• JSTS:Journal of Semiconductor Technology and Science
• /
• v.9 no.1
• /
• pp.1-7
• /
• 2009

This paper describes design of high energy efficiency 32 bit parallel processor core using instruction-levels data gating and dynamic voltage scaling (DVS) techniques. We present instruction-levels data gating technique. We can control activation and switching activity of the function units in the proposed data technique. We present instruction-levels DVS technique without using DC-DC converter and voltage scheduler controlled by the operation system. We can control powers of the function units in the proposed DVS technique. The proposed instruction-levels DVS technique has the simple architecture than complicated DVS which is DC-DC converter and voltage scheduler controlled by the operation system and a hardware implementation is very easy. But, the energy efficiency of the proposed instruction-levels DVS technique having dual-power supply is similar to the complicated DVS which is DC-DC converter and voltage scheduler controlled by the operation system. We simulate the circuit simulation for running test program using Spectra. We selected reduced power supply to 0.667 times of the supplied power supply. The energy efficiency of the proposed 32 bit parallel processor core using instruction-levