• 제목/요약/키워드: Configuration control

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Redmine과 Git을 활용한 헬리콥터 능동진동제어시스템 소프트웨어 형상관리 (Software Configuration Management for Helicopter AVCS using Redmine and Git)

  • 백승길;박중용
    • 시스템엔지니어링학술지
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    • 제13권1호
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    • pp.7-14
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    • 2017
  • Korea Aerospace Research Institute takes part in the vibration control software development for an Active Vibration Control System (hereafter, AVCS) for helicopters with Korea Aerospace Industries Ltd. in the Light Civil Helicopter (LCH) Project. The vibration control software is being developed per RTCA/DO-178C certification regulation and use of configuration management tools for software outputs is required. Redmine, an open source software is for issue or bug tracking and management software. Git, another open source software is a distributed version control software and is developed for Linux OS development. This paper introduces the functionalities of Redmine and Git, the reason why they are selected for the configuration management tool for the software outputs, and how they are being used for AVCS software development.

Two-Way Hybrid Power-Line and Wireless Amplify-and-Forward Relay Communication Systems

  • Asiedu, Derek Kwaku Pobi;Ahiadormey, Roger Kwao;Shin, Suho;Lee, Kyoung-Jae
    • 한국정보기술학회 영문논문지
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    • 제9권1호
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    • pp.25-37
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    • 2019
  • Power-line communication (PLC) has influenced smart grid development. In addition, PLC has also been instrumental in current research on internet-of-things (IoT). Due to the implementation of PLC in smart grid and IoT environments, strides have been made in PLC and its combination with the wireless system to form a hybrid communication system. Also, PLC has evolved from a single-input-single-output (SISO) configuration to multiple-input-multiple-output (MIMO) configuration system, and from a point-to-point communication system to cooperative communication systems. In this work, we extend a MIMO wireless two-way amplify-and-forward (AF) cooperative communication system to a hybrid PLC and wireless (PLC/W) system configuration. We then maximize the weighted sum-rate for the hybrid PLC/W by optimizing the precoders at each node within the hybrid PLC/W system. The sum-rate problem was found to be non-convex, therefore, an iterative algorithm is used to find the optimal precoders that locally maximize the system sum-rate. For our simulation results, we compare our proposed hybrid PLC/W configuration to a PLC only and wireless only configuration at each node. Due to an improvement in system diversity, the hybrid PLC/W configuration outperformed the PLC only and wireless only system configurations in all simulation results presented in this paper.

여유 자유도 매니퓰레이터의 작업공간 적응제어 (Task-based adaptive control of redundant manipulators)

  • 남헌성;유준
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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    • pp.895-901
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    • 1993
  • This paper present controller designs based on the configuration control framework for a redundant manipulator to accomplish the basic task of desired, end-effector motion, while utilizing the redundancy to achieve the additional tasks such as joint motion control, obstacle avoidance, singularity avoidance. etc. A task based decentralized adaptive scheme is then applied for the configuration variables to track some reference trajectories as close as possible. Simulation results for a direct-drive three-link arm in the vertical plane demonstrate its capabilities for performing various useful tasks.

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형태제어에 기초한, 여유자유도를 갖는 로보트 머니퓰레이터의 여유자유도 이용에 관한 연구 (Redundancy Utilizations of Redundant Robot Manipulators Based on Configuration Control)

  • 최영규
    • 대한전기학회논문지
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    • 제41권4호
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    • pp.422-432
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    • 1992
  • Previous investigations of redundant manipulators have often focussed on local optimization for redundancy resolution by using the Jacobian pseudoinverse to solve the instantaneous relationship between the joint and end-effector velocities. This paper establishes some new goals for redundancy resolution at position level by using configuration control approach which has been recently developed. Minimum gravity loading, joint limit avoidance, minimum sensitivity, maximum stiffness and minimum impulse are introduced as redundancy resolution goals. These new goals for redundancy resolution allow more efficient utilizations of the redundant joints based on the desired task requirements. Simple computer simulation examples are given for illustration.

