• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.705-713
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• 2009

This paper proposes CORBA-based visual servoing system of humanoid robot. To effectively control the humanoid robot which is connected to network, it needs to define necessary services for visual servoing as distribution object, and realize them in the middleware. For realizing it following services should be addressed. Naming service for searching a necessary service with unique name assigned to each object, image service for supplying image obtained from stereo camera. In the experiment, we show the result of balloon tracking and bursting that the robot tracks balloons as target objects in the real time, and if a balloon stop for a certain time, then the robot bursts the balloon.

• Nuclear Engineering and Technology
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• v.40 no.6
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• pp.451-458
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• 2008

After more than 10 years construction, KSTAR (Korea Superconducting Tokamak Advanced Research) had finally completed its assembly in June 2007, and then achieved the goal of first-plasma in July 2008 through the four month's commissioning. KSTAR was constructed with fully superconducting magnets with material of $Nb_3Sn$ and NbTi, and their operation temperatures are maintained below 4.5K by the help of Helium Refrigerator System. During the first-plasma operation, plasmas of maximum current of 133kA and maximum pulse width of 865ms were obtained. The KSTAR Integrated Control System (KICS) has successfully fulfilled its missions of surveillance, device operation, machine protection interlock, and data acquisition and management. These and more were all KSTAR commissioning requirements. For reliable and safe operation of KSTAR, 17 local control systems were developed. Those systems must be integrated into the logically single control system, and operate regardless of their platforms and location installed. In order to meet these requirements, KICS was developed as a network-based distributed system and adopted a new framework, named as EPICS (Experimental Physics and Industrial Control System). Also, KICS has some features in KSTAR operation. It performs not only 24 hour continuous plant operation, but the shot-based real-time feedback control by exchanging the initiatives of operation between a central controller and a plasma control system in accordance with the operation sequence. For the diagnosis and analysis of plasma, 11 types of diagnostic system were implemented in KSTAR, and the acquired data from them were archived using MDSpius (Model Driven System), which is widely used in data management of fusion control systems. This paper will cover the design and implementation of the KSTAR integrated control system and the data management and visualization systems. Commissioning results will be introduced in brief.

• Journal of KIISE:Computing Practices and Letters
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• v.15 no.1
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• pp.29-37
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• 2009

Recently, message based data transmission plays an important role in modem computing systems. Especially JMS(Java Message Service) is one of the most popular messaging platform. However, because of its characteristics for maintaining reliability, if we want to use it for transmission of large scale messages in a distributed Internet environment by using a WAN connection which may not be robust enough, we need to employ a different method to minimize total transmission time of messages. We found the fact that the total time of message transmission heavily depends on size of a message. In order to achieve the ideal size of a message, we develope a novel mechanism and a system which finds the ideal size of a message and automatical1y control JMS applications for minimizing transmission time. Finally, we test the proposed mechanism and system using real-data in order to prove advantages and compared with the naive mechanism. As a conclusion, we showed that our proposed mechanism and system provide an effective way to reduce transmission time of large scale messages in distributed environment.

• The Transactions of the Korea Information Processing Society
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• v.4 no.7
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• pp.1797-1803
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• 1997

Message handling function of the SS7(Signaling System N0.7) provides signaling traffic routing capabilities to transfer the signaling traffic to the destination nodes in the signaling network. This message handling function should be handled without any transfer delay for real time processing of large amount of signaling traffic for data communication service, and visual information service. In this paper, we suggest two routing algorithms working on the distributed message handling processors which were specially designed for message handling function. The one is an internal distributing algorithm for equal distribution of signaling traffic among the distributed message handling processors and the other is a distributing algorithm for distribution of signaling traffic in the multiple signaling routes. Both of algorithms are using signaling link selection codes labled in each signaling messages. It is shown that the suggested algorithms are very efficient for routing signaling traffic at the fault condition of signaling routes and the restoration of unavailable signaling routes.

• Journal of the Korea Society for Simulation
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• v.17 no.2
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• pp.91-103
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• 2008

In order to simulate the behavior of automated manufacturing systems, the performance of material handling systems should be measured dynamically. Multi-Agent technology could be well adapted for the development of simulator for distributed and intelligent manufacture systems. A multi-agent system is composed of one coordination agent and multiple application agents. Issues in AGVS simulator can be classified by the set-up and operating problems. Decisions on the number of vehicles, bi- or uni-directional guide-path, etc. are fallen into the set-up problem category, while deadlock tree algorithm and conflict resolution are in operating problem. In this paper, a multi-agent based deadlock-free simulator for automated guided vehicle system(AGVS) are proposed through the use of multi-agent technologies and the development of deadlock-free algorithm. In this AGVS simulator proposed, well-known Floyd algorithm is used to create AGVS Guide path, through which AGVS move. Also, AGVs avoid vehicle conflict and deadlock using check path algorithm. And Moving vehicle agents are operated in real-time control by coordination agent. AGV position is dynamically calculated based on the concept of rolling time horizon. Simulator receives and presents operating information of vehicle in AGVS Gaunt chart. The performance of the proposed algorithm and developed simulator based on multi-agent are validated through set of experiments.

