• 한국인공지능학회지
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• 제11권4호
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• pp.21-27
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• 2023

This paper discusses a deep learning-based road surface analysis system that collects data by installing vibration sensors on the 4-axis wheel bearings of a vehicle, analyzes the data, and appropriately classifies the characteristics of the current driving road surface for use in the vehicle's control system. The data used for road surface analysis is real-time large-capacity data, with 48K samples per second, and the A2B protocol, which is used for large-capacity real-time data communication in modern vehicles, was used to collect the data. CAN and CAN-FD commonly used in vehicle communication, are unable to perform real-time road surface analysis due to bandwidth limitations. By using A2B communication, data was collected at a maximum bandwidth for real-time analysis, requiring a minimum of 24K samples/sec for evaluation. Based on the data collected for real-time analysis, performance was assessed using deep learning models such as LSTM, GRU, and RNN. The results showed similar road surface classification performance across all models. It was also observed that the quality of data used during the training process had an impact on the performance of each model.

• 한국정보과학회논문지:시스템및이론
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• 제27권6호
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• pp.549-557
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• 2000

최근 응용 프로그램들은 복잡한 데이타로 구성되어 있기 때문에 이를 효율적으로 처리할 수 있는 분산 메모리 기계(Distributed Memory Machine : DMM)의 필요성이 대두되었다. 특히 태스크 스케줄은 태스크 사이의 통신 시간을 최소화하여 응용 프로그램 전체의 실행 시간을 단축시키는 기법으로서, DMM의 성능을 향상시키는 매우 중요한 요소이다. 기존의 태스크 중복 스케줄(Task Duplicated based Scheduling : TDS) 기법은 두 개의 태스크 사이에 통신 시간이 많이 소요되는 것들을 하나의 클러스터(cluster)로 스케줄함으로써 통신 시간을 단축하여 실행 시간을 향상시키는 기법이다. 그러나 데이타를 전달하는 태스크와 이 태스크로 데이타를 전달받는 태스크 사이의 통신 시간을 최적화 하지 못하는 단점을 가진다. 따라서 본 논문에서는 이 두 태스크 사이의 최적화에 근접한 통신 시간을 갖는 개선된 중복 스케줄 (Modified Task Duplicated based Scheduling : MTDS) 기법을 제안하였다. 이 기법은 데이타를 전달한 태스크들을 클러스터링하기 위해 데이타를 전달받은 태스크에서 최적화 조건을 적용하여 검사한다. 그 결과 태스크 사이의 통신 시간을 단축하여 전체 태스크 실행 시간을 최소화하였다. 또한 시스템의 모델링을 통하여 MTDS 기법이 최상의 경우 TDS 기법보다 태스크 실행 시간을 70% 단축 시켰고 최악의 경우 TDS 기법과 동일한 실행 시간을 얻으므로 제안된 기법이 기존의 기법보다 우수함을 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.40-43
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• 1996

An off-line programming, OLP, system is widely used in automation fines. To help an on-line robot system to carry out desirable tasks planned by the off-line simulation, an approach to the real-time communication is presented. The OLP system developed consists of a software, a host computer(PC), a SCARA robot body, four servo drivers, and four independent joint controllers. This study focuses on the software where real-time communication is included. The software, can be used in teaching, trajectory planning, real-time running, and performance evaluation. The evaluation of different control algorithms is one of the merits of the software. The software can give servo commands for task running. A comparison of generated and corresponding actual trajectories provides the evaluation of task performance. The safety, of the OLP system is ensured by alarming malfuntions of the system. The OLP system developed can reduce the teaching time and increase the user's convenience.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1836-1839
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• 2005

We have developed Ethernet based real-time communication systems called "Vnet/IP" for DCS which is the control system for process automation. This paper describes the features and the technologies of the ASIC which is utilized in the communication interface hardware for Vnet/IP. Vnet/IP has been developed for mission-critical communications. Hence it has real-time feature, high reliability and precise time synchronization capability. At the same time, it is able to deal with standard protocols without influence on mission-critical communications. The communication interface hardware has a host interface and dual redundant network interfaces. The host interface can be chosen PCI-bus or R-bus which is the proprietary internal bus developed for the high reliable redundant controller. Each network interface is a RJ45 connection with 1Gbps maximum in compliance with IEEE802.3.

