• 제목/요약/키워드: CAN (Controller Area Network)

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네트워크를 이용한 AM1 로봇의 원격 동적 제어 (Remote Dynamic Control of AM1 Robot Using Network)

  • 김성일;윤신일;배길호;이진;한성현
    • 한국공작기계학회:학술대회논문집
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    • 한국공작기계학회 2002년도 춘계학술대회 논문집
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    • pp.556-560
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    • 2002
  • In this paper, we propose a remote controller for robot manipulator using local area network(LAN) and internet. To do this, we develope a server-client system as used in the network field. The client system is in any computer in remote place for the user to log-in the server and manage the remote factory. the server system is a computer which controls the manipulator and waits for a access from client. The server system consists of several control algorithms which is needed to drive the manipulator and networking system to transfer images that shows states of the work place, and to receive a Tmp data to run the manipulator The client system consists of 3D(dimension) graphic user interface for teaching and off-line task like simulation, external hardware interface which makes it easier for the user to teach. Using this server-client system, the user who is on remote place can edit the work schedule of manipulator, then run the machine after it is transferred and monitor the results of the task.

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가상물리시스템 개념을 이용한 임베디드 제어 네트워크 시스템 설계에 관한 연구 (Study on Design of Embedded Control Network System using Cyber Physical System Concept)

  • 박지훈;이석;이경창
    • 대한임베디드공학회논문지
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    • 제7권5호
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    • pp.227-239
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    • 2012
  • Recent advances in electronics have enabled various conventional products to incorporate with numerous powerful microcontroller. Generally, an embedded system is a computer system designed for specific control functions within a larger system, often with real-time computing constraints. The growing performance and reliability of hardware components and the possibilities brought by various design method enabled implementing complex functions that improve the comport of the system's occupant as well as their safety. A cyber physical system (CPS) is a system featuring a tight combination of, and coordination between, the system's computational and physical elements. The concept of cyber physical system, including physical elements, cyber elements, and shared networks, has been introduced due to two general reasons: design flexibility and reliability. This paper presents a cyber physical system where system components are connected to a shared network, and control functions are divided into small tasks that are distributed over a number of embedded controllers with limited computing capacity. In order to demonstrate the effectiveness of cyber physical system, an unmanned forklift with autonomous obstacle avoidance ability is implemented and its performance is experimentally evaluated.

지능형 차량에서 IVN 시스템을 위한 IEEE 1451 기반 스마트 모듈의 개발 (IEEE 1451 based Smart Module for In-vehicle Networking Systems in Intelligent Vehicles)

  • 김만호;류세형;이경창;이석
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2003년도 춘계학술대회 논문집
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    • pp.168-171
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    • 2003
  • As vehicles are more intelligent for convenience and safety of drivers, the in-vehicle networking systems and smart modules are essential components for intelligent vehicles. However, for the smart module to widely apply to the IVN systems, two problems are considered as follows. Firstly, because it is very difficult that transducer manufacturers developed the smart module that supports the existing all IVN protocols, the smart module must be independent to the type of networking protocols. Secondly, when the smart module is exchanged due to its failure, it is necessary how the transducer is only exchanged without exchange of the microprocessor and network transceiver. This paper deals with the IEEE 1451 based smart module that describes the digital interface between a network transceiver and sensor module. Finally. efficiency of the IEEE 1451 based smart module was evaluated on the experimental model.

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Design and Implementation of a CAN Data Analysis Test Bench based on Raspberry Pi

  • Pant, Sudarshan;Lee, Sangdon
    • Journal of Multimedia Information System
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    • 제6권4호
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    • pp.239-244
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    • 2019
  • With the development of Cyber-Physical Systems(CPS), several technologies such as automation control, automotive and intelligent house systems have been developed. To enable communication among various components of such systems, several wired and wireless communication protocols are used. The Controller Area Network(CAN) is one of such wired communication protocols that is popularly used for communication in automobiles and other machinery in the industry. In this paper, we designed and implemented a response time analysis system for CAN communication. The reliable data transfer among various electronic components in a significant time is crucial for the smooth operation of an electric vehicle. Therefore, this system is designed to conveniently analyze the response time of various electronic components of a CAN enabled system. The priority for transmission of the messages in the CAN bus is determined by the message identifier. As the number of nodes increases the transmission of low priority messages is delayed due to the existence of higher priority messages on the bus. We used Raspberry Pi3 and PiCAN2 board to simulate the data transfer for studying the comparative delay in low priority nodes.

