• 문화기술의 융합
• /
• 제9권3호
• /
• pp.677-682
• /
• 2023

인간형 로봇을 구동하기 위해서 로봇 내부에는 많은 수의 모터와 센서가 사용된다. 다수의 구동기를 연결할 때 생기는 배선의 문제를 해결하기 위해 통신 네트워크에 기반한 제어기를 사용해왔는데 구성 비용면에서 유리하고, 신뢰성이 높은 통신 프로토콜인 CAN이 주로 사용되었다. 제어기의 구조 측면에서 상위 제어기에 알고리즘을 탑재하기 쉬운 속도 제어형 구조가 선호되고 있는데, 이때 CAN의 낮은 통신 대역폭이 문제가 되며, 충분한 통신 대역폭을 얻기 위해 이전에는 다수의 CAN 네트워크로 분리해서 통신망을 구성하였다. 본 논문에서는 높은 통신 대역폭을 얻기 위해 고속의 FlexRay와 저속의 CAN 통신망이 계층적으로 연결된 다중 모터 제어 시스템에 대해 전송시간 지연에 대한 안정도 분석을 수행하고 허용된 전송시간 내에 센서 정보와 구동 신호를 전달하기 위한 게이트웨이의 구성과 노드 할당 방법에 관하여 연구한다. 제안된 계층적 네트워크 기반 제어시스템은 다중 모터제어 시스템의 제어성능을 높이고 안정도를 확보하는 데 이바지할 수 있을 것으로 기대한다.

• 한국통신학회논문지
• /
• 제30권9B호
• /
• pp.602-609
• /
• 2005

본 연구에서는 HAPS 서비스 커버리지 내의 셀 구조로서 광역 서비스가 가능하고 동일 채널 간섭을 억제하면서 주파수 이용 효율을 높이기 위해 지상 이동 통신 시스템과 유사한 셀룰러를 가정하여 매크로 셀과 마이크로 셀이 혼재하는 계층적 셀 구조의 성능을 분석하였다. 이를 위해 기존 지상 이동 통신 시스템에서 사용되고 있는 인접 셀 간섭 계수를 도입하여 매크로 셀에 미치는 마이크로 셀의 간섭영향을 분석하였다. 그 결과 HAPS는 지상 이동 통신 시스템과는 다르게 셀 간의 간섭 영향은 셀 간의 거리에는 크게 영향이 없고 마이크로 셀의 유저의 수 및 전력제어 계수 퐁에 의해 지배적으로 영향을 받으므로 이 계수를 적절히 조절한다면 매크로 셀 간에 마이크로 셀 삽입에 의한 계층적 구조를 실현할 수가 있다.

• Advances in concrete construction
• /
• 제11권1호
• /
• pp.1-9
• /
• 2021

This article discusses the issue of optimizing controller design issues, in which the artificial intelligence (AI) evolutionary bat (EB) optimization algorithm is combined with the fuzzy controller in the practical application of the building. The controller of the system design includes different sub-parts such as system initial condition parameters, EB optimal algorithm, fuzzy controller, stability analysis and sensor actuator. The advantage of the design is that for continuous systems with polytypic uncertainties, the integrated H2/H∞ robust output strategy with modified criterion is derived by asymptotically adjusting design parameters. Numerical verification of the time domain and the frequency domain shows that the novel system design provides precise prediction and control of the structural displacement response, which is necessary for the active control structure in the fuzzy model. Due to genetic algorithm (GA), we use a hierarchical conditions of the Hurwitz matrix test technique and the limits of average performance, Hierarchical Fitness Function Structure (HFFS). The dynamic fuzzy controller proposed in this paper is used to find the optimal control force required for active nonlinear control of building structures. This method has achieved successful results in closed system design from the example.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
• /
• pp.453-458
• /
• 1998

In this paper, a new approach to modeling of nonlinear systems using fuzzy theory is presented. So as to handle a variety of nonlinearity and reflect the degree of confidence in the informations about system, we combine multiple model method with hierarchical prioritized structure. The mountain clustering technique is used in partition of system, and TSK rule structure is adopted to form the fuzzy rules. Back propagation algorithm is used for learning parameters in the rules. Computer simulations are performed to verify the effectiveness of the proposed method. It is useful for the treatment fo the nonlinear system of which the quantitative math-approach is difficult.

• 한국지능시스템학회논문지
• /
• 제16권4호
• /
• pp.389-395
• /
• 2006

본 논문에서는 지능재어기법을 이용하여 이족로봇 제어기를 설계한다. 이족로봇 제어기는 복잡성을 해결하기 위해 4개 소 그룹으로 모듈화 하고, 이 모듈들은 신경망을 이용한 계층적 모듈라 신경망 (Hierarchical Mixture of Experts; HME) 기법을 도입한다. 그리고 신경망은 직접제어기법으로 이족로봇의 역 동력학을 학습한다. HME는 나무구조의 네트워크로 입출력 집합을 학습하여 출력공간에 대한 입력공간을 재분할하는 능력을 가지고 있다. EM 알고리즘을 이용한 HME는 반복적 학습을 통하여 이족로봇의 동력학을 모델링하며 HME 의 가상오차를 생성하여 이족로봇보행시 안전한 보행을 수행할 수 있는 이족로봇의 제어기를 설계한다.

