• Journal of KIISE:Computing Practices and Letters
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• v.11 no.3
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• pp.216-223
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• 2005

A computer clock has limits in accuracy and precision affected by its inherent instability, the environment elements, the modification of users, and errors of the system. So the computer clock needs to be synchronized with a standard clock if the computer system requires the precise time processing. The purpose of synchronizing clocks is to provide a global time base throughout a distributed system. Once this time base exists, transactions among members of distributed system can be controlled based on time. This paper discusses the integrated approach to clock synchronization. An embedded system is considered for time synchronization based on the GPS(Global Positioning System) referenced time distribution model. The system uses GPS as standard reference time source and offers UTC(Universal Time Coordinated) through NTP(Network Time Protocol). A clock model is designed and adapted to keep stable time and to provide accurate standard time with precise resolution. Private MIB(Management Information Base) is defined for network management. Implementation results and performance analysis are also presented.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.622-629
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• 1999

This paper discusses a real time multi-tasking system model and a development environment for an elevator control system. Recently, as the elevator systems become large-scaled and operate with high speed, there are lots of software tasks to be processed with time constraints. Thus, the control systems are designed with distributed control structure and characteristics of typical real time systems. For stuructural design of such real time system, we introduce a multi-tasking model based on a real time operating system model and an software development environment based on virtual protopyping which simulates real system operation in the cross development of a new elevator system with distributed control structure and its system reliability can be verified through numerous field tests.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.4
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• pp.405-409
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• 2020

This paper proposes time management system for unmanned aerial vehicle (UAV) network. The computers of the UAVs need time synchronization that time offset does not exceed the minimum interval of data samples for errorless data blending between the computers. The proposed time management system is composed of time synchronization and general management systems for UAV control. The systems communicate each other for time information and control signals. The synchronization system uses improved version of existing time offset estimation that network time protocol (NTP) uses. The time synchronization is operated when the time offset of any UAV exceeds threshold that preconfigured by the general management system. The demonstration of prototype shows stable time synchronization satisfying preconfigured threshold.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2296-2300
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• 2005

This paper deals with the real-time message network system by a CAN (controller area network) based on the real-time distributed control scheme to integrate actuators and sensors in a humanoid robot. In order to apply the real-time distributed processing for a humanoid robot, each control unit should have the real-time efficient control method, fast sensing method, fast calculation and real-time valid data exchange method. Moreover, the data from sensors and encoders must be transmitted to the higher level of control units in maximum time limit. This paper describes the real-time message network system design and the performance of the system.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.6
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• pp.596-602
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• 2007

Recently, many ECUs(Electronic Control Units) have been used to enhance the vehicle safety, which leads to a distributed real-time control system. The distributed real-time control system requires to reduce the network delay for dependable real-time performance. There are two different paradigms by which a network protocol operates: event-triggered and time-triggered. This paper focuses on implementation of a time-triggered protocol. i.e. TTP/C(Time-Triggered Protocol/class C). This paper presents a design method of TTP control network and performance evaluation of distributed real-time control system using TTP protocol.

• Journal of the Semiconductor & Display Technology
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• v.19 no.1
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• pp.11-16
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• 2020

In this paper, system that includes multiple unmanned aerial vehicles (UAVs) are considered. The vehicles are equipped with a mission computer for a specific mission and equipment. The mission equipment operates based on the time of mission computer. Also, data collected by flight computer and mission computer is saved with the time of each operating system. Generally, time offset between multiple computers always exists, though the computers are connected to the Internet. When the data collected by multiple computers is combined, the time offset causes damage on reliability of the combined data. Computers that connected to the Internet are synchronized by network time protocol (NTP). This paper proposes a system that the time of multiple mission computers are synchronized by the same NTP server to minimize the time offset. In the results of the measurement, the system time offset of multiple mission computer is maintained within 10ms from the system time of the server computer.

• Structural Engineering and Mechanics
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• v.82 no.4
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• pp.445-458
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• 2022

Some of the control systems used in engineering structures that use sensors and decision systems have some time delay reducing efficiency of the control system or even might make it unstable. In this research, in addition to considering the effect of the time delay in vibration control process, predictive control is used to compensate the time delay. A semi-active vibration control approach with the help of magneto-rheological dampers is implemented. In addition to using fuzzy inference system to determine the appropriate control voltage for MR damper, structural behavior prediction system and specifying future responses are also used such that the time delays occurring within control process are overcome. For this purpose, determination of prediction horizon is conducted for one, five, and ten steps ahead for single degree of freedom structures with periods ranging from 0.1 to 4 seconds, subjected to twenty earthquake excitations. The amount of time delay applied to the control system is 0.1 seconds. The obtained results indicate that for 0.1 second time delay, average prediction error values compared to the case without time delay is 3.47 percent. Having 0.1 second time delay in a semi-active control system reduces its efficiency by 11.46 percent; while after providing the control system with structure behavior prediction, the difference in the results for the control system without time delay is just 1.35 percent on average; indicating a 10.11 percent performance improvement for the control system.

• Journal of the Semiconductor & Display Technology
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• v.16 no.4
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• pp.46-51
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• 2017

Recent controller design techniques often discretize the target system and implement a discrete controller that is digitized to match the target system. When constructing such a discrete system, it is necessary to first determine the sampling time. The smaller the sampling time is, the more advantageous it can be made similar to the original system, but the cost is a problem when realizing such a configuration as hardware. On the other hand, the longer the time, the more different the system is from the original system, and eventually the control becomes impossible. In this paper, we consider the above problem and propose a more logical approach to determine the sampling time in the discrete system and investigate the relation with the differential controller. We also apply this process to a nonlinear system called ARAGO disc and verify its validity through computer simulation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.13 no.5
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• pp.422-428
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• 1988

An iterative learning control system is a control system which makes system outputs follow desired outputs by iterating its trials over a finite time interval. In a discrete time system, we proposed one method in which present control inputs can be obtained by a linear combination of the input sequence and time-shifted error sequence at previous trial. In contrast with a continous time learning control system which needs differential opreration of an error signal, the time shift operation of the error sequence is simpler in a computer control system and its effectiveness is shown by a simulation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.614-618
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• 2003

This paper presents a system identification (SI) scheme in time domain using measured acceleration data. The error function is defined as the time integral of the least square errors between the measured acceleration and the calculated acceleration by a mathmatical model. Damping parameters as well as stiffness properties of a structure are considered as system parameters. The structural damping is modeled by the Rayleigh damping. A new regularization function defined by the L$_1$-norm of the first derivative of system parameters with respect to time is proposed to alleviate the ill-posed characteristics of inverse problems and to accommodate discontinuities of system parameters in time. The time window concept is proposed to trace variation of system parameters in time.