• 제목/요약/키워드: Dynamic Reconfigure

검색결과 16건 처리시간 0.015초

ROS를 이용한 이동 로봇 제어 시스템 구현 (An Implementation of the Control System of the Mobile Robot using ROS)

  • 문용선;노상현;임승우;배영철
    • 한국전자통신학회논문지
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    • 제8권11호
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    • pp.1713-1718
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    • 2013
  • 본 논문은 로봇 미들웨어 기술 중 ROS(Robot Operating System)를 이용하여 이동 로봇의 원격 제어 및 인공전위계를 이용한 충돌회피를 구현하였으며, 충돌회피 노드에 동적 재구성(dynamic reconfigure)을 적용하였다. 또한 ROS의 주된 목적인 공유와 협업에 맞게 LRF와 조이스틱과 같은 로봇에 자주 사용되는 하드웨어를 ROS에서 제공하는 노드로서 재사용하였다.

다족 보행 로봇 시스템의 이동성 및 민첩성 (Mobility and Agility of Multi-legged Walking Robot System)

  • 심형원;이지홍
    • 제어로봇시스템학회논문지
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    • 제14권11호
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    • pp.1146-1154
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    • 2008
  • This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

분산 WSN하에서 적응적 재구성이 가능한 OS 모델링 (Adaptive and Reconfigurable OS Modeling in Distributed WSNs)

  • 김진엽;한규호;안순신
    • 한국정보과학회:학술대회논문집
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    • 한국정보과학회 2005년도 가을 학술발표논문집 Vol.32 No.2 (1)
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    • pp.355-357
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    • 2005
  • This paper describes the architecture and modeling of adaptive and reconfigurable OS in wireless distributed sensor networks. Before initial sensor nodes are deployed in a sensor field, minimum functions including basic OS and routing algorithms are required for these nodes to send request messages for dynamic reconfigurations and receive response messages from a task manager. When the downloading is finished, each sensor node can reconfigure the initial state and be ready to start its functions. By applying this reconfigurable modeling, sensor nodes can be easily deployed in the sensor field and dynamically programmed during a bootstrap process.

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An Efficient FPGA based Real-Time Implementation Shunt Active Power Filter for Current Harmonic Elimination and Reactive Power Compensation

  • Charles, S.;Vivekanandan, C.
    • Journal of Electrical Engineering and Technology
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    • 제10권4호
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    • pp.1655-1666
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    • 2015
  • This paper proposes a new approach of Field Programmable Gate Array (FPGA) controlled digital implementation of shunt active power filter (SAPF) under steady state and dynamic operations. Typical implementations of SAPF uses microprocessor and digital signal processor (DSP) but it limited for complex algorithm structure, absence of feedback loop delays and their cost can be exceed the benefit they bring. In this paper, the hardware resources of an FPGA are configured and implemented in order to overcome conventional microcontroller or digital signal processor implementations. This proposed FPGA digital implementation scheme has very less execution time and boosts the overall performance of the system. The FPGA controller integrates the entire control algorithm of an SAPF, including synchronous reference frame transformation, phase locked loop, low pass filter and inverter current controller etc. All these required algorithms are implemented with a single all-on chip FPGA module which provides freedom to reconfigure for any other applications. The entire algorithm is coded, processed and simulated using Xilinx 12.1 ISE suite to estimate the advantages of the proposed system. The coded algorithm is also defused on a single all-on-chip Xilinx Spartan 3A DSP-XC3SD1800 laboratory prototype and experimental results thus obtained match with simulated counterparts under the dynamic state and steady state operating conditions.