• Journal of Positioning, Navigation, and Timing
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• 제10권4호
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• pp.387-393
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• 2021

This paper proposes a system to synchronize the time of computers over an unmanned aerial vehicle (UAV) network. With the proposed system, the UAVs can perform missions that require precise relative time. Also, data collected by UAVs can be fused precisely with synchronized time. In the system, to synchronize the time of all computers over the UAV network, two-step synchronization is performed. In the first step, the mission computers of the UAVs are synchronized through the server of the system. After the first step, the mission computers measure time offset between the time of the mission computers and the flight computers. The offset values are delivered to the server. In the second step, virtual time is determined by the server from the collected time offset. The measured offset is compensated by moving the synchronized time of mission computers to the reasonable virtual time. Since only the time of mission computers are controlled, any flight computers that use micro air vehicle link (MAVLink) protocol can be synchronized in the proposed system.

• Journal of Positioning, Navigation, and Timing
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• 제9권4호
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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.

• 한국통신학회논문지
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• 제38B권4호
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• pp.298-304
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• 2013

일반적으로 위성 시분할다중접속 (TDMA, Time Division Multiple Access) 통신시스템 설계 시 채널감쇄를 반드시 고려 해야하며 위성 통신시스템은 급격한 채널환경 변화에서도 안정적인 네트워크 구성을 위해 실시간 자동 이득제어기 (AGC, Automatic Gain Control)가 필수적이다. 본 논문에서는 위성 TDMA 통신시스템에서 타임 슬롯에 실시간 적용이 가능한 AGC를 제안한다. 제안하는 실시간 AGC 성능을 확인하기 위해 위성 TDMA 시스템을 설계 및 구현하였고 제안하는 AGC 알고리듬을 적용하여 시스템의 비트 오율을 확인하였다. 이 결과는 추후 위성 TDMA 통신시스템의 안정성을 높이는데 유용하게 활용될 수 있을 것으로 예상된다.

• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1099-1105
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• 2000

The interactive bicycle simulator presented in this paper consists of a Stewart platform manipulator, magneto-rheological steering and braking devices, and a visual simulator. To provide a rider with reality, these devices should be controlled in real-time and motions of the devices and the visual should be also synchronized. If any of the devices and the visual gets unsynchronized due to significant blocking of control signals, the reality of the simulator is no longer secured. This paper presents communication protocols that minimize the blocked time of the control processes to guarantee the synchronization. The protocols are designed based on IPC (InterProcess Communications) of QNX, TCP/IP, and serial communication. The performance of the designed communication protocols is evaluated with the implemented bicycle simulator, and found satisfactory.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.57.6-57
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• 2001

Jitter occurring during data communication creates difficulties in integrating a system. Such problems arise from using an event triggered communication protocol such as CAN(Controller Area Network) because it cannot be determined when a specific message will be transmitted. In order to avoid this problem, several time triggered communication protocols have been developed orare under development. Those protocols include TTP(TTTech) and TTCAN(BOSCH). But a time triggered communication protocol needs more hardware than an event triggered protocol and has more complicated software algorithm because data and time information goes through the existing data line ...

• 한국지능시스템학회논문지
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• 제11권6호
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• pp.563-567
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• 2001

We generalize the widebane P0-weyl symbol (P0WS) and the widebane spreading function (WSF) using the generalized warping function . The new generalized P0WS and WSF are useful for analyzing system and communication channels producing generalized time shifts. We also investigated the relationship between the affine Wey1 symbol(AWS) and the P0WS. By using specific warping functions, we derive new P0WS and WSF as analysis tools for systems and communication channels with non-linear group delary characteristics. The new P0WS preserves specific types of changes imposed on random processes. The new WSF provides a new interpretation of output of system and communication channel as weighted superpositions of non-linear time shifts on the input. It is compared to the conventional method obtaining output of system and communication channel as a convention integration of the input with the impulse response of the system and the communication channel. The convolution integration can be interpreted as weighted superpositions of liner time shifts on the input where the weight is the impulse response of the system and the communication channel. Application examples in analysis and detection demonstrate the advantages of our new results.