• 2006

The Controller Area Network (CAN) is being widely used for real-time control application and small-scale distributed computer controller systems. When the stuff bits are generated by bit-stuffing mechanism in the CAN network, it causes jitter including variations in response time and delay In order to eliminate this jitter, stuff bits must be controlled to minimize the response time and to reduce the variation of data transmission time. This paper proposes the method to reduce the stuff bits by restriction of available identifier and bit mask using exclusive OR operation. This da manipulation method are pretty useful to the real-time control strategy with respect to performance. However, the CAN may exhibit unfair behavior under heavy traffic conditions. When there are both high and low priority messages ready for transmission, the proposed precedence priority filtering method allows one low priority message to be exchanged between any two adjacent higher priority messages. In this way, the length of each transmission delays is upper bounded. These procedures are implemented as local controllers for the ISHURO(Inha Semvung Humanoid Robot).

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.51 no.5
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• pp.238-246
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• 2002

Utilities are trying to install the equipment of high quality to avoid deterioration of supply reliability. In addition, many sectionalizing switches which can decrease the total outage value for a fault are installed for the same reason. Therefore, utilities are interested in stun dards and criteria for installing switches to optimize the total cost on distribution systems. The affect of sectionalizing switches installed on distribution feeder is gradually decreased because the failure rate on distribution feeder is decreased. Also the automation for distribution systems is widely applied for the efficient operation. Therefore, the renewal for installation standards of sectionalizing switches Is required to reflect the current operation situation. The variable data is used to consider the KEPCO's real situation of distribution feeder as follows; the feeder capacity, connecting rate, feeder length, failure rate of distribution feeder, the failure rate of switches, perception time of feeder fault, the restoration time for a faulted section, the transfer time to other feeders, and the switching time. In this study, We propose equations which can determine the number of sectionalizing switches for minimizing the outage and switch installation cost.

• Proceedings of the KIEE Conference
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• 2002.07a
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• pp.70-73
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• 2002

Utilities are trying to install the equipment of high quality to avoid deterioration of supply reliability. In addition, many sectionalizing switches which can decrease the total outage value for a fault are installed for the same reason. Therefore, utilities are interested in standards and criteria for installing switches to optimize the total cost on distribution systems. The affect of sectionalizing switches installed on distribution feeder is gradually decreased because the failure rate on distribution feeder is decreased. Also the automation for distribution systems is widely applied for the efficient operation. Therefore, the renewal for installation standards of sectionalizing switches is required to reflect the current operation situation. The variable data is used to consider the KEPCO's real situation of distribution feeder as follows; the feeder capacity, connecting rate, feeder length, failure rate of distribution feeder, the failure rate of switches, perception time of feeder fault, the restoration time for a faulted section, the transfer time to other feeders, and the switching time. In this study, We propose equations which can determine the number of sectionalizing switches for minimizing the outage and switch installation cost.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.4
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• pp.297-301
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• 2014

The biggest factors, which lower the machining accuracy of machine, are thermal deformation and chatter vibration. In this article, we introduce the development case of a device and technology that can automatically compensate thermal deformation errors of machine during long-time processing on the machine tool's CNC (Computerized Numerical Controller) in real time. In machine processing, the data acquisition of temperature signal in real time and auto-compensation of the machine origin of machine tools depending on thermal deformation have significant influence on improving the machining accuracy and the rate of operation. Thus, we attempts to introduce the related contents of the development we have made in this article : The development of a device that embedded the acquisition part of temperature data, linear regression to get compensation value, compensation model of neural network and a system that compensates the machine origin of machine tool automatically during manufacturing process on the CNC.

• Journal of Drive and Control
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• v.17 no.3
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

• Journal of Information Processing Systems
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• v.6 no.3
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• pp.413-434
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• 2010

Wireless sensor networks are usually characterized by dense deployment of energy constrained nodes. Due to the usage of a large number of sensor nodes in uncontrolled hostile or harsh environments, node failure is a common event in these systems. Another common reason for node failure is the exhaustion of their energy resources and node inactivation. Such failures can have adverse effects on the quality of the real-time services in Wireless Sensor Networks (WSNs). To avoid such degradations, it is necessary that the failures be recovered in a proper manner to sustain network operation. In this paper we present a dynamic Energy efficient Real-Time Job Allocation (ERTJA) algorithm for handling node failures in a cluster of sensor nodes with the consideration of communication energy and time overheads besides the nodes' characteristics. ERTJA relies on the computation power of cluster members for handling a node failure. It also tries to minimize the energy consumption of the cluster by minimum activation of the sleeping nodes. The resulting system can then guarantee the Quality of Service (QoS) of the cluster application. Further, when the number of sleeping nodes is limited, the proposed algorithm uses the idle times of the active nodes to engage a graceful QoS degradation in the cluster. Simulation results show significant performance improvements of ERTJA in terms of the energy conservation and the probability of meeting deadlines compared with the other studied algorithms.