PLC and Arduino Interaction Based on Modbus Protocol

  • Jeong, Yunju;Ansari, Md Israfil;Shin, WooHyeon;Kang, Bonggu;Lim, JinSeop;Moon, HyeonSik;Shim, Jaechang
    • 한국멀티미디어학회논문지
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    • 제20권3호
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    • pp.511-519
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    • 2017
  • This Paper introduces the design and communication method between PLC (Programmable Logic Controller) and Arduino based on MODBUS Protocol. MODBUS connection can be established in a new or existing system very easily, therefore we used this protocol in our proposed system. In the field of automatic devices, multi-function serial port such as RS232, RS422, RS485, and so on creates a great convenience to the developer. This proposed system used RS485 as a key mediator for data exchanging on a connected network. We also believe that it will reduce the development cost in various automated industry because this system can be reused or can be implemented any such PLC installed machines. RS485 is used as a communication interface between PLC (as a slave) and Arduino (as a master), through which a reliable network is created for safe and fast communication. Furthermore, RS485 allows multiple devices(up to 32) to communicate at half duplex on a single pair of wires and provides a long connectivity area (up to 1200 meters) as compare to other device, which makes it a user-friendly for various devices in the automated industry. Moreover, Arduino can play as a mediator by connecting third party device and setup a communication network with PLC.

DDS 미들웨어 기반의 선박 통합기관감시제어체계 개발 가능성 연구 (Feasibility Study of Developing Ship Engineering Control System based on DDS Middle-ware)

  • 오성원
    • 해양환경안전학회지
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    • 제29권6호
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    • pp.653-658
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    • 2023
  • 함정의 전투관리체계나 민간의 스마트 시티와 같은 많은 센서와 동작기기가 연결된 체계에서는 주로 미들웨어인 DDS(Data Distribution Service)를 사용하여 대규모의 데이터를 전송하고 향후 센서나 장비 증가에 대해 효과적으로 대응하고 있다. 선박에서 함정의 전투관리체계(Combat Management System, CMS)와 같은 역할을 하는 중요한 제어체계인 통합기관감시제어체계(Engineering Control System, ECS)는 여전히 Server-Client 모델을 기반으로 산업용 프로토콜(Modbus, CAN(Controller Area Network) bus 등)을 사용하여 데이터를 전송하고 있어 확장성 측면에서 불리하다. 따라서 향후 자동화나 무인화가 진행될 경우에 많은 센서류가 추가될 것이며 이는 많은 프로그램 수정소요가 발생하게 되며, DDS는 이러한 상황에서 좋은 해결책이 될 수 있다. 본 연구에서는 전투관리체계에서 사용 중인 미들웨어인 DDS 중에서 OMG(Object Management Group) 표준을 따르는 OpenDDS를 활용하여 선박의 통합기관감시제어체계의 개발 가능성을 확인하였다. 이를 위해 필드장비 시뮬레이터 및 ECS 서버를 구성하여 DDS를 이용한 필드장비 데이터 입출력 시뮬레이션을 수행하였다. 개발한 ECS 축소모형은 데이터를 발간-구독하는데 문제가 없으며, DDS가 선박 ECS의 미들웨어로 충분히 사용할 수 있을 것으로 판단된다.

