• 한국통신학회논문지
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• 제39B권5호
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• pp.291-295
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• 2014

본 논문에서는 산업 환경에서 운용되는 실시간 시스템을 제어하기 위한 산업용 무선 네트워크를 구현하여 성능 평가를 하고자한다. 이를 위해 EtherCAT 유선 기술과 IEEE 802.15.4e 무선 기술이 혼합된 형태의 산업용 네트워크 구조를 제안하고, 성능 평가를 위한 실시간 시스템의 참조 모델로써 역진자 시스템을 고려하였다. 구현된 산업용 무선 네트워크의 성능평가를 통해 엄격한 요구조건하에서 동작하는 실시간 시스템에 적용 가능하다는 것을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.865-870
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• 2003

A motion controller has been used variously in industry such as semiconductor manufacture equipment, industrial robot, assembly/conveyor line applications and CNC equipment. There are several types of controller in motion control. One of these is a PC-based motion controller such as PCI or ISA, and another is stand-alone motion controller. The PC bus-based motion controller is popular because of improving bus architectures and GUI (Graphic User Interface) that offer convenience of use to user. There are some problems in this. The PC bus-based solution allows for only one of the form factors, so it has a poor flexibility. The overall system package size is bigger than other motion control system. And also, additional axes of control require additional slot, however the number of slots is limited. Furthermore, unwieldy and many wirings come to connect plants or I/O. The stand-alone motion controller has also this limit of axes of control and wiring problems. To resolve these problems, controller must have capability of operating as stand-alone devices that resides outside the computer and it needs network capability to communicate to each motion device. In this paper, a network-based stand-alone motion system is proposed. This system integrates PC and motion controller into one stand-alone motion system, and uses CAN (Controller Area Network) as network protocol. Single board computer that is type of 3.5" FDD form factor is used to reduce the system size and cost. It works with Windows XP Embedded as operating system. This motion system operates by itself or serves as master motion controller that communicates to slave motion controller. The Slave motion controllers can easily connect to master motion system through CAN-network.

• Journal of Power Electronics
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• 제11권3호
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• pp.279-284
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• 2011

Network-based controls for ac motor drive systems are becoming increasingly important. In this paper, an ac motor control system is implemented by a motor control module and three sensor modules such as a voltage sensor module, a current sensor module, and an encoder module. There will inevitably be network time delays from the sensor modules to the motor control system, which often degrades and even destabilizes the motor drive system. As a result, it becomes very difficult to estimate the network delayed ac sensor data. An algorithm to reduce the effects of network time delays on sensor data is proposed, using both a synchronization signal and a simple method for estimating the sensor data. The algorithm is applied to a vector controlled induction motor drive system, and the performance of the proposed algorithm is verified with experiments.

• 로봇학회논문지
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• 제19권2호
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• pp.139-148
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• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

• 제어로봇시스템학회논문지
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• 제12권12호
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• pp.1241-1248
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• 2006

In high reliability systems for industrial network such as railway signal system, fieldbus protocols have been known to satisfy the real-time and fault tolerant requirements. But, the application of fieldbus has been limited due to the high cost of hardware and software, and the difficulty in interfacing with multi-vendor products. Therefore, as an alternative to fieldbus, the computer network technology, especially Ethernet(IEEE 802.3), is being adapted to the industrial network. In this paper, we propose a switched Ethernet based railway signal system because of its very promising prospect for industrial application due to the elimination of uncertainties in the network operation. In addition, we propose the redundancy architecture for the reliability of network components. More specifically, this paper presents an analytical performance evaluation of switched Ethernet for railway signal system, and shows experimental evaluation of redundancy architecture.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2014년도 춘계학술대회
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• pp.561-564
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• 2014

