• 대한의용생체공학회:학술대회논문집
• /
• 대한의용생체공학회 1997년도 춘계학술대회
• /
• pp.156-160
• /
• 1997

In this paper, the control scheme is proposed that PI controller parameter used for TAH speed control is adapted by fuzzy logic method using only the motor current waveform. By scheduling PI parameters, minimization of the vibration and the energy consumption and overcoming AoP loads becomes possible. In in vitro tests experimental results show our approach is a good scheme that is adapted to changing afterloads well.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.82-87
• /
• 1993

A supervisory controller design technique for multiple-AGV systems is presented in this paper. The guidepath is represented in the form of a network, and its modifications are easily tested. The network has two-layered structure, where the path sets between each two nodes are made in advance using the K-shortest path algorithm. Occupation times for all links are stored in link-occupation table, and are updated after the dispatching time. Dispatching and scheduling for each AGV are optimized in terms of minimum-time objectives. In all times, the paths are guaranteed to be conflict-free and deadlock-free. The simplicity and flexibility on this control scheme make the supervisory suitable for real applications.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
• /
• pp.246-248
• /
• 2005

The Controller Area Network (CAN) is being widely used for real-time control application and small-scale distributed computer controller systems. However, CAN may exhibit unfair behavior under heavy traffic conditions. When there are both high and low priority messages ready for transmission, the proposed precedence priority filtering method allows one low priority message to be exchanged between any two adjacent higher priority messages. In this way, the length of each transmission delays is upper bounded. These procedures are implemented as local controllers for the ISHURO (Inha Semyung Humanoid RObot).

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 하계학술대회 논문집 D
• /
• pp.2400-2402
• /
• 2004

The Controller Area Network (CAN) is being widely used in real-time control applications such as automobiles, aircraft, and automated factories. Unfortunately, CAN, in its current form, is not able to either share out the system bandwidth among the different devices fairly or to grant an upper bound on the transmission times experienced by the nodes connected to the communication medium as it happens, for instance, in the token-based networks. In this paper, we present the message scheduling for CAN, based on the distributed control scheme to integrate actuators and sensors in a humanoid robot. Besides introducing the new algorithm, this paper also presents some performance figures obtained using a specially developed software simulator, while the behavior of the new algorithm is compared with the traditional CAN systems, in order to see how effective they are.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.514-518
• /
• 1990

This paper describes an experimental Knowledge-Based Control System, named KBCS, for manufacturing and assembly. The KBCS of five parts and function : data-base, knowledge acquisition, optimization, and graphic monitoring. The KBCS is utilized for a FMS which is of five machine centers and automatic assembly lines. Each machine can perform almost all manufacturing functions which some difference in efficiency. Buffers store temporarily the incoming components and the outing components. Parts arrive at assembly lines after many steps of manufacturing, and the transfer path and time are determined by procedural knowledge of control systems. Nine different incoming components are set up. The total control system is expected to perform four algorithms, timing algorithm ,sequencing algorithm, penalty algorithm, and cart algorithm. The construction of controller require basic components of manufacturing systems in which knowledges are formulated on the base of the results and the repeated simulation of KBCS with graphic monitoring system. Simulation results by KBCS are compared with those by the other rules of manufacturing.

• 제어로봇시스템학회논문지
• /
• 제15권1호
• /
• pp.1-7
• /
• 2009

As designing PID control on aircraft, we consider a gain scheduling on altitude and velocity. If pitot tube is not installed in the unpowered air vehicle, the control performance is reduced by the difference between ground speed and air speed with a wind considered. In this paper, a simple guidance controller (LOS: Line of Sight) and the wind estimator using Kalman filter are designed. And we minimize the wind effect through the estimator. Finally, we perform the 6-DOF nonlinear simulation with the wind model to verify the performance of the controller with the wind estimator.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.34-34
• /
• 2000

One of the basic goals, when considering networks for communication in industrial control applications, is the reduction of complexity of related wiring harnesses. In addition, the networking offers the advantages for industrial control applications, such as ease of cabling, ease of changes in the cabling, ease of adding controller modules, etc. CAN (Controller Area Network) is generally applied in car networking in order to reduce the complexity of the related wiring harnesses. These traditional CAN application techniques are modified to achieve the real time communication for the industrial control applications. In this paper, we propose the method of CAN Identifier assignment for Real-Time network system. This method is can be used to scheduling messages on CAN for Real-Time network system. And also, the real-time network system is developed and the proposed moth(Ids are verified experimentally.

• 한국정밀공학회지
• /
• 제9권4호
• /
• pp.36-43
• /
• 1992

This paper presents a hierarchical real-time operation control and monitoring scheme of the FMS/CIM center which has been implemented at the Automation and Systems Research Institute of Seoul National University. The hierarchical structure of the whole scheme consists of three lavers. The upper layer is in charge of on-line scheduling, computer network control, shop-floor monitoring and command generation for AGV dispatching, machining, assembly, inspection, set-up, etc. The middle layer has six modules, which are installed in the FMS host computer with the upper layer and run on the multi-tasking basis. Each module is connected to one of six cell controllers distributed in the FMS model plant and transfers operation command down to each cell controller through the Ethernet/TCP-IP local area network. The lower layer is comprised of six cell control software modules for machining cell, assembly cell, inspection cell, set-up stations. AS/RS and AGV. Each cell controller reports the status of the manufacturing facilites to the middle layer as well as ecxecuting the appropriate sequence control of the manufacturing processes.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 A
• /
• pp.101-104
• /
• 1999

This paper presents the design of state feedback controller with state observer(dynamic filter) for Electro-Magnetic Suspension System. Also, the gain scheduling technique using state observer is analyzed in the time domain and frequency domain.

• International Journal of Control, Automation, and Systems
• /
• 제5권3호
• /
• pp.324-328
• /
• 2007

An analytical framework for fuzzy modeling and control of nonlinear systems using a set of linear models is presented. Fuzzy clustering is applied on the aerodynamic coefficients of a missile to obtain an optimal number of rules in a Tagaki-Sugeno fuzzy rule-set. Next, the obtained membership functions and rule-sets are applied to a set of linear optimal controllers towards extraction of a global controller. Reported simulations demonstrate the performance, stability, and robustness of the controller.