• Journal of Biosystems Engineering
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• v.37 no.5
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• pp.287-295
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• 2012

Purpose: Some of the most representative approaches are to apply next generation technologies to save energy consumption, fully automated control system to appropriately maintain environmental conditions, and autonomous assistance system to reduce labor load and ensure operator's safety. Nevertheless, improvement of upcoming method for soil cultured greenhouse has not been sufficiently achieved. Geometrical complexity of ground in protected crop cultivation might be one of the most dominant factors in design of autonomous vehicle. While there is a practical solution fairly enough to promise an accurate travelling, such as autonomous sprayer guided by rail or induction coil, for various reasons including the limitation of producer's budget, the previously developed sprayer has not been widely distributed to market. Methods: In this study, we developed an autonomous sprayer considering travelling performance on geometrical complexity of ground in soil cultured greenhouse. To maintain a stable travelling and to acquire a real time feedback, common wire with 80 mm thick and body frame and sprayer boom. To evaluate performance of the prototype, tracking performance, climbing performance and spraying boom's uniform leveling performance were individually evaluated by corresponding experimental tests. Results: The autonomous guidance system was proved to be sufficiently suitable for accurate linear traveling with RMS as lower than approximately 10 cm from designated path. Also the prototype could climb $10^{\circ}$ of ground's slope angle with 40 kg of water weight. Uniform leveling of spraying boom was successfully performed within $0.5^{\circ}$ of sprayer boom's slope. Conclusions: Considering more complex pathways and coarse ground conditions, evaluations and improvements of the prototype should be performed for promising reliability to commercialization.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.2
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• pp.211-218
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• 2014

Recently, software-based programmable logic controller (PLC) systems, which are implemented in standard PLC languages on general hardware, are gaining popularity because they overcome the limitations of classical hardware PLC systems. Another noticeable trend is that the use of integrated development environment (IDE) is becoming important. IDEs can help developers to easily manage the growing complexity of modern control systems. Furthermore, industrial Ethernet, e.g. EtherCAT, is becoming widely accepted as a replacement for conventional fieldbuses in the distributed control domain because it offers favorable features such as short transmission delay, high bandwidth, and low cost. In this paper, we implemented the extension of open source IDE, called Beremiz, for developing EtherCAT-based real-time, synchronized motion control applications. We validated the EtherCAT system management features and the real-time responsiveness of the control function by using commercial EtherCAT drives and evaluation boards.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.411-416
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• 1999

The measurement of unsteady flow rate is of vital importance to clarify and improve the dynamic characteristics in pipeline, hydraulic components and system. There is also demand for a real time flow sensor of ability to measure unsteady flow rate with high accuracy and fast response to realize feedback control of flow rate in fluid power systems. In this paper, we propose an approach for estimating unsteady flow rate through a pipeline and components under high pressure condition. In the method, unsteady flow rate is estimated by using hydraulic pipeline dynamics and the measured pressure values at two distant points along the pipeline. The distributed parameter model of hydraulic pipeline is applied with consideration of frequency dependent viscosity friction and unsteady velocity distribution at a cross section of a pipeline. By using the self-checking functions of the method, the validity is investigated by comparison with the measured and estimated pressure waveforms at the halfway section on the pipeline. The results show good agreement between the estimated flow rate waveforms and theroetical those under unsteady laminar flow conditions. the method proposed here is useful in estimating unsteady flow rate through an arbitray cross section in hydraulic pipeline and components without installing an instantaneous flowmeter.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.11
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• pp.1903-1909
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• 2007

As the electric power industry has been revolutionarily transformed such that the distributed energy resources have been interconnected with power systems and a variety of energy service providers have been appeared, the need of Consumer Energy Portal as a core of two-way communication and service infrastructure between power suppliers and consumers has been gradually increased. Consumer Energy Portal can be thought of as a combination of hardware and software enabling two-way communication between energy service providers and equipment within the consumers' premises or a physical and logical link between consumers' in-building networks and wide-area access networks. In other words, Consumer Energy Portal can make the way the power industry has been traditionally operated the web-based way, enabling two-way interactions between energy service providers and consumers and mutual networking between end users' equipment. Thus, Consumer Energy Portal can be a kind of Service portal that provides new value-added services and efficient power operations that in the past. In this paper, for ESPs' integrated resources management, demand side management and value-added service provision, we have established the two-way access network that can gather real-time metering data using ZigBee technology and control physically networked equipment.

• Journal of Digital Convergence
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• v.19 no.11
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• pp.365-371
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• 2021

In this study, The Virtual Power Plant (VPP) solution platform considered in this study minimizes the cost and investment risk associated with the construction of power generation and transmission facilities. In addition, it includes a Demand Response (DR) program operation function to meet consumers' electricity demand. With the introduction of VPP, it is possible to provide more eco-friendly and efficient power by responding to changes in consumer load in real time through existing generators and DR programs without large-scale facility investment in power generation and transmission/distribution sectors. In order to link the communication device to the solar power and ESS linkage device, it is necessary to transmit data in the control/state between the device device and the edge system and develop an IoT device and interworking platform (OneM2M).