• 대한산업공학회지
• /
• 제22권4호
• /
• pp.719-739
• /
• 1996

A common control model used to implement computer integrated manufacturing(CIM) is based on the hierarchical decomposition of the shop floor activities, in which supervisory controllers are responsible for all the interactions among subordinates. Although the hierarchical control philosophy provides for easy understanding of complex systems, an emerging manufacturing paradigm, agile manufacturing, requires a new control structure necessary to accommodate the rapid development of a shop floor controller. This is what is called autonomous agent-based heterarchical control. As computing resources and communication network on the shop floor become increasingly intelligent and powerful, the new control architecture is about to come true in a modern CIM system. In this paper, heterarchical control is adopted and investigated, in which a controller for a unit of device performs three main functions - planning, scheduling and execution. Attention is paid to the planning function and all the detailed planning activities for heterarchical shop floor control are identified. Interactions with other functions are also addressed. In general, planning determines tasks to be scheduled in the future. In other words, planning analyzes process plans and transforms process plans into detailed plans adequate for shop floor control. Planning is also responsible for updating a process plan and identifying/resolving replanning activities whether they come from scheduling or execution.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
• /
• pp.1121-1124
• /
• 1993

We propose two-degree-of-freedom fuzzy neural network control systems. It has a hierarchical structure of two sets of control knowledge, thus it is easy to extract and refine fuzzy rules before and after the operation has started, and the number of fuzzy rules is reduced. In addition an example application of automatic vehicle operation is reported and its usefulness is shown simulation.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 춘계학술대회 논문집
• /
• pp.457-462
• /
• 1995

This paper describes diagnosis strategy of the Flexible Multiple Fault Diagnosis Module for forecasting faults in system and deciding current machine state form sensor information. Most studydeal with diagnosis control stategy about single fault in a system, this studies deal with multiple fault diagnosis. This strategy is consist of diagnosis control module such as backward tracking expert system shell, various neural network, numerical model to predict machine state and communication module for information exchange and cooperate between each model. This models are used to describe structure, function and behavior of subsystem, complex component and total system. Hierarchical structure is very efficient to represent structural, functional and behavioral knowledge. FT(Fault Tree). ST(Symptom Tree), FCD(Fault Consequence Diagrapy), SGM(State Graph Model) and FFM(Functional Flow Model) are used to represent hierachical structure. In this study, IA(Intelligent Agent) concept is introduced to match FT component and event symbol in diagnosed system and to transfer message between each event process. Proposed diagnosis control module is made of IPC(Inter Process Communication) method under UNIX operating system.

• Journal of Microbiology and Biotechnology
• /
• 제15권3호
• /
• pp.551-559
• /
• 2005

The recent rapid increase in genomic data related to many microorganisms and the development of computational tools to accurately analyze large amounts of data have enabled us to design several kinds of simulation approaches for the complex behaviors of cells. Among these approaches, dFBA (dynamic flux balance analysis), which utilizes FBA, differential equations, and regulatory events, has correctly predicted cellular behaviors under given environmental conditions. However, until now, dFBA has centered on substrate concentration, cell growth, and gene on/off, but a detailed hierarchical structure of a regulatory network has not been taken into account. The use of Boolean rules for regulatory events in dFBA has limited the representation of interactions between specific regulatory proteins and genes and the whole transcriptional regulation mechanism with environmental change. In this paper, we adopted the operon as the basic structure, constructed a hierarchical structure for a regulatory network with defined fundamental symbols, and introduced a weight between symbols in order to solve the above problems. Finally, the total control mechanism of regulatory elements (operons, genes, effectors, etc.) with time was simulated through the linkage of dFBA with regulatory network modeling. The lac operon, trp operon, and tna operon in the central metabolic network of E. coli were chosen as the basic models for control patterns. The suggested modeling method in this study can be adopted as a basic framework to describe other transcriptional regulations, and provide biologists and engineers with useful information on transcriptional regulation mechanisms under extracellular environmental change.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
• /
• pp.521-524
• /
• 2002

This paper deals with the rule generation from data for control system and data mining using rough set. If the cores and reducts are searched for without consideration of the frequency of data belonging to the same equivalent class, the unnecessary attributes may not be discarded, and the resultant rules don't represent well the characteristics of the data. To improve this, we handle the inconsistent data with a probability measure defined by support, As a result the effect of uncertainty in knowledge reduction can be reduced to some extent. Also we construct the rule base in a hierarchical structure by applying core as the classification criteria at each level. If more than one core exist, the coverage degree is used to select an appropriate one among then to increase the classification rate. The proposed method gives more proper and effective rule base in compatibility and size. For some data mining example the simulations are performed to show the effectiveness of the proposed method.