• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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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.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.219-222
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• 1991

It is difficult to adapt modern control theory to power conversion system for the price of real time control H/W and the difficulty of S/W implementation. But recent development of large integrated circuit make it possible that One-Chip microprocessor processes high speed arithmatic calculation used in control theory. Specially this chip is called Digital Signal Processing chip. So, this research developes high performance, high reliable digital control system using TMS320C30 of Texas Instrument for real time control in power conversion system.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1191-1192
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• 2011

We released new triple redundant digital excitation system with real time generator-turbine simulator. One of its great merits is the real time generator-turbine simulator when it was compared with the other products. If excitation system is tripped by unexpected faults, Maintenance man can do easily performance test of digital excitation control board, sequence relay and thyristor switching device of phase controlled rectifier without manufacturer's support. For the verification of this system, It was tested with an actual excitation system implemented on 5kVA M-G Set. After finishing the tests, the trial product will be installed and operated at a 500MW thermal power plant.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.580-585
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• 1990

This paper presents a real time FECG signal monitoring system in which an adaptive multichannel noise canceller is implemented using a Texas Instruments TMS32020 digital signal processor. Abdominal ECG signal is applied as the desired output and 3 chest ECG signals as the reference input signals of the adaptive multichannel noise canceller whose coefficients are updated using the LMS algorithms.

• Journal of Electrical Engineering and Technology
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• v.1 no.1
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• pp.23-27
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• 2006

In this paper a Hybrid Real Time HVDC Simulator fur both operator Training and Researching in the Cheju-Haenam HVDC System is proposed and its performance is studied by means of RTDS (Real Time Digital Simulator), EMTDC (Electro-Magnetic Transients system for DC), PSS/E (Power System Simulator for Engineering), and experienced scenarios. The objective of this paper is to represent the strategy in development for KEPCO's hybrid HVDC simulator for the Cheju-Haenam HVDC system. This simulator consists of two DC stations, DC cables, external digital/analog controllers, monitoring systems and control desk for education, and AC networks. Its suitability for operator's education is tested during startup/shutdown and normal state operations. Dynamic performances of it are also verified.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1032-1036
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• 1990

This paper describes a system which enables a real-time measurement of 2-D water flow field. One distinctive feature of our system is that velocity vectors of water flow are obtained from the movement of tracer particles at video rate. In order to enable a fast measurement a real time video processor and two Digital Signal Processor(TMS32OC25) are employed. The real-time video processor extracts contours of tracer particles in order to reduce the amount of image data to be processed. And two DSP(Digital Signal Processor) analyse the correlation of every tracer paticle in the consecutive two images to obtain the velocity distribution of water flow.

• 한국HCI학회:학술대회논문집
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• 2006.02b
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• pp.518-523
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• 2006

As digital broadcasting process and information compressing technologies developed, digital technologies have been used extensively in many visual media such as movies and TV programs, and it is required to develop a new process for 3 dimensional digital programs. The study attempts to develop a new digital video-producing process through pre-simulation using a digital storytelling method, in order to increase the quality of broadcasting, reducing the producing time and improve efficiency. This system, supposed to be used to produce actual broadcasting, includes all tools needed for broadcasting in the program, so users can select an appropriate set among the pre-made library, which saves time for making sets. Also, it offers a storyboard making function by perfectly representing the functions of a virtual camera, and enables users to make the better storyboard, checking the real time movies. In addition, it recognizes objects though avatars, organizes the appropriate set for these avatars to act, and embodies a variety of avatar movements through which it reaffirms the camera's position and organization, minimizing errors and saving time and budget.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.1
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• pp.35-47
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• 2004

In this paper presents a new approach to the design and real-time implementation of fuzzy control system based-on digital signal processors(DSP:IMS320C80) in order to improve the precision and robustness for system of industrial robot(Dual-Arm with 8 joint Robot). The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The IMS320C80 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(SOFC) 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 FLC(Fuzzy Logic Controller), 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 and high levels that modify control rules. The proposed SOFC scheme is simple in structure, Int 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.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.6
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• pp.395-402
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• 2000

This paper presents the improvement for speed characteristics of a Brushless DC Motor (BLDCM), it was applied to digital PI control for this. The practical PID control has been widely used to velocity control of DC motors. In this paper, a digital PI controller is used in order to decrease the speed error in constant velocity control of BLDCM. A TMS320C31 DSP is used for the microprocessor of digital PI control. The method using the DSP carry out the real-time control. The DSP has the rapid calculation ability and sampling time used lms. Driving BLDCM used 50W, motor input DC 150V and rotation speed 3000rpm. When BLDCM is to approval for discretion velocity at the acceleration and deceleration driving with any load, it was a feasible for stabilization control. Therefore, the experimental results indicate the superiority and validity of the velocity control by digital PI control.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.831-836
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• 1990

Real-time implementations of active noise controller are proposed and tested. For compensation of time delay of feed-back path, the n-step ahead prediction is applied. And predicting source noise and reflection noise respectively, reflection noise can be cancelled. For real-time processing, the DSP56001(Digital Signal Processor) is used. Experimental results show that the proposed controller is stable and of good performance.