• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.239-243
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• 1989

This paper represents the control software development for Direct Drive Arm Robot with the WHILE language composed the 68000 assembly language and high level language modula-2. Direct Drive Ann Robot needs the control program which is fast step and exactly position moving because Direct Drive Arm Robt depends on accuracy. We found that the self-tuning algorithm for this robot control is very good for the real time control and the floating point operation using the 32 bit CPU(MC 68020) controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.375-378
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• 1996

Robot control software is a hard real-time system that must output the planned trajectory points within an explicit short time period. In this paper, we present a design and implementation method for robot control software using commercial real-time operating systems, RTKemel 4.5. Therefore, various robot motions, efficient user interface, and system failure check are easily implemented by using multitasking function, intertask communication mechanism, and real-time runtime libraries of RTKernel. The performance analysis of commercial real-time operating system for robot control is presented based on Timed Petri net(TPN) and we can use these results to design an optimal system.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.956-960
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• 2004

The Vehicle Dynamic Simulator(VDS) is a key equipment of the performance verification of attitude control subsystem and it simulates the real dynamic environment that spacecraft undergoes during mission operation. All the software models and hardware interfaces necessary for the closed-loop simulation of the spacecraft dynamics are implemented. Using VDS, KOMPAT-2 attitude control logic functions and performance was verified. In this paper, the hardware and software configurations of KOMPSAT-2 VDS was described briefly and the information flow and exchanges between software models and actual hardwares during close loop simulation was described in the systematic point of view.

• 시스템엔지니어링학술지
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• 제1권2호
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• pp.43-48
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• 2005

This paper describes the results of applying States and Modes Analysis, one of the requirements analysis techniques, to the development requirements of flight control software for Smart UAV. State/mode table enabled us to investigate various operation and design concepts, and as a result essential requirements for flight control software were established without omitting necessary requirements. Through the use of scenario-specific state transition diagrams, dynamic behaviours and control/response interfaces between each state and mode could been clearly identified, which made it possible to establish requirements related to dynamic behaviours of states and modes which are essential to the design of flight control software.

• 산업경영시스템학회지
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• 제22권52호
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• pp.285-295
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• 1999

Developing control functions that operate and cooperate each equipment in order to achieve a goal is one of the most important problems in the installation of automated manufacturing systems. This paper discusses the development of a control system for heterarchical architecture and a simulator to verify operations of the control system. The object-oriented paradigm that has excellent reusability, portability, and extensibility is currently being used in many application fields as a software development methodology. Especially, UML(Unified Modeling Language), the third generation object-oriented modeling methodology, has advantages such as model generalization, clearness, and so on. In this research, software objects to accomodate the real time environments of automated manufacturing systems are modeled with the diagrams of UML. Based on these models, control software is developed as a format of pseudo-codes. A simulator is implemented to validate the developed control system.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.274-284
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• 2019

The control architectures of Chuan Suo (CS) deep submergence rescue vehicle are introduced. The hardware and software architectures are also discussed. The hardware part adopts a distributed control system composed of surface and underwater nodes. A computer is used as a surface control machine. Underwater equipment is based on a multi-board-embedded industrial computer with PC104 BUS, which contains IO, A/D, D/A, eight-channel serial, and power boards. The hardware and software parts complete data transmission through optical fibers. The software part involves an IPC of embedded Vxworks real-time operating system, upon which the operation of I/O, A/D, and D/A boards and serial ports is based on; this setup improves the real-time manipulation. The information flow is controlled by the software part, and the thrust distribution is introduced. A submergence vehicle heeling control method based on ballast water tank regulation is introduced to meet the special heeling requirements of the submergence rescue vehicle during docking. Finally, the feasibility and reliability of the entire system are verified by a pool test.

• 제어로봇시스템학회논문지
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• 제7권1호
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• pp.1196-1204
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• 2001

In this paper, a new architecture of operating software associated with the component-based method is proposed. The proposed architecture comprises 문 execution module and a decision-making module. In order to make effective development and maintenance, the execution module is divided into three components. The components are referred to as Symbol, Gateway, and Control, respectively: The symbol component is for the GUI environments and the standard interfaces; the gateway component is for the network communication and the structure of asynchronous processes; the control component is for the asynchronous processing and machine setting or operations. In order to verify the proposed architecture, and off-line version of operating software is made, and its steps are as follows; I) Make virtual execution modules for the manufacturing devices such as dual-arm robot, handling robot, CNC, and sensor; ii) Make decision-making module; iii) Integrate the modules and GUI using a well-known development tools such as Microsofts Visual Basic; iv) Execute the overall operating software to validate the proposed architecture. The proposed software architecture in this paper has the advantages such as independent development of each module, easy development of network communication, and distributed processing of resources, and so on.

• 한국철도학회논문집
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• 제11권2호
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• pp.139-144
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• 2008

최근 임베디드 시스템 기술의 발전에 따라 열차제어시스템의 자동화가 촉진되고 있다. 이를 위한 하드웨어의 안전성 검증을 위한 연구는 활발히 진행되고 있으나, 소프트웨어의 안전성을 검증하기 위한 체계적인 노력은 거의 이루어지지 않고 있다. 이 논문에서는 열차제어 시스템 소프트웨어의 안전성을 자동으로 평가 할 수 있는 소프트웨어 도구를 제안한다. 이를 위하여 관련 국제표준을 분석하였으며, 기존의 사용 소프트웨어 테스팅 도구들을 조사하였다. 이로부터 국제표준에서 요구하는 주요 요건을 테스팅 할 수 있는 도구를 제안하였으며, 이 도구는 소프트웨어 전 개발주기에서 이용이 가능하다. 이 도구는 기존의 테스팅 도구들과는 달리 소프트웨어의 안전성을 검증할 수 있다는 점에서 그 의의가 크다.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1264-1270
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• 2004

In this paper, a standard robot design methodology is suggested and a software architecture for modular robot is introduced. The robot is modularized by several functions, and the module is produced according to a standard proposal. Each module requires standard interface for communicate in distributed environments. Software architecture was developed to support distributed component environment, and application development support tools are developed for user convenience. Many robot softwares are developed in a library form so that, they are being used widely robot application software development. Also a device driver was developed for the mostly used sensor and actuator. It is verified that the modular robot can be applied in various fields through guide, errand and guard scenario.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 B
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• pp.1149-1150
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• 2006

This paper describes the development of software platform of embedded controller for Fuel Cell System. The fuel cell system is complex which needs an embedded controller to execute multiple tasks. The software organized by modualarization and layered architecture can perform complicated control algorithms. By development of the software platform with architectural software, the fuel cell system's embedded controller has a reusability and a scalability. And the developed software platform guarantees a execution of multiple tasks.