한국의 기초과학연구원(IBS) 산하 중이온가속기구축사업단(RISP)은 희귀동위원소가속기시설을 구축하고 있다. 가속기 제어 시스템에 사용하게 될 다양한 장비와 모든 장치들은 이더넷 환경을 통해 연결되기 때문에 통합된 네트워크 기반의 제어 시스템을 구축하는 것이 필요하다. 하지만 시설의 복잡성으로 인해 네트워크 보안과 장비 응답속도를 충족시켜줄 최적화된 장비 설치 위치를 선정하는 것이 어렵다. 각 장비의 역할에 맞게 최적화된 위치를 찾아내며, 가속기 제어시스템에 사용될 실시간 분산 제어 시스템인 EPICS(Experimental Physics and Industrial Control System) 통합을 위한 초기 연구단계인 본 연구는 이상적인 네트워크 환경에서 네트워크 기반 장비들을 SNMP(Simple Network Management Protocol)를 이용한 장비 모니터링에 관한 연구이다. 덧붙여, SNMP와 입자가속기, 천체망원경 그리고 큰 과학 실험에서 사용되는 실시간 분산 제어 시스템인 EPICS의 통합 계획을 논한다.

• 로봇학회논문지
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• 제18권3호
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• pp.281-284
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• 2023

Real-time control communication network system is important for developing defense robots because it affects environmental interaction, performance, and safety. We propose a real-time control communication network using the Xenomai real-time operating system and the open-source EtherCAT master library, SOEM. EtherCAT is an Ethernet-based industrial communication method. It has low latency and many functions such as cable redundancy and distributed clock synchronization. We use Xenomai RTOS and Intel NUC to develop the system. Experimental tests demonstrate the Real-time EtherCAT master implementation, and communication with CiA301-based slave devices. The jitter measurement was conducted to validate the real-time performance of the system. The proposed system shows possibility for real-time robotics applications in various defense robots.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1706-1711
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• 2008

This paper proposes a new Web based-control concept & design method and implementation of LonWorks network system for a large scale renewable energy energy control and monitoring system in building. The Experimental LonWorks network system using LonWorks/Ethernet(Web) server is designed and fabricated. This article addresses issues in architecture of LonWorks/Ethernet sever, embedded processors architecture for converting LonTalks protocol to Modbus protocol and software, and Internet technologies. It is also verified that the multi-induction motor control and monitoring system using LonWorks/Ethernet server have available, interoperable, reliable performance characteristics from the experimental results, Especially, The seamless integration of TCP/IP networks with control networks allows access to any control point from anywhere. Thus, the results provide a available technical data for remote distributed control system of industrial and buildings field.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.687-690
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• 2003

This paper presents the development of Programmable Logic Controller (PLC) and network to design the redundant control system in order to control the high priority process. The industrial process that cannot be shutdown or the effect of the shutting down takes abundantly damage. In this article, we say that the high priority process. The redundant systems are designed for controlling the high priority process that the control system must have many controllers to instead the main controller when it has some error. This paper we designed the redundancy control system by the advantage of the high-speed communication on the PLC’s network. The temperature control system and the traffic light control system used as the case study. Each example processes consist of two sets of controller. Our scheme we can increase the reliability prevents process down time and reduces the cost of opportunity to loss also.

• Journal of Communications and Networks
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• 제14권3호
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• pp.310-318
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• 2012

Detecting intrusion attacks accurately and rapidly in wireless networks is one of the most challenging security problems. Intrusion attacks of various types can be detected by the change in traffic flow that they induce. Wireless industrial networks based on the wireless networks for industrial automation-process automation (WIA-PA) standard use a superframe to schedule network communications. We propose an intrusion detection system for WIA-PA networks. After modeling and analyzing traffic flow data by time-sequence techniques, we propose a data traffic prediction model based on autoregressive moving average (ARMA) using the time series data. The model can quickly and precisely predict network traffic. We initialized the model with data traffic measurements taken by a 16-channel analyzer. Test results show that our scheme can effectively detect intrusion attacks, improve the overall network performance, and prolong the network lifetime.