• Journal of the Korean Operations Research and Management Science Society
• /
• v.17 no.1
• /
• pp.43-54
• /
• 1992

This paper discusses a real time production control system of a FMS (Flexible Manufacturing System). The control is organized in a hierarchical structure according to the various decisions at the different time scales. In the earlier work-set-up time was not considered. Because the capacity of the toll magazine is limited, this assumption may not be adequate for selecting times to change configurations so that new part family can be produced. The goal of the control system is to meet production requirements while the machines fail and are repaired at random times. In this thesis the machien failure and set-up are considered simultaneously. Here the hedging point of this system is calculated, and the formulation of the dynamic control for FMS that has unreliable machines with set-up suggested.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.38 no.1
• /
• pp.43-50
• /
• 1989

In this paper we present a new approach to control system design for multivariable systems using a sliding mode. In the applications of variable structure system (VSS) theory to multivariable systems, there exist some difficulties such as how to determine switching gains and how to reduce chattering phenomena in input and state trajectories. To cope with these drawbacks we introduce switching dynamics instead of switching logics to obtain the sliding mode. Consequently, we can obtain the new design approach which is much simpler than the VSS theory, And there do not exist chattering phenomena in this method because the obtained control inputs are continuous. Hierarchical control concepts are used to the control system design. Numerical examples are discussed as illustrations.

• The Journal of Korea Robotics Society
• /
• v.14 no.4
• /
• pp.264-269
• /
• 2019

This paper presents mechanical design and control of a bio-inspired legged robot. To achieve a fast legged running mechanism, a novel linkage leg structure is designed based on hind legs of domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters. The hierarchical control architecture is designed according to the biological data to generate and modulate desired gaits. The effectiveness of the leg mechanism design and control is verified experimentally. The legged robot runs at a speed of 46 km/h, which is comparatively higher speed than other existing legged robots.

• Proceedings of the KIEE Conference
• /
• 1991.11a
• /
• pp.193-196
• /
• 1991

A method of extracting global, trend curves from input image that may locally not even contain small fragments of those curves using a hierarchical pyramid data structure is suggested. The smoothed input image is subsampled into a pyramid of lower-resolution versions by recursive computation of Gaussian-weighted sums. Trend curves are extracted by finding control points from ridges in these blurred images, and interpolating B-splines for those points.

• Journal of the Korea Society for Simulation
• /
• v.8 no.1
• /
• pp.89-99
• /
• 1999

The major objective of this research is to propose a design architecture for autonomous defense systems for supporting highly intelligent behavior by combining decision, perception, and action components. Systems with such high levels of autonomy are critical for advanced battlefield missions. By integrating a plenty of advanced modeling concepts such as system entity structure, endomorphic modeling, engine-based modeling, and hierarchical encapsulation & abstraction principle, we have proposed four layered design methodology for autonomous defense systems that can support an intelligent behavior under the complicated and unstable warfare. Proposed methodology has been successfully applied to a design of autonomous tank systems capable of supporting the autonomous planning, sensing, control, and diagnosis.

• The KIPS Transactions:PartD
• /
• v.12D no.6 s.102
• /
• pp.863-868
• /
• 2005

Hardware and software codesign framework called PeaCE(Ptolemy extension as a Codesign Environment) was developed. It allows to express both data flow and control flow which is described as fFSM which extends traditional finite state machine. While the fFSM model provides lots of syntactic constructs for describing control flow, it has a lack of their formality and then difficulties in verifying the specification. In order to define the formal semantics of the fFSM, in this paper, firstly the hierarchical structure in the model is flattened and then the step semantics is defined. As a result, some important bugs such as race condition, ambiguous transition, and circulartransition can be formally detected in the model.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.22 no.4
• /
• pp.59-65
• /
• 1985

This paper presents a design of the PWM digital servo controller and a real-time trajectory planning algorithm and a trajectory tracking algorithm for industrial robot. To be specific, a decentralized control system with hierarchical structure for industrial robot, related hardware and software, and monitor program for convinence of user are implemented. Actually, it was recognized by experiments that continuous path control on the R4 plane was possible using the above servo controller and control algorithms.

• Proceedings of the IEEK Conference
• /
• 2006.06a
• /
• pp.1021-1022
• /
• 2006

In industrial control system used by Programmable Logic Controller(PLC), Ladder Diagram(LD) is the most widely utilized and plays an important role in industrial control system. But recently, the study about Sequential Function Chart(SFC) is performed actively. When we program by SFC, generally, we design one routine from start to end. This method is difficult to design, and we often make mistakes. In this paper, we propose the method that we compose each sub-system after we design each sub-system, and we analysis the difference of the method used this paper from conventional method.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.24 no.1
• /
• pp.20-27
• /
• 1987

The hierarchical approach method is proposed to sperate each different time scale sub-systems from linear time invariant multi-parameter singular perturbation systems. By means of this proposal, the original multi-parameter singular perturbation systems is completely separated into independent subsystems with each different time scale. It is also investigated that the controllability of the system is invariant. And this paper applies singular perturbation methods to the minimum control effort problem for linear time invariant systems with constrained controls. Also near-optimum control theory, which is based on dividing the total time interval with the time scales respectively, is proposed. As a result, the time scale separation method is show to be particularly useful in a near optimum design which can be otained through a decentralized control structure.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.36S no.1
• /
• pp.70-80
• /
• 1999

In this paper, a new hierarchical image segmentation algorithm based on human visual system(HVS) characteristic is proposed which can efficiently reduce and control transmission information quantity without the degradation of the subjective and objective image quality. It consists of image segmentation based on mathematical morphology and region merging considering HVS characteristic for the pairs of two adjacent regions at each level of the hierarchy. Image segmentation is composed of 3-level hierarchical structure. In the region merging structure of each level, we extract the pairs of two adjacent regions which human vision can't discriminate, and then merge them. The proposed region merging method extracts pairs of two neighbor regions to be merged and performs region merging according to merging priority based on HVS characteristics. The merging priority for each adjacent pair is determined by the proposed merging priority function(MPF). First of all, the highest priority pair is merged. The information control factor is used to regulate the transmission information at each level. The proposed segmentation algorithm can efficiently improve bottleneck problem caused by excessive contour information at region-based very low bit rate coding. And it shows that it is more flexible structure than that of conventional method. In experimental results, though PSNR and the subjective image quality by the proposed algorithm is similar to that of conventional method, the contour information quantity to be transmitted is reduced considerably. Therefore it is an efficient image segmentation algorithm for region-based very low bit rate coding.