• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제14권5호
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• pp.542-546
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• 2008

최근 듀얼-프로세서 기반의 모바일 내장형 시스템을 위한 듀얼-포트 SDRAM이 발표되었다. 이는 단일 메모리 칩이 두 프로세서의 로컬 메모리와 공유 메모리 역할을 모두 담당하므로 공유 메모리를 위하여 추가의 SRAM 메모리를 사용하는 기존의 구조에 비해 더 간단한 통신 구조이다. 양 포트로부터의 동시적인 접근에서의 상호배타성을 보장하기 위하여 모든 공유 메모리 접근에는 특수한 동기화 기법이 수반되어야 하는데 이는 잠재적인 성능 악화의 원인이 된다. 이 논문에서는 이러한 동기화 비용을 고려하여 듀얼-포트SDRAM 구조의 성능을 평가하고, 주 응용의 통신 특성을 고려하여 최적화한 락우선권 기법과 정적복사 기법을 제안한다. 더 나아가, 공유 뱅크를 여러 블록으로 나눔으로써 서로 다른 블록들에 대한 동시적인 접근을 가능케 하여 성능을 개선하도록 한다. 가상 프로토타이핑 환경에서 수행된 실험은 이러한 최적화 기법들이 기본 듀얼-포트SDRAM 구조에 비하여 20-50%의 성능 향상을 가져옴을 보여준다.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1223-1232
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• 2004

We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.187-192
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• 2004

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.18-30
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• 2016

In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• 한국산업융합학회 논문집
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• 제18권3호
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• pp.139-149
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• 2015

In this paper, we describe a new approach to perform real-time implementation of an robust controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for robot manipulator consisting of dual arm with eight degrees of freedom at the joint space and cartesian space.

• 반도체디스플레이기술학회지
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• 제22권4호
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• pp.148-153
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• 2023

A digital controller uses a microprocessor and is a controller implemented as a program. This method has the advantage of being more maintenance-friendly than existing analog controllers. However, it inevitably requires computation time to execute the internal program. Therefore, the digital controller uses a method of controlling the system at a certain cycle by considering this time, and this cycle is very closely related to the performance of the microprocessor used. In other words, in the case of very high performance, this control cycle can be shortened to near real time, but this may result in a disadvantage in terms of cost. In this paper, we propose a method to solve this problem by implementing two processors with slightly lower performance in a control system in a series-parallel structure. For this purpose, we will use a digital distributed control system and implement an experimental system to examine its effectiveness.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.772-775
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• 1997

A high speed tracking control for 6-6 Stewart platform manipulator is performed by employing the joint-axis sliding mode control based on dynamics. Because of the complex dynamics and kinematics of Stewart platform manipulator, two computer systems, consisting of a PC and a DSP, are adopted, so that real time tasks are run in synchronous and asynchronous modes. It is experimentally proven that the proposed control system leads to an easy to implement and effective control task, and it can achieve the high performance tracking control under the high speed and severe payload condition.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.69.2-69
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• 2001

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. 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. The TMS320C31 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.

• 한국통신학회논문지
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• 제33권12A호
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• pp.1172-1176
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• 2008

본 논문에서는 상용 DSP를 기반으로 하여 SDR용 스마트 안테나 시스템의 듀얼 모드 채널 카드를 구현하였다. SDR(Software Define Radio) 기술은 공통된 하드웨어 플랫폼에 소프트웨어를 다운로드하여 사용자가 원하는 모드로 재구성이 가능하게 하는 기술이다. 채널 카드는 고속 데이터 전송을 위한 차세대 이동통신 방식인 WiBro(Wireless Broadband)와 HSDPA(High Speed Downlink Packet Access) 통신 모드를 지원하며, 스마트 안테나 기술이 적용된 듀얼 모드 기지국 시스템의 핵심인 모뎀 카드로 사용된다. 본 논문에서는 WiBro 시스템과 HSDPA 시스템으로 구현된 채널 카드의 구조를 설명하고, 구현된 채널 카드의 성능 검증을 위해 상용 통신 규격인 WiBro와 HSDPA시스템에서의 성능을 알아본다.

• 한국멀티미디어학회:학술대회논문집
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• 한국멀티미디어학회 2012년도 춘계학술발표대회논문집
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• pp.43-45
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• 2012

This paper is based on embedding the biometrics techniques on GPU for better computational efficiency and fast matching process using the parallel nature of the GPU processors to compare thousands of images for fingerprint recognition in a fraction of a second. In this paper we worked on GPU (INVIDIA GeForce GTX 260 with compute capability 1.3 and dual core-2-dou processor) for fingerprint matching and found that the efficiency is better than the results with related work already done on CMOS, CPU, ARM9, MATLAB Neural Networks etc which shows the better performance of our system in terms of computational time. The features matching process proposed for fingerprint recognition and the verification procedure is done on 5,000 images which are available online in the databases FVC2000, 2002, 2004 [1].