• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2006년도 춘계학술대회 논문집
• /
• pp.139-140
• /
• 2006

This paper proposes the Embedded Linux System that can overcome the shortcomings of conventional CNC machine system. Linux is free of charge with the open source library and tools that can be used in the development of Kernel. Besides, Application is easily available through countless open source, allowing simple mending for seamless porting. This study have developed the study about NC Program automation Load System based on Embedded Linux and the ordered controller.

• 한국조명전기설비학회지:조명전기설비
• /
• 제9권6호
• /
• pp.71-77
• /
• 1995

This paper deals with design method of learning fuzzy controller for control of an unknown nonlinear plant using the self-tuning algorithm of fuzzy inference rules. In this method the fuzzy identification model obtained that the joined identification model of nonlinear part and linear identification model of linear part by fuzzy inference systems. This fuzzy identification model ordered self-tuning by Decent method so as to be servile to nonlinear plant. A the end, designed learning fuzzy controller of fuzzy identification model have learning structure to model reference adaptive system. The simulation results show that th suggested identification and learning control schemes are practically feasible and effective.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
• /
• pp.464-467
• /
• 1995

Autonomous Mobile Robot(AMR) is a field of study which is under active research along with rapid development of the engineering technology. The main reasons for the high interest in AMR are because of its ability to change work space freely and its capability to replace human being for difficult and dangerous jobs. Also the fact that AMR provides a variety of research fields, such as path planning, navigation algorithm, sensor fusion, image processing, and controller design is part of the reason for its popularity. But relatively few researches are concerned with controller. So in this paper, a control strategy of mobile robot with nonholonomic constraint for tracking ordered discontinuous motion is proposed. The proposed control strategy has been designed as a state feedback shape to allow the AMR to obtain continuous velocity and track the path which is composed of discontinuous motions. In order to design such controller, 3 states have been reduced to 2 states through coordinate projection. These ideas are tested for validity through simulation and simulation result is compared with experiments result.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1996년도 춘계학술대회 논문집
• /
• pp.398-402
• /
• 1996

This paper addresses the design and the gait control of quadruped walking robot. First, we concern the mechanical and electronical(control system) hardware of walking robot, and the second is the results of experiments. The walking robot is the most suitable form to substitute fot human being. So walking robot is worthy of research. The quadruped walking robot and control system is the simplest type of walking robot, therefore we designed a small seale robot for realization of static gait. The robot is designed commpactly and its legs are constructed parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. The upper level controller plans the walking path and commands the low level controllers to follow the planned path. The main function of low level cotrollers is control of motors. Total number of motors is twealve and they operate four legs. And robot is ordered to walk and realize static wave gait.

• 한국통신학회논문지
• /
• 제21권11호
• /
• pp.2850-2861
• /
• 1996

This paper describes the design of AATM switch LIS of shared buffer type with linked-list architecture to control memory access. The proposed switch LSI consists of the buffer memory, controller and FIFO memory blocks and two special circuits to avoid the cell blocking. One of the special circuit is a new address control scheme with linked-list architecture which maintains the address of buffer memory serially ordered from write address to read address. All of the address is linked as chain is operated like a FIFO. The other is slip-flag register it will be hold the address chain when readaddress missed the reading of data. The circuits control the buffer memory efficiently and reduce the cell loss rate. As a result the designed chip operates at 33ns and occupied on 2.7*2.8mm$^{2}$ using 0.8.mu.m CMOS technology.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제14권2호
• /
• pp.577-594
• /
• 2020

Service Function Chaining (SFC) supports services through linking an ordered list of functions. There may be multiple instances of the same function, which provides a challenge to select available instances for all the functions in an SFC and generate a specific Service Function Path (SFP). Aiming to solve the problem of SFP selection, we propose an architecture consisting of distributed SFP algorithm and central control mechanism. Nodes generate distributed routings based on the first function and destination node in each service request. Controller supervises all of the distributed routing tables and modifies paths as required. The architecture is scalable, robust and quickly reacts to failures because of distributed routings. Besides, it enables centralized and direct control of the forwarding behavior with the help of central control mechanism. Simulation results show that distributed routing tables can generate efficient SFP and the average cost is acceptable. Compared with other algorithms, our design has a good performance on average cost of paths and load balancing, and the response delay to service requests is much lower.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2009년도 춘계학술대회
• /
• pp.849-853
• /
• 2009

발전기는 차량용에서부터 항공, 선박용등 이동 장치에서 사용될 뿐만 아니라, 화력, 수력, 원자력 발전소 등 기간 산업에서도 사용되고 있다. 이러한 교류 발전기는 차량이나 선박, 항공기 등에서 전기를 생산하는 아주 중요한 역할을 한다. 특히, 선박에서는 항해 중 발생할 수 있는 발전기 고장에 대비하여 비상용 발전 시스템을 장착하고 있다. 따라서 발전기 시스템을 항상 모니터링하여 발전기 이상 발생 시 비상 발전기를 가동할 수 있어야 한다. 본 연구는 비상용 디젤 엔진 발전기를 위한 제어기 및 각종 소프트웨어 설계에 관한 연구이다.

• 인터넷정보학회논문지
• /
• 제12권4호
• /
• pp.35-43
• /
• 2011

최근 들어 무선인지 애드 혹 네트워크(CRAHN)는 임시적으로 활용되지 않은 라이선스 스펙트럼을 기회주의적 방법으로 사용하여 통신하는 차세대 애드 혹 네트워크로 각광받고 있다. 여타 무선인지 시스템에서와 같이, 정확한 스펙트럼 센싱은 무선인지 애드 혹 네트워크 구현을 위한 필수 요소 기술이다. 중앙 제어국 중심의 협력 스펙트럼 센싱 기법은 센싱 성능을 향상 시킬 수 있으나, 무선인지 애드 혹 네트워크와 같은 비인프라망에서는 중앙 제어국이 없어 협력 센싱 구현이 어렵다. 본 논문에서는 무선인지 애드 혹 네트워크를 위한 새로운 순차적 협력 스펙트럼 센싱 기법을 제안한다. 제안된 기법에서는 Dempster Shafer 이론 기반으로 국부 스펙트럼 센싱 데이터의 신뢰도가 가장 높은 인지 노드가 임시 중앙국이 되어 주변 센서 노드로부터 스펙트럼 센싱값을 수집하여 스펙트럼 사용 유무에 대한 최종 결정을 만들고 그 최종 결정을 이웃 노드들에게 전송한다. 또한 본 논문에서는 분산 방법으로 개별 인지 노드들이 자신의 센싱 데이터를 효율적으로 교환하기 위한, 센싱데이터 신뢰도 순서 기반의 전송 메커니즘을 제안하였다. 시뮬레이션을 통해 제안된 방식은 기존 중앙 제어국 중심의 협력 스펙트럼 센싱 기법과 유사한 스펙트럼 센싱 성능을 제공하는 동시에, 최종 스펙트럼 결정까지 소요되는 센싱 데이터 수집시간 및 교환되는 센싱 데이터 량을 현저히 줄일 수 있음을 보였다.

• Journal of Advanced Marine Engineering and Technology
• /
• 제17권5호
• /
• pp.44-53
• /
• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.