• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권10호
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• pp.3361-3377
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• 2014

Synchronous computing models provided by real-time synchrony protocols, such as TTA [1] and PALS [2], greatly simplify the design, implementation, and verification of real-time distributed systems. However, their application to real systems has been limited since their assumptions on underlying systems are hard to satisfy. In particular, most previous real-time synchrony protocols hypothesize the existence of underlying fault tolerant real-time networks. This, however, might not be true in most soft real-time applications. In this paper, we propose a practical approach to a synchrony protocol, called Quality-Aware PALS (qPALS), which provides the benefits of a synchronous computing model in environments where no fault-tolerant real-time network is available. qPALS supports two flexible global synchronization protocols: one tailored for the performance and the other for the correctness of synchronization. Hence, applications can make a negotiation flexibly between performance and correctness. In qPALS, the Quality-of-Service (QoS) on synchronization and consistency is specified in a probabilistic manner, and the specified QoS is supported under dynamic and unpredictable network environments via a control-theoretic approach. Our simulation results show that qPALS supports highly reliable synchronization for critical events while still supporting the efficiency and performance even when the underlying network is not stable.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제11권2호
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• pp.149-156
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• 2005

HLA는 시뮬레이션 표준 아키텍처로서 민수 및 국방 시뮬레이션 분야에서 관심이 높아가고 있다. 국내외에서 워게임과 같은 구조적 시뮬레이션에서는 HLA를 적용한 성공적인 개발사례를 찾아 볼 수 있다. 그러나 네트워크 시율레이터나 인터넷 게임과 같은 실시간 분산 시뮬레이션에서는 그 적용 사례가 아직까지 관찰되고 있지 않다. 그 이유는 실시간 분산 HLA 시뮬레이션에서는 네트워크 수준에서 RTI를 통한 메시지 전송시간이 컴퓨팅 능력, 시뮬레이션 노드 개수, 전송방식, 전송패킷의 크기에 영향을 받고, 응용 수준에서 메시지의 사건처리시간이 메시지 처리방식에 의존하여 실시간 제약조건을 설정하기가 어렵기 때문이다. 따라서 본 논문에서는 차후 M-SAM 시뮬레이터의 개발을 위하여 RTI의 실시간 제약 조건의 수준을 고찰하고자 한다. 이를 위하여 1.Af 환경에서 6대의 PC상에 HLA 기반의 실험용 시뮬레이터를 개발하고 RTI의 성능을 측정하고 분석하였다. 본 연구의 결과로서 이전의 연구에서 제시되지 않았던 다수 노드 환경에서 실제 운용 시나리오와 부하에 따른 메시지 지연시간, RTI 부하 및 RTI 패킷전송 비율에 대한 정량적인 특성 값을 얻을 수 있었고, 이 결과는 향후 M-SAM 시뮬레이터 또는 유사 응용체 계의 개발에서 표적 수, 전송주기 및 메시지 처리방식에 대한 설정지침으로 활용이 기대된다.

• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.434-437
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• 2002

A small size and light-weight DSP board is newly designed for a real time multi-distributed control system that overcomes constraints on time and space. There are a variety of protocols for a real-time distributed control system. In this research, we selected CAN for the multi distributed control, which was developed by the BOSCH in the early 1980's. If CAN and Internet are connected together, the system attains the characteristics of a distributed control system and a remote control system simultaneously. To build such a system. The TCP/IP-CAN Gateway which converts a CAN protocol to TCP/IP protocol and vice verse, was designed. Moreover, the system is required to be small and light-weighted for the high mobility and cost effectiveness. The equipment in remote place has a TCP/IP-CAN Gateway on itself to be able to communicate with another systems. The received commands in the remote site are converted from TCP/IP protocol to CAN protocol by the TCP/IP-CAN Gateway in real time. A simulation system consists of a TCP/IP-CAN Gateway in remote place and a command PC to be connected to Ethernet.

• Journal of Advanced Marine Engineering and Technology
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• 제28권4호
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• pp.603-610
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• 2004

Time delays are included in most of actual systems, and some of which are shown as time varying. To analyze the time varying time delay system in the time domain. a useful delay module to express the function as a tool is much helpful to get corresponding outputs under given conditions. A method is proposed here to design the algorithm of time delay module for simulation or control purposes, including the problems of initializing and reallocating data in buffer. After classifying the time varying time delay into the distributed mode and lumped mode, an object to describe delay module is configured and tested under the defined input signal and given time delay variation. The simulation results show that the output of module matches reasonably with the case of real system.

