• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.43.2-43
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• 2002

$\textbullet$ A PC can control the fixed number of motors because the number of slots is limited. $\textbullet$ We propose a distributed motion controller using CAN. $\textbullet$ TMS320F243 of TI Which is a DSP with embedded CAN-module was used as the main processor. $\textbullet$ The command from GUI is transmitted to each motion controller through CAN-bus $\textbullet$ CAN communications may occur at a maximum recommended rate of 1Mbit/sec. $\textbullet$ The user can control more motors easily by connecting to the CAN network which has the CAN receive. $\textbullet$ This distributed motion controller may be used usefully in factory automation or an unmanned factory.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.101-102
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• 2013

CAN통신은 자동차 내부 전자제어장치 간의 통신을 위하여 개발되었으며, CAN통신은 UART 방식과는 달리 전송속도와 안정성 측면에서도 뛰어나고 배선 결선에서도 간편한 버스타입으로 구성할 수 있어서 배선량을 줄일 수 있어 생산시간의 단축과 신뢰성을 높일 수 있다. 최근에는 자동제동장치, 선박의 엔진제어 등 다양한 분야에서 사용되고 있다. 본 논문에서는 CAN통신을 기반으로 하여 3개의 리니어 액추에이터(Linear Actuator)를 통하여 수평 플랜트에 대한 수평제어를 구현하였다. 또한 본 논문의 수평제어시스템은 수평조절을 하는 액추에이터와 CAN통신을 내장한 AT90CAN128로 구성되어 있다. CAN통신을 기반의 수평제어를 통해 선박이나 자동차의 액추에이터를 조절하여 수평을 제어하고자 한다.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.5
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• pp.268-276
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• 2003

In this paper, we present a new control and monitoring technique for a power system using CAN(Controller Area Network). Feedback control systems having co'ntrol loops closed through a network(i.e. Ethernet, ControlNet, CAN) are called NCSs(Networked Control Systems). The major problem of NCSs is the variation of stability property according to time delay including network-induced delay and computation delay in nodes. We present a new stability analysis method of NCSs with time delay exploiting a state-space model of LTI(Linear Time Invariant) interconnected systems. The proposed method can determine a proper sampling period of NCSs that preserves stability performance even in NCSs with a dynamic controller. We design CAN nodes which can transmit control and monitoring data through CAN bus and apply these to NCSs for a power system. The results of the experiment validate effectiveness of our control and monitoring technique for a power system.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1058-1064
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• 2004

This paper presents a distributed precedence queue mechanism to resolve unexpected transmission delay of a lower priority transaction in a CAN based system, which keeps a fixed priority in data transaction. The mechanism is implemented in the upper sub-layer of the data link layer(DLL), which is fully compatible with the original medium access control layer protocol of CAN. Thus the mechanism can be implemented dynamically while the data transactions are going on without any hardware modification. The CAN protocol was originally developed to be used in the automotive industry, and it was recently applied for a broader class of automated factories. Even though CAN is able to satisfy most of real-time requirements found in automated environments, it is not to enforce either a fair subdivision of the network bandwidth among the stations or a satisfactory distribution of the access delays in message transmission. The proposed solution provides a superset of the CAN logical link layer control, which can coexist with the older CAN applications. Through the real experiments, effectiveness of the proposed mechanism is verified.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.14 no.2
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• pp.53-58
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• 2014

As the amount of data between ECUs has increased, the FlexRay consortium proposed FlexRay network system which has larger bandwidth than CAN. But because of implementation cost, CAN and FlexRay hybrid network with FlexRay-CAN gateway will make up the largest part of in-vehicle networks for the present. In this paper, a FlexRay-CAN gateway for a real time feedback control system is implemented, and a data packing algorithm is presented. Finally, a real control experiment with multi-motor system is conducted to verify the proposed gateway system.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.5
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• pp.434-437
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• 2002

