• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1286-1293
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• 2008

This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.120-129
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• 2001

As many sensors and actuators are used in many automated systems, various industrial networks are adopted for real-time distributed control. In order to take advantages of the networking, however, the network implementation should be carefully designed to satisfy real-time requirements considering network delays. This paper presents the implementation of a remote feedback control system via Profibus-DP net work for real-time distributed control More specifically, the effect of the network delay on the control performance evaluated on Profibus-DP testbed. Also, the traditional PID gain tuning methods are used to demonstrate the feasibility of the remote feedback control.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.11
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• pp.1-9
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• 2016

Train control systems have changed from wayside electricity-centric to onboard communications-centric. The latest train control system, the CBTC system, has high efficiency for interval control based on two-way radio communications between the onboard and wayside systems. However, since the wayside system is the center of control, the number of input trains to allow a wayside system is limited, and due to the cyclic-path control flows between onboard and wayside systems, headway improvement is limited. In this paper, we propose a train interval-control and train-centric distributed interlocking algorithm for an autonomous train-driving control system. Because an autonomous train-driving control system performs interval and branch control onboard, both tracks and switches are shared resources as well as semaphore elements. The proposed autonomous train-driving control performs train interval control via direct communication between trains or between trains and track-side apparatus, instead of relying on control commands from ground control systems. The proposed interlocking algorithm newly defines the semaphore scheme using a unique key for the shared resource, and a switch that is not accessed at the same time by the interlocking system within each train. The simulated results show the proposed autonomous train-driving control system improves interval control performance, and safe train control is possible with a simplified interlocking algorithm by comparing the proposed train-centric distributed interlocking algorithm and various types of interlock logic performed in existing interlocking systems.

• Management Science and Financial Engineering
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• v.2 no.1
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• pp.19-51
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• 1996

We suggest a distributed framework for task assignment in the computer-controlled shop floor where each of the resource agents and part agents acts like an independent profit maker. The job allocation problem is formulated as a linear programming problem. The LP formulation is analyzed to provide a rationale for the distributed task assignment procedure. We suggest an auction based negotiation procedure including a price-based bid construction and a price revising mechanism. The performance of the suggested procedure is compared with those of an LP formulation and conventional dispatching procedures by simulation experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.158-163
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• 1986

This article surveys techniques and issues related to real time process control system developed for industrial control applications. It covers the system architecture and software engineering issues such as the design of data structures, scheduling of asynchronous task activities, management of shared resources, handling of interrupt and implementing an user friendly man-machine interface. Also problems associated with implementing a real-time system that supports dynamic configuration of data base is addressed.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.947-951
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• 1989

A Class of nonlinear distributed parameter control problems is first stated in a partial differential equation form in multi-index notion and then converted into an integral equation form. Necessary conditions for optimality in the form of maximum principle are then derived in Sobolev space W$^{l}$, p/(1 leq. p .leq. .inf.)..

• Journal of Korean Society of Industrial and Systems Engineering
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• v.25 no.6
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• pp.1-6
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• 2002

Most of process data control have been designed under the assumption that there are independence between observed data. However, it has been difficult to apply the traditional method to realtime data because they are autocorrelated, and they are not normally distributed. And the more, they have fluctuating means. Already the control method for these data was proposed by Markov Modulated Gaussian Process. Therefore, this study take into account MMGP's traits especially for the MMGP's autocorrelation.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.33 no.1
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• pp.33-40
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• 2010

Because sampling interval for data collection tends to be short compared with the overall processing time, in chemical process, instrumental process related tanks or furnace collected data have a significant autocorrelation. Insufficient control technique and frequent control actions cause unstable condition of the process. Traditional control charts which were developed based on iid (independently and identically distributed) among data cannot be applied on the existence of autocorrelation. Also unstable process is difficult to identity or diagnose. Because large-scale process has a lot of measurable variables and multi-step-structures among data, it is difficult to find relation between measurable variables and nonconformity. In this paper, we suggested an appicable model to diagnose the process and to find relation between measurable variables (CTQ) and nonconformity in the process having autocorrelation, unstable condition frequently, a lot of measurable variables, and multi-step-structure. And we applied this model to real process, to verify that the process engineers could easily and effectively diagnose the process and control the nonconformity.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.844-847
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• 1989

This work describes an on-line method and procedure for calculating the fluid properties in real time while system is in operation. The method utilizes function blocks of distributed control systems. Thermodynamic relations of fluid from tables along with a fluid property formula are imbedded into the proposed signal processing block. Once the pressure and temperature measurements are entered the system provides other properties.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.903-910
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• 2000

In this paper, we describe a slave chip based on the Profibus-DP protocol and a system board to verify the developed slave chip. The Profibus-DP protocol is designed using VHDL and implemented on FPGA. The system board adopting the developed FPGA is designed FPGA is designed in which the firmware is implemented on Intel 8051 by using C language. Among the Profibus-DP protocols, low level layers from the physical layer to the data link layer is implemented in the form of hardware that we are able to greatly reduce the CPU load in processing protocols, and then higher layers could be processed by software. These technologies result in an IP to make terminal devices in the distributed control systems. Therefore, many digital logics as well as communication logics can be implemented onto SOC(System On a Chip) and it could be applied to various fieldbus-related areas.