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험지에서의 가변 휠형 무인 자율차량의 자세 제어를 위한 가변 휠의 형상 계획 (Configuration Planning of an Actively Articulated Suspension to Vehicle Orientation Control on Unstructured Terrain)

  • 임경빈;박석훈;윤용산;이상훈;강신천
    • 대한기계학회논문집A
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    • 제33권3호
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    • pp.251-260
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    • 2009
  • Hybrid locomotive UGV with actively articulated legs along with wheeled ends has high traversability to travel over rough terrain. The behavior control method was usually adapted for the controlling of the suspension configuration which determines the traversability of the UGV. In this study, we are proposing a method of configuration planning of the legs without any detail geometric data about the terrain. The terrain was estimated by the traces of each wheel and the leg configurations for the desired posture of the vehicle were set up against the constraints of the terrain. Also, an optimal leg configuration was calculated based on the quasi-static stability and power consumption, and plans for the leg behavior were made. Validity of the proposed method was checked by simulations using some off-the-shelf programs, and showed that the orientation control without geometric features of terrains and simplification of the behavior planning for obstacle negotiation were possible.

Simultaneous Faults Detection and Isolation Using Null Space Components of Faults for INS Sensor Redundancy

  • Yang, Cheol-Kwan;Shim, Duk-Sun
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2002년도 ICCAS
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    • pp.32.4-32
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    • 2002
  • We consider inertial navigation system (INS) sensor redundancy and propose a method which uses singular value decomposition to detect and isolate faults when even two sensors have faults simultaneously. When redundant sensor configuration is given, such as symmetric configuration in INS, the range space and null space of configuration matrix are determined. We use null space of configuration matrix and define 21 reference fault vectors which include 6 one-fault vectors and 15 two-fault vectors. Measurements are projected into null space of measurement matrix and compared with 21 normalized reference fault vectors, which determines fault detection and isolation.

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고 입력전압 전력변환 응용에 적합한 입력직렬-출력병렬 컨버터 시스템 (Input Series-Output Parallel Connected Converter System for High Voltage Power Conversion Applications)

  • 김정원;조보형
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 1998년도 전력전자학술대회 논문집
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    • pp.455-459
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    • 1998
  • In this paper input Series-Output Parallel connected converter configuration for high voltage power conversion applications is proposed and a control method to solve the problems of Input Series-Output Paralles connected converter configuration is introduced. In this configuration snubber circuit or voltage balancing controller that is necessary for the series connection of switching devices is not needed. The effectiveness of this proposed configuration is verified by simulation.

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안전성과 신뢰성을 위한 선박 LAN 구축 방안 (A Ship′s LAN Configuration Method for the Safety and Reliability)

  • 김영수;조익성;임재홍
    • 한국항해학회지
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    • 제24권1호
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    • pp.47-56
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    • 2000
  • As a shipboard dependency for the safety and reliability becomes very important, the need for solid systems providing non-stop workload has been increased. This system is heartbeat that transmits shipboard state, audit and control information to the land. So, this paper describes a ship's LAN configuration method for the safety and reliability. In order to achieve these requirements, network, server and disk fault tolerance techniques are surveyed, and dual network configuration model, cluster server configuration method are presented and tested based on the survey.

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축소 차원 형상 공간을 이용한 협조작업 두 팔 로봇의 충돌 회피 경로 계획 (Collision-free path planning for two cooperating robot manipulators using reduced dimensional configuration space)

  • 최승문;이석원;이범희
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.904-907
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    • 1996
  • In this paper, we propose an efficient collision-free path planning method of two cooperating robot manipulators grasping a common object rigidly. For given two robots and an object, the procedure is described which constructs the reduced dimensional configuration space by the kinematic analysis of two cooperating robot manipulators. A path planning algorithm without explicit representation of configuration obstacles is also described. The primary steps of the algorithm is as follows. First, we compute a graph which represents the skeleton of the free configuration space. Second, a connection between an initial and a goal configuration to the graph is searched to find a collision-free path.

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