A small size and light-weight DSP board is newly designed for a real time multi-distributed control system that overcomes constraints on time and space. There are a variety of protocols for a real-time distributed control system. In this research, we selected CAN for the multi distributed control, which was developed by the BOSCH in the early 1980's. If CAN and Internet are connected together, the system attains the characteristics of a distributed control system and a remote control system simultaneously. To build such a system. The TCP/IP-CAN Gateway which converts a CAN protocol to TCP/IP protocol and vice verse, was designed. Moreover, the system is required to be small and light-weighted for the high mobility and cost effectiveness. The equipment in remote place has a TCP/IP-CAN Gateway on itself to be able to communicate with another systems. The received commands in the remote site are converted from TCP/IP protocol to CAN protocol by the TCP/IP-CAN Gateway in real time. A simulation system consists of a TCP/IP-CAN Gateway in remote place and a command PC to be connected to Ethernet.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.6
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• pp.121-127
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• 2004

The controller area network(CAN) was originally developed to support cheap and rather simple automative applications, However, because of the its performance and low cost, it is also being considered in automated manufacturing and process control environments to interconnect intelligent devices, such as modem sensors and actuators. This paper presents a new application technology of the developed CAN control modules for the automated doors in building automation system Key pad and RF methods are used to open and close the automated door by the slave CAN module with CAN Protocol. BAS application technology of CAN field bus modules is also presented firstly in our nation.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.31 no.6
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• pp.1279-1290
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• 2021

As vehicle technology has grown, autonomous driving that does not require driver intervention has developed. Accordingly, CAN security, an network of in-vehicles, has also become important. CAN shows vulnerabilities in hacking attacks, and machine learning-based IDS is introduced to detect these attacks. However, despite its high accuracy, machine learning showed vulnerability against adversarial examples. In this paper, we propose a adversarial CAN frame generation method to avoid IDS by adding noise to feature and proceeding with feature selection and re-packet for physical attack of the vehicle. We check how well the adversarial CAN frame avoids IDS through experiments for each case that adversarial CAN frame generated by all feature modulation, modulation after feature selection, preprocessing after re-packet.

• Journal of Convergence for Information Technology
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• v.8 no.5
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• pp.115-120
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• 2018

As the number ofconnected cars grows, the security of the connected cars is becoming more important. There are also increasing warnings about the threat of attacks via the CAN bus used for in-vehicle networks. An attack can attack through a vulnerability in the CAN bus because the attacker can access the CAN bus remotely, or directly to the vehicle, without a security certificate on the vehicle, and send a malicious error message to the devices connected to the CAN bus. A large number of error messages put the devices into a 'Bus-Off' state, causing the device to stop functioning. There is a way to detect the error frame, or to manage the power of the devices related to the bus, but eventually the new standard for the CAN bus will be the fundamental solution to the problem. If new standards are adopted in the future, they will need to be studied.

• Clinics in Shoulder and Elbow
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• v.10 no.1
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• pp.27-32
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• 2007

Purpose: To investigate the validity of positive signs of supraspinatus test. Materials and Methods: The empty can test and full can test were performed on 200 shoulders which were diagnosed with magnetic resonance imaging or surgical findings as full thickness tear, partial thickness tear and no tear. Presence of pain, weakness, pain or weakness, and both pain and weakness were recorded as positive signs separately. The two tests with positive signs were compared and analyzed. Results: Pain and weakness were severity-dependent, and the empty-can test had a higher incidence of pain. The sensitivities of the two supraspinatus tests in all positive signs were higher when including partial-thickness tears in the tear group; however, their specificities were higher when excluding partial-thickness tears. The sensitivities of an empty-can test in 'pain', 'pain or weakness', 'both pain and weakness' were higher than those of the full-can test, otherwise, the specificity of the full-can test for 'pain' and 'pain or weakness' were higher. Concordance rate between 'pain or weakness' and 'pain' was the highest in all categorization. Conclusion: Both empty can and full can test were valuable for detecting torn rotator cuff.