• 전자공학회논문지SC
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• 제44권1호
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• pp.33-39
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• 2007

LonWorks/IP VDN은 LonWorks 디바이스 네트워크와 IP(데이터) 네트워크와의 통합네트워크로 산업현장에 대한 유비쿼터스 접근을 제공하여 설비에 대한 예지 및 예방보전을 가능하게 한다. 산업현장에 대한 예지 및 예방보전을 위한 실시간 분산제어 환경에서 즉각적인 응답은 필수불가결한 요소이다. LonWorks/IP 가상 디바이스 네트워크(VDN) 상에서 불확실한 시간지연은 산업현장에 대한 실시간 예지 및 예방보전을 위해 분산 제어를 수행할 때 시스템의 안정성과 성능을 악화시킨다. 따라서 네트워킹 된 분산제어시스템의 안정성을 보장하고 성능을 개선하기 위해서는 시간에 따라 가변적인 불확실한 시간지연을 보상할 필요가 있다. 본 논문에서는 LonWorks/IP VDN와 같은 분산제어 환경 하에서 서보 제어를 수행하는 경우에 외란관측기와 위상지연 보상기로 ZPETC(Zero Phase Error Tracking Controller)를 도입한 제어구조가 제시되고 컴퓨터 모의실험이 수행된다. 제안된 제어기의 성능은 컴퓨터 모의실험을 통하여 외란관측기를 도입한 Smith 예측기 기반의 내부모델제어기(IMC)의 제어결과와 비교 제시된다. 제안된 제어기는 외란과 잡음에 강인한 특성을 가지며, 주기적인 신호에 대한 추종성능을 상당히 개선시키므로 가변적인 시간지연을 갖는 LonWorks/IP VDN 상에서 주기적인 작업 수행에 필요한 분산 서보제어에 매우 적합하다.

• 한국도시철도학회논문집
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• 제6권4호
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• pp.279-286
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• 2018

최근 열차운행의 안전을 실시간으로 감시하고 통제를 통해 사고 및 위험을 예방하는 안전관제 플랫폼의 연구가 진행 중에 있다. 초기 설계에서 기존 분산된 안전 데이터의 통합에 따른 대용량 데이터의 실시간 처리를 위하여 분산 네트워크를 지원하는 DDS통신 방식을 채택하였으나, 안전관제 플랫폼 내부의 서버와 콘솔 간 통신은 기존의 TCP소켓통신을 그대로 적용하였다. TCP소켓통신의 경우 1대1 통신으로 안전관제 테스트베드의 소규모 시스템을 위한 데이터 처리는 가능하지만, 추후 전국으로 확대되면 방대한 데이터로 인해 통신 트래픽이 발생하는 경우 대처가 어렵게 된다. 본 논문에서는 안전관제 플랫폼의 서버와 콘솔 간 인터페이스 방식을 분산네트워크를 지원하는 DDS통신으로 제안하였으며, TCP소켓방식과 DDS방식의 데모를 구현하고 처리량 및 속도 비교 분석을 수행하였다. 그 결과, DDS통신을 적용하는 경우 향후 변경될 수 있는 시스템에 대비하여 확장성과 유연성이 개선된다는 사실을 도출하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제18권5호
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• pp.78-87
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• 1994

In this paper design and implementation of ship's distributed remote control system using dual-microprocessor is presented for real time process. The proposed system is implemented with the single chip microprocessors in tightly coupled mode and results in speed up of $s_p$=1.74. Under the assumption that the nodes are interconnected in multidrop, the overall system performance such as average throughout-delay characteristics and effective throughput are analyzed using M/G/1 queneing model, and results show that the proposed node can be used in medium sized distributed monitoring and 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.759-763
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• 1996

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. 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. The TMS320C31 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.718-723
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• 2005

In this paper, we propose the collaborative design system with which we can simultaneously modify the actual 3D CAD model by the remote control and have interaction on it. It enables instantaneous decision making among the multiple disciplines in distributed locations using the function of simultaneous access and video conference. It also provides the method of managing the consistency between design entities. This system consists of Collaborative Management Server, File Server, Solid Modeler Client, Remote Control Module and Client Module.

• 한국경영과학회지
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• 제28권2호
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• pp.75-89
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• 2003

Media Access Control (MAC) Protocol in IEEE 802.11 Wireless LAN standard supports two types of services, synchronous and asynchronous. Synchronous real-time traffic is served by Point Coordination Function (PCF) that implements polling access method. Asynchronous nonreal-time traffic is provided by Distributed Coordination Function (DCF) based on Carrier Sense Multiple Access with Collision Avoidance (CSMA/CA) protocol. Since real-time traffic is sensitive to delay, and nonreal-time traffic to error and throughput, proper traffic scheduling algorithm needs to be designed. But it is known that the standard IEEE 802.11 scheme is insufficient to serve real-time traffic. In this paper, real-time traffic scheduling and admission control algorithm is proposed. To satisfy the deadline violation probability of the real time traffic the downlink traffic is scheduled before the uplink by Earliest Due Date (EDD) rule. Admission of real-time connection is controlled to satisfy the minimum throughput of nonreal-time traffic which is estimated by exponential smoothing. Simulation is performed to have proper system capacity that satisfies the Quality of Service (QoS) requirement. Tradeoff between real-time and nonreal-time stations is demonstrated. The admission control and the EDD with downlink-first scheduling are illustrated to be effective for the real-time traffic in the wireless LAN.

• 대한산업공학회지
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• 제29권2호
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• pp.150-156
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• 2003

The IEEE 802.11 MAC (Media Access Control) Protocol supports two modes of operation, a random access mode for nonreal-time data applications processed by Distributed Coordinated Function (DCF), and a polling mode for real-time applications served by Point Coordinated Function (PCF). It is known that the standard IEEE 802.11 is insufficient to serve real-time traffic. To provide Quality of Service (QoS) of real-time traffic, we propose the Downlink-first scheduling with Earliest Due Date (EDD) in Contention Free Period (CFP) with suitable admission control. The capacity and deadline violation probability of the proposed system is analyzed and compared to the standard pair system of downlink and uplink. Analytical and simulation results show that the proposed scheme is remarkably efficient in view of the deadline violation probability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.89.6-89
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• 2001

In Vehicle Information and Communication System (VICS), which is an active field of Intelligent Transport System (ITS), information of traffic congestion is sent to each vehicle at real time. However, a centralized navigation system is not realistic to guide millions of vehicles in a megalopolis. Autonomous distributed systems should be more flexible and scalable, and also have a chance to focus on each vehicle´s demand. This paper proposes a sub-optimal route planning mechanism of vehicles in urban areas using the non-network type immune system. Simulation is carried out using a cellular automaton model. This system announces a sub-optimal route to drivers in real time using VICS.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1539-1543
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• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.