• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.11 no.2
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• pp.205-212
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• 2011

The high performance intelligent robots have become to use a lot of sensors, actuators and controllers which are connected via bus-type networks while the point to point connection was widely used in-robot networks of existing robots. The bus topology makes the robot system share data internally and it can also reduce the weight of the robot because of smaller wiring harness. The CAN is one of serial bus communication protocols typically used for in-vehicle networks and now it can also be used for in-robot networks because of its low cost and reliability. A performance evaluation system for this type of networked system is developed to analyze the real-time operation and the reliability of a serial-bus network, and the usefulness of the developed evaluation system is shown by some experiments for a network of many CAN nodes.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.4
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• pp.122-128
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• 2017

In order to simplify the wiring of construction heavy equipment, researches on PLC(Power Line Communication)-CAN(Controller Area Network) communication module are actively proceeding. Even if a PLC-CAN communication module is developed, a simulator capable of judging whether the PLC-CAN communication module is operating normally is needed. In this paper, we designed and developed a simulator that can measure the status of PLC-CAN communication module. We analyzed the characteristics of the power line communication frequency band by analyzing the characteristics of the power line and compared the noise characteristics with the passenger car in order to characterize the heavy equipment noise.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.1
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• pp.29-34
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• 2016

A controller area network (CAN) controller is an integral part of an electronic control unit, particularly in an advanced driver assistance system application, and its characteristics should always be advantageous in all aspects of functionality especially in real time application. The cost should be low, while maintaining the functionality and reliability of the technology. However, a CAN protocol implementing serial operation results in slow throughput, especially in a cyclical redundancy checking (CRC) unit. In this paper, digital signal processing (DSP) algorithms are implemented, namely pipelining, unfolding, and retiming the CAN controller in the CRC unit, particularly for the encoder and decoder sections. It must attain a feasible iteration bound, a critical path that is appropriate for a CAN system, and must obtain a superior design of a high-speed parallel circuit for the CRC unit in order to have a faster transmission rate. The source code for the encoder and decoder was formulated in the Verilog hardware description language.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.671-677
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• 2016

A Controller Area Network (CAN) is a serial communication protocol that is highly reliable and efficient in many aspects, such as wiring cost and space, system flexibility, and network maintenance. Therefore, it is chosen for the communication protocol between a single chip controller based on Field Programmable Gate Array (FPGA) and peripheral devices. In this paper, the design and implementation of CAN IP, which is written in VHSIC Hardware Description Language (VHDL), is presented. The implemented CAN IP is based on the CAN 2.0A specification. The CAN IP consists of three processes: clock generator, bit timing, and bit streaming. The clock generator process generates a time quantum clock. The bit timing process does synchronization, receives bits from the Rx port, and transmits bits to the Tx port. The bit streaming process generates a bit stream, which is made from a message received from a micro controller subsystem, receives a bit stream from the bit timing process, and handles errors depending on the state of the CAN node and CAN message fields. The implemented CAN IP is synthesized and downloaded into SmartFusion FPGA. Simulations using ModelSim and chip test results show that the implemented CAN IP conforms to the CAN 2.0A specification.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.257-259
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• 2009

본 논문에서는 분산된 Sensor Module에서 실시간 계측된 데이터를 네트워크 시스템으로 구성하였다. 각각의 Sensor Module 사이의 실시간 통신이 필수적이며 정해진 시간 내에 모니터링을 위한 기기들의 데이터와 제어 명령이 전달되어야 안정성을 가질 수 있다. 본 연구에서는 산업 현장의 분산 제어에 사용되는 네트워크 중에 CAN(Controller Area Network) 통신을 사용하였다. CAN은 초기에 자동차 산업 분야에 적용하기 위해 고안된 시리얼 네트워크 통신 방식으로 근래에는 산업 전 분야에 폭 넓게 적용되고 있다. CAN controller는 SJA1000(PHILLIPS사(社)), CAN transceiver는 PCA82C250 (PHILLIPS사(社))으로 설계하였다.

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.165-166
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• 2007

This paper proposes an algorithm to improve the anti-theft function of the CAR_AV using the CAN(Controller Area Network) communication between CAR AV and cluster. Compare to the typical anti-theft algorithms like security code entering, the proposed one is more secure in most cases. The proposed algorithm is suitable for the recent automobile that employ the CAN network as the communication channel between their devices.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.794-799
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• 2012

The international standard, ISO-11783, was designed for the communication within an agriculture machinery. Even if it is based on the CAN (Control Area Network) protocol, its extended features which include point-to-point communication and large data transmission support show different network performance from the standard CAN. This paper proposes a dynamic priority allocation method to improve the real-time performance of ISO-11783. Computer simulation shows reduction of the deadline-missed cases and community latency via proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.346-352
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• 2006

In a networked control system (NCS), time delays which are larger than one sampling period can change the control period. As a result, it may cause system instability. This paper presents a control method for an NCS using the controller area network (CAN), where time delays arise in the control loop. Specifically, a simple yet efficient method is proposed to improve control performance in the presence of time delays. The proposed method, which can be regarded as a gain scheduling method, selects a suitable LQ control gain among several gains to deal with the problems due to the change of control period. It is found that the gain can be scheduled in terms of the relation between the gain and the sampling period, which is represented by first-order algebraic equations. The proposed method is evaluated with an inverted cart pendulum system where the actuator and sensors are connected through the CAN. Experiment results are presented to show the efficiency of the proposed method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.12
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• pp.1170-1178
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• 2013

Thanks to various benefits, low-cost real-time communication networks so called fieldbus have been widely used in many industrial applications including military systems, such as aircrafts, submarines, and robots. This paper presents a reliability analysis of dual-channel CAN(Controller Area Network) fieldbus which is used for controlling various equipment of submarine combat system. A submarine combat system playing a critical role to the success of missions and survivability consists of various devices including sensors/actuators and computers. Since a communication network for submarine combat system must satisfy an extremely high level of reliability, a dual channel technique is commonly adopted. In this paper, a Petri Net based reliability model for dual-channel CAN is discussed. A reliability model called generalized stochastic Petri Nets (GSPN) is built by utilizing the information on physical faults with CAN. The effectiveness of the proposed model is analyzed in terms of unreliability with respect to failure rate and repair rate.

• Journal of Electrical Engineering and Technology
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• v.8 no.2
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• pp.252-261
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• 2013

In this paper, a nonlinear adaptive damping controller based on radial basis function neural network (RBFNN), which can infinitely approximate to nonlinear system, is proposed for thyristor controlled series capacitor (TCSC). The proposed TCSC adaptive damping controller can not only have the characteristics of the conventional PID, but adjust the parameters of PID controller online using identified Jacobian information from RBFNN. Hence, it has strong adaptability to the variation of the system operating condition. The effectiveness of the proposed controller is tested on a two-machine five-bus power system and a four-machine two-area power system under different operating conditions in comparison with the lead-lag damping controller tuned by evolutionary algorithm (EA). Simulation results show that the proposed damping controller achieves good robust performance for damping the low frequency oscillations under different operating conditions and is superior to the lead-lag damping controller tuned by EA.