복강경 수술로봇을 위한 실시간 운영체제 기반 제어 시스템의 개발 (Development of a Real-time OS Based Control System for Laparoscopic Surgery Robot)

  • 송승준;박준우;신정욱;김윤호;이덕희;조영호;최재순;선경
    • 대한의용생체공학회:의공학회지
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    • 제29권1호
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    • pp.32-39
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    • 2008
  • This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

장애물 패턴을 이용한 자율이동로봇의 예측주행 및 충돌회피 알고리즘 개발 (Development of an Algorithm for Predictable Navigation and Collision Avoidance Using Pattern Recognition of an Obstacle in Autonomous Mobile Robot)

  • 이민철;김범재;이석
    • 한국정밀공학회지
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    • 제17권7호
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    • pp.113-123
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    • 2000
  • In the navigation for a mobile robot, the collision avoidance with unexpected obstacles is essential for the safe navigation and it is independent of the technique used to control the mobile robot. This paper presents a new collision avoidance algorithm using neural network for the safe navigation of the autonomous mobile robot equipped with CAN and ultrasonic sensors. A tracked wheeled mobile robot has a stability and an efficiency to move on a rough ground. And its mechanism is simple. However it has difficulties to recognize its surroundings. Because the shape of the tracked wheeled mobile robot is a square type, sensor modules are generally located on the each plane surface of 4 sides only. In this paper, the algorithm using neural network is proposed in order to avoid unexpected obstacles. The important character of the proposed algorithm is to be able to detect the distance and the angle of inclination of obstacles. Only using datum of the distance and the angle, informations about the location and shape of obstacles are obtained, and then the driving direction is changed. Consequently, this algorithm is capable of real time processing and available for a mobile robot which has few sensor modules or the limited sensing range such as a tracked wheeled mobile robot. Effectiveness of the proposed algorithm is illustrated through a computer simulation and an experiment using a real robot.

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유비쿼터스 환경을 위한 소방시스템 (Fire Protection System for Ubiquitous Environment)

  • 강원찬;김남오;민완기;신석두;김영동
    • 전기학회논문지P
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    • 제54권3호
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    • pp.141-147
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    • 2005
  • In this paper, We are going to propose the fire protection system with using CAN(Controller Area Network). The larger, higher and deeper buildings are, the more dangerous people are when fire happens. We should be aware of the problems of prior fire protection system. Therefore, we construct embedded system based on CAN communication that is capable of N:N communication, and build independent fire protection system. If the fire is occurred on the building, the problem is that how fast we can detect the fire and put off it by using available system. this is major factor that reduces damage of our wealth. therefore in this studies We would like to design more stable system than current system. this system that is based on CAN communication which is available N:N communication constructs and is designed to compensate for each fault so that our aim is to reduce the line of system and cost of installation and to suppose future type fire protection system. We are simulated by NIST FDS(Fire Dynamics Simulator) to prove the efficiency of this system.

Design of an FPGA-Based RTL-Level CAN IP Using Functional Simulation for FCC of a Small UAV System

  • Choe, Won Seop;Han, Dong In;Min, Chan Oh;Kim, Sang Man;Kim, Young Sik;Lee, Dae Woo;Lee, Ha-Joon
    • International Journal of Aeronautical and Space Sciences
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    • 제18권4호
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    • pp.675-687
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    • 2017
  • In the aerospace industry, we have produced various models according to operational conditions and the environment after development of the base model is completed. Therefore, when design change is necessary, there are modification and updating costs of the circuit whenever environment variables change. For these reasons, recently, in various fields, system designs that can flexibly respond to changing environmental conditions using field programmable gate arrays (FPGAs) are attracting attention, and the rapidly changing aerospace industry also uses FPGAs to organize the system environment. In this paper, we design the controller area network (CAN) intellectual property (IP) protocol used instead of the avionics protocol that includes ARINC-429 and MIL-STD-1553, which are not suitable for small unmanned aerial vehicle (UAV) systems at the register transistor logic (RTL) level, which does not depend on the FPGA vender, and we verify the performance. Consequentially, a Spartan 6 FPGA model-based system on chip (SoC) including an embedded system is constructed by using the designed CAN communications IP and Xilinx Microblaze, and the configured SoC only recorded an average 32% logic element usage rate in the Spartan 6 FPGA model.