• International Journal of Safety
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• 제5권2호
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• pp.6-11
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• 2006

The time delay in servo control on LonWorks/IP Virtual Device Network (VDN) is highly stochastic in nature. LonWorks/IP VDN induced time delay deteriorates the performance and stability of the real-time distributed control system and hinders an effective preventive and predictive maintenance. Especially in real-time distributed servo applications on the factory floor, timely response is essential for predictive and preventive maintenance. In order to guarantee the stability and performance of the system for effective preventive and predictive maintenance, LonWorks/IP VDN induced time delay needs to be predicted and compensated for. In this paper position control simulation of DC servo motor using Zero Phase Error Tracking Controller (ZPETC) as a feedforward controller, and Internal Model Controllers (IMC) based on Smith predictor with disturbance observer as a feedback controller is performed. The validity of the proposed control scheme is demonstrated by comparing the IMC based on Smith predictor with disturbance observer.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.65-68
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• 1996

Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. The TMS32OC31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the, network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time, control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• 한국정보처리학회논문지
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• 제6권1호
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• pp.57-65
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• 1999

규모가 크고 복잡하며, 사용자와 상호 작용하는 시뮬레이션은 처리되는 메시지 수가 매우 많으므로 메시지의 순차적 시뮬레이션이 더 효율적이라 생각할 수 있다. 또한 사용자가 많은 훈련용 시뮬레이션은 지역적으로 분산되고 사용자의 추가 요구 사항의 증가로 시스템의 운용 및 유지보수 비용이 많이 든다. 따라서 시뮬레이션에 웹 기술의 적용은 이러한 문제를 해결할 수 있는 하나의 방법이 될 수 있다. 하지만 웹의 동적인 환경은 분산 처리되는 사건들의 인과성 오류를 유발 할 수 있다. 따라서 본 논문에서는 분산 처리되는 시뮬레이션 서버와 웹 브라우저의 클라이언트 사이에 상호작용을 위한 클라이언트-서버 모델을 제시하고 구현하였으며, 구현에는 웹 기술에 적합한 자바와 자바 분산 객체 모델을 사용하였다. 제시된 모델에 의한 실험결과 인터넷의 동적인 환경에 분산 시뮬레이션이 정확하게 수행되었음을 확인할 수 있었다.

• 전자공학회논문지B
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• 제30B권9호
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• pp.9-17
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• 1993

There are multiple controllers (PLC. LOOP Controller ) which are operating in product line and fabrication line. In those lines, it is necessary to connect various multilple controllers with integrity and coordination. The ways to connect those devices are specified by ISO network standard. In this paper, real time network is designed and implemented for factory automation at lowest possible cost that meets the small and middle size MINI-MAP specifications. Network performance is evaluated by simulation method on data link layer implemented interfacing modules has efficiency in throughput by reducing processing time. The system designed in this paper can be also applied to the field of distributed systems for real time processing.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.799-803
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• 1991

This study proposes a CIM shell that is consisted with computers connected by a LAN. Since this system excludes production hardwares, physical movements of devices are represented by computer simulation. On the other hand, softwares that dictate system operation are real, and consu- me physical time. Thus the shell becomes half-real-half-simulation that requires events synchronization mechanism. This study shows the building procedure of such shell as well as an example of application of the shell.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1131-1135
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• 2014

This paper proposes the enhanced faulty node detection scheme with hybrid algorithm using Markov-chain model on BCH (Bose-Chaudhuri-Hocquenghem) code in naval distributed control networked systems. The probabilistic model-driven approach, on Markov-chain model, in this paper uses the faulty weighting interval factors, which are based on the BCH code. In this scheme, the master node examines each slave-nodes continuously using three defined states : Good, Warning, Bad-state. These states change using the probabilistic calculation method. This method can improve the performance of detecting the faulty state node more efficiently. Simulation results show that the proposed method can improve the accuracy in faulty node detection scheme for real-time naval distributed control networked systems.