효과적인 HCI를 위한 동적 재구성 멀티미디어 스프레드쉬트 설계 (A Design of A Dynamic Configurational Multimedia Spreadsheet for Effective HCI)

  • 지승현
    • 한국콘텐츠학회논문지
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    • 제6권1호
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    • pp.14-22
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    • 2006
  • 비쥬얼라이제이션 스프레드쉬트(visualization spreadsheet)는 다차원 데이터집합의 다양한 비쥬얼라이제이션(visualization)환경 지원에 매우 효과적이다. 본 논문에서는 대용량 멀티미디어 데이터집합을 효율적으로 유지관리하고 동적 재구성할 수 있는 멀티미디어 스프레드쉬트 모델을 설계하였다. 제안한 모델은 실시간 재구성 가능한 셀단위 이차원 스프레드쉬트의 토대에 셀마다 프레임스택을 구비하였다. 이상의 구성으로 스프레드쉬트의 각 셀은 3차원 데이터구조로 구성된 것과 동일한 효과를 갖는다. 제안한 모델은 1) 대용량 데이터집합의 효율적인 구성 및 관리, 2) 사용자요구에 부응하는 셀구조의 실시간 재구성, 3) 사용자와 시스템 간 인터렉티브 유저인터페이스의 장점을 갖는다. 본 논문에서는 다양한 데이터집합의 그래픽랜더링을 통하여 제안한 모델이 우수한 인터렉티브 멀티미디어용 비쥬얼 툴임을 증명하였다.

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능동위상제어기를 이용한 배전선로 자율 재구성 시 순환전류 감소 기법 (Circulating Current Reduction Method during Distribution Network Dynamic Reconfiguration using Active Phase Controller)

  • 김수연;정다움;박성준;김동희
    • 전력전자학회논문지
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    • 제25권1호
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    • pp.6-12
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    • 2020
  • In recent years, the demand for the distribution of energy resource has been increasing. However, the output power is limited by the stability of the distribution network. This study proposes an active distribution network that can reconfigure the distribution line using an active phase controller. The conventional distribution network has a fixed structure, whereas the proposed active distribution network has a variable structure. Therefore, the active distribution network can increase the output power of the distribution energy resource and reduce the overload of distribution line facilities. The active phase controller has two operation modes to minimize the circulating current during dynamic reconfiguration. In this study, the voltage and current control algorithms are proposed for the active phase controller. The proposed method for the active phase controller is simulated via PSIM simulation.

Knowledge-driven Dynamic Capability and Organizational Alignment: A Revelatory Historical Case

  • Kim, Gyeung-Min
    • Asia pacific journal of information systems
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    • 제20권1호
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    • pp.33-56
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    • 2010
  • The current business environment has been characterized as less munificent, highly uncertain and constantly evolving. In this environment, the company with dynamic capability is reported to be more successful than others in building competitive advantage. Dynamic capability focuses on the link between a dynamically changing environment, strategic agility, architectural reconfiguration, and value creation. Being characterized to be flexible and adaptive to market circumstance changes, an organization with dynamic capability is described to have high resource fluidity, which represents business process, resource allocation, human resource management and incentives that make business transformation faster and easier. Successful redeployment of the resources for dynamic adaptation requires organizational forms and reward systems to be well aligned with firm's technological infrastructures and business process. The alignment is considered to be an executive level commitment. Building dynamic capability is knowledge driven; relying on new knowledge to reconfigure firm's resources. Past studies established the link between the effective execution of a knowledge-focused strategy and relevant setting of architectural elements such as human resources, structure, process and information systems. They do not, however, describe in detail the underlying processes by which architectural elements are adjusted in coordinated manners to build knowledge-driven dynamic capability. In fact, understandings of these processes are one of the top issues in IT management. This study analyzed how a Korean corporation with a knowledge-focused strategy aligned its architectural elements to develop the dynamic capability and thus create value in the dynamically changing markets. When the Korean economy was in crisis, the company implemented a knowledge-focused strategy, restructured the organization's architecture by which human and knowledge resources are identified, structured, integrated and coordinated to identify and seize market opportunity. Specifically, the following architectural elements were reconfigured: human resource, decision rights, reward and evaluation systems, process, and IT infrastructure. As indicated by sales growth, the reconfiguration helped the company create value under an extremely turbulent environment. According to Ancona et al. (2001), depending on the types of lenses the organization uses, different types of architecture will emerge. For example, if an organization uses political lenses focusing on power, influence, and conflict. the architecture that leverage power and negotiate across multiple interest groups would emerge. Similarly, if an organization uses economic lenses focusing on the rational behavior of organizational actors making choices based on the costs and benefits of action, organizational architecture should be designed to motivate and provide incentives for the actors (Smith, 2001). Compared to this view, information processing perspectives consider architecture to be designed to maximize the capacity of information processing by the actors. Using knowledge lenses, the company studied in this research established architectural elements in a manner that allows the firm to effectively structure knowledge resources to form dynamic capability. This study is revelatory single case with a historic perspective. As a result of this study, a set of propositions and a framework are derived, which can be used for architectural alignment.

