• Journal of the Korean Institute of Telematics and Electronics
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• v.17 no.6
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• pp.1-8
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• 1980

A distributed control system is designed and imp, fomented to control various pert pherals of a playback-type industrial robot :or synchronized work motion. The distn buted control system conslists of a 16- bit Mini-computer and several 8bit Micro-computers. In the paper, the struttuie of the control system, the software requirements for system operation as well as the hierarchical computer network for interfacing module computers and the Mini - computer are briefly described. and practical difficulties including including interfacing problem ate discussed.

• Journal of the Korean Operations Research and Management Science Society
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• v.17 no.1
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• pp.43-54
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• 1992

This paper discusses a real time production control system of a FMS (Flexible Manufacturing System). The control is organized in a hierarchical structure according to the various decisions at the different time scales. In the earlier work-set-up time was not considered. Because the capacity of the toll magazine is limited, this assumption may not be adequate for selecting times to change configurations so that new part family can be produced. The goal of the control system is to meet production requirements while the machines fail and are repaired at random times. In this thesis the machien failure and set-up are considered simultaneously. Here the hedging point of this system is calculated, and the formulation of the dynamic control for FMS that has unreliable machines with set-up suggested.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.11
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• pp.514-521
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• 2001

This paper uses the distributed heating thin metal moving at constant velocity which are modeled as distributed parameter systems, and applies the Paley order of Walsh functions to high order partial differential equations and matrix partial differential equations. This thesis presents a new algorithm which usefully exercises the optimal control in the distributed parameter systems. In this paper, the excellent consequences are found without using the existing decentralized control or hierarchical control method.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.1
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• pp.69-74
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• 2009

In this paper, we propose a method of ontology-based control of autonomous robots. Advancing one step further from using ontology as a hierarchical storage of information, the proposed method shows how to control robots through ontology inference. That is, the information on obstacles detected by robots is represented as an ontology, and robots' action planning and control are performed according to robots' surroundings through ontology inference. We make a differentially driven robot and illustrate the effectiveness of the proposed method via the experiment of the robot's navigation in real environment.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.241-249
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• 2002

In this paper, a self-organizing fuzzy controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy login 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 tow joints.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.31 no.10
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• pp.93-100
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• 1982

This paper presents the optimum computational algorithm for the real time control of system voltage and reactive power on the basis of a improved search method. In particular, special emphasis has been placed on the speed up computation at the first phase, and on the selection of initial state to reduce the transmission losses in the second phase. For the real time control, the new computation is improved and the computation time is very much reduced. And also, this paper discusses the integrated control scheme of system voltage and reactive power from the viewpoint of hierarchical control pattern, and studes the combination of the optimum system operations and controls.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.1
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• pp.43-50
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• 1989

In this paper we present a new approach to control system design for multivariable systems using a sliding mode. In the applications of variable structure system (VSS) theory to multivariable systems, there exist some difficulties such as how to determine switching gains and how to reduce chattering phenomena in input and state trajectories. To cope with these drawbacks we introduce switching dynamics instead of switching logics to obtain the sliding mode. Consequently, we can obtain the new design approach which is much simpler than the VSS theory, And there do not exist chattering phenomena in this method because the obtained control inputs are continuous. Hierarchical control concepts are used to the control system design. Numerical examples are discussed as illustrations.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.264-269
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• 2019

This paper presents mechanical design and control of a bio-inspired legged robot. To achieve a fast legged running mechanism, a novel linkage leg structure is designed based on hind legs of domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters. The hierarchical control architecture is designed according to the biological data to generate and modulate desired gaits. The effectiveness of the leg mechanism design and control is verified experimentally. The legged robot runs at a speed of 46 km/h, which is comparatively higher speed than other existing legged robots.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.1
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• pp.108-118
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• 1997

The heterarchical structure provides a more attractive solution to the conventional hierarchical structure as the density and level of distrubution of computing resources in manufacturing system expands. Tracing the evolution of control structures for automated manufacturing systems, this paper discusses the design principles for heterarchical system to reduce complexity, increase extendability, flexible configurability and suggests a good example of real-time adaptation using the concept of intelligent agent of manufac- turing entities and fault diagmosis system.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.40 no.8
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• pp.619-630
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• 2003

We present a method of runtime configuration scheduling in reconfigurable SoC design. As a model of computation, we use a popular formal model of computation, hierarchical FSM (HFSM) with synchronous dataflow (SDF) model, in short, HFSM-SDF model. In reconfigurable SoC design with HFSM-SDF model, the problem of configuration scheduling becomes challenging due to the dynamic behavior of the system such as concurrent execution of state transitions (by AND relation), complex control flow (HFSM), and complex schedules of SDF actor firing. This makes it hard to hide configuration latency efficiently with compile-time static configuration scheduling. To resolve the problem, it is necessary to know the exact order of required configurations during runtime and to perform runtime configuration scheduling. To obtain the exact order of configurations, we exploit the inherent property of HFSM-SDF that the execution order of SDF actors can be determined before executing the state transition of top FSM. After obtaining the order information and storing it in the ready configuration queue (ready CQ), we execute the state transition. During the execution, whenever there is FPGA resource available, a new configuration is selected from the ready CQ and fetched by the runtime configuration scheduler. We applied the method to an MPEG4 decoder and IS95 design and obtained up to 21.8% improvement in system runtime with a negligible overhead of memory usage.