• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.403-410
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• 2010

The switched Ethernet has many features for real-time communications such as providing traffic isolation, large bandwidth, and full-duplex links, and so on. The switched Ethernet, however, cannot guarantee the timely delivery of a real-time message because message delay increases when collisions occurs at the output ports and message loss can even occur due to the overflow at the output buffer. Recently, many research efforts have been done to use the switched Ethernet as an industrial control network. In the industrial control network, sensors periodically sense the physical environment and transmit the sensed data to an actuator, and the periodic messages from sensors to actuators have typically real-time requirements such that those messages must be transmitted within their deadlines. This paper first suggests a feasible condition for EDF (Earliest Deadline First)-based scheduling of periodic messages on a synchronized switched Ethernet and a message scheduling algorithm which satisfies the proposed feasible condition. Pedreiras, et al. [10] suggested a feasible condition for message scheduling on the Ethernet (shared media Ethernet), but there has been no research result on the scheduling condition on the switched Ethernet until now. We compared the real-time message scheduling capacity between the Ethernet and the switched Ethernet by simulation. The simulation result shows that the message scheduling capacity of the Ethernet has almost remained constant as the number of nodes on the network increases, but, in the case of the switched Ethernet, the message scheduling capacity has increased linearly according to the number of nodes on the network.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

• The KIPS Transactions:PartC
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• v.12C no.1 s.97
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• pp.53-62
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• 2005

The NG-SDH system requires signal synchronization to synchronize incoming ethernet signal with GFP frame. The foreign nation research completes a chipset development until now and it secures a relation technique, but it does not secure a relation technique from domestic. Therefore, in this paper, we presented with signal synchronization method of Ethernet signal through GFP frame. We knew that the synchronized method of Ethernet signal through GFP-F must apply ingress & egress buffer and GFP Idle. We understood that the synchronized method of Ethernet signal through GFP-T must apply GFP Idle and $65B{\_}PAD$, and require maximum 3-bit addition & deletion of idle. Also we showed signal synchronization realization through simulation and obtained MTIE/TDEV characteristics and peak to peak jitter in egress output.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.4B
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• pp.217-226
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• 2007

By growth of digital media devices, a number of researches are in progress for transmission of isochronous traffic over network. Above all, network techniques that apply Ethernet, are in the limelight because of advantages of Ethernet. A standardization of network technique for isochronous traffic over Ethernet is in progress in IEEE 802.1 AVB TG. This paper proposed network technique for isochronous traffic over Ethernet model, that is, synchronous Ethernet model with synchronization method between devices. And this paper proposed bandwidth reservation method for transmission of isochronous traffic in synchronized devices. In this paper, synchronous Ethernet model is implemented through OPNET, efficiency of proposed methods is analyzed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.2
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• pp.211-218
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• 2014

Recently, software-based programmable logic controller (PLC) systems, which are implemented in standard PLC languages on general hardware, are gaining popularity because they overcome the limitations of classical hardware PLC systems. Another noticeable trend is that the use of integrated development environment (IDE) is becoming important. IDEs can help developers to easily manage the growing complexity of modern control systems. Furthermore, industrial Ethernet, e.g. EtherCAT, is becoming widely accepted as a replacement for conventional fieldbuses in the distributed control domain because it offers favorable features such as short transmission delay, high bandwidth, and low cost. In this paper, we implemented the extension of open source IDE, called Beremiz, for developing EtherCAT-based real-time, synchronized motion control applications. We validated the EtherCAT system management features and the real-time responsiveness of the control function by using commercial EtherCAT drives and evaluation boards.

• Journal of Internet Computing and Services
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• v.17 no.4
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• pp.43-50
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• 2016

In this paper, we propose the protocol of Ethernet that will receive a popular interesting in the automotive intelligent network, it also attempts to implementation and verification through simulation and experiments to propose a fault tolerance algorithm when the data transfer on it. It has proven the usefulness of the system in order to apply toward an existing automotive communication system. In the case of actual real-time data for automotive industry, we generated a randomly-generated data which is the set of payload into a standard format to complete the experiment. Among the implemented existing algorithms performance, we confirmed the effectiveness of all range from a single data to mixed (Hybrid-type) data, to verify the proposed algorithm.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.7
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• pp.785-797
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• 2014

Support for the precise time synchronization of EtherCAT, known as distributed clock (DC), enables the design of highly synchronized operations in distributed real-time systems. This study evaluates the performance of the EtherCAT DC through extensive experiments in a real automation system. We constructed an EtherCAT control system using Xenomai and IgH EtherCAT stack, and analyzed the clock deviation for different devices in the network. The results of the evaluation revealed that the accuracy of the synchronized clock is affected by several factors such as the number of slave devices, period of drift compensation, and type of system time base. In particular, we found that careful decision regarding the system time base is required because it has a fundamental effect on the master operation, which results in significantly different performance characteristics.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.6
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• pp.669-675
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• 2014

In this paper, we described the investigated theoretical time synchronization performances and experiment results obtained by commercially provided PTP (Precise Time Protocol) modules when the time of a slave clock is synchronized to the master clock. In the case of the theoretical performance analysis, we investigated 3 types of clock levels such as Crystal Oscillator (XO), TCXO (Temperature Compensated XO) and OCXO (Oven Controlled XO). From the analysis, it was observed that the synchronization performance is greatly influenced by the synchronization period and the required performance under 1 us can be achieved by using XO level clocks when the synchronization period is less than 2 seconds and the uncertainty of the propagation delay is under 100 ns. For the experiments using commercial PTP modules, the synchronization performance was investigated for direct, through 1 hub and through 2 hubs connections between the master clock and the slave clock. From the experiment results, we observed that time synchronization under 90 ns with 1,000 seconds observation interval can be achieved in the case of direct connection.