동적 WDM네트워크를 위한 MDP기반의 단계적 망 재구성 기법 (MDP-Based Stepwise Network Reconfiguration Scheme for Dynamic WDM Network)

  • 박병섭
    • 한국콘텐츠학회논문지
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    • 제8권1호
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    • pp.160-168
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    • 2008
  • 본 논문에서는 새로운 가상 토폴로지 재구성 기법을 제안하여 WDM 기반의 클러스터 시스템 구현을 위한 이론 연구를 수행하였다. 제안 기법의 핵심 아이디어는 파장 할당이 요구되는 연결 요청을 최대한 이어서 집합을 형성하는 것으로, 각 집합은 서로 소이며 집합 내의 연결 요청들 중에는 링크의 중복이 일어나지 않도록 한다. 이러한 조건을 만족하도록 집합을 형성한 후, 각 집합마다 파장을 하나씩 할당한다. 이는 일괄적으로 재구성을 수행하는 방법이다. 제안된 기법은 OWns 시뮬레이션도구를 사용하여 측정한 결과, 블로킹 확률 및 ADM 이용율 측면에서 First-fit 기법에 비해 10% 정도의 블로킹 감소율과 30% 정도의 ADM 이용율이 향상되었음을 보였다.

배전선로 재구성을 위한 능동위상제어기의 용량 선정 연구 (Study on Capacity Design of Active Phase Controller for Distribution Line Reconfiguration)

  • 정다움;김수연;박성준;김동희
    • 전력전자학회논문지
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    • 제25권5호
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    • pp.369-375
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    • 2020
  • Distribution energy resources have been increasing in recent years. However, output power is limited for distribution network stability. This study proposes an active distribution network that can reconfigure distribution lines by using an active phase controller. A conventional distribution network has a fixed structure, whereas an active distribution network has a variable structure. Therefore, the latter can increase the output power of distribution energy resources and decrease the overload of distribution line facilities. An active phase controller has two operation modes for minimizing circulating current during dynamic reconfiguration. In this study, voltage and current control algorithms are proposed for active phase controllers. The simulation of the proposed methods for active phase controllers is performed using PSIM software.

오류가 있는 메쉬 시스템에서의 프로세서 할당 기법 (Processor Allocation Scheme on the Mesh-connected System with Faults)

  • 서경희
    • 정보처리학회논문지A
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    • 제12A권4호
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    • pp.281-288
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    • 2005
  • 오류가 발생할 수 있는 대규모 멀티컴퓨터 시스템의 프로세싱 자원들을 효율적으로 사용하기 위해서는 신뢰도 높은 프로세서 할당 알고리즘이 요구된다. 본 논문에서는 오류가 있는 메쉬 시스템의 성능을 높일 수 있는 동적이면서 신뢰도 높은 프로세서 할당 기법을 제안한다. 비경계 오류 노드들을 보상할 수 있는 오류프리 상한 또는 하한 경계 노드들을 사용해서 오류가 있는 메쉬 시스템을 최대 볼록 시스템으로 재구성한다. 이 재구성된 비직사각형 메쉬 시스템을 효율적으로 활용하기 위해 기존의 사각형 서브메쉬를 할당 할 수 없을 때 L-모양 서브메쉬를 할당할 수 있다. 시뮬레이션 결과를 통해서 제안하는 기법이 작업응답시간과 시스템 활용도 면에서 다른 기법들보다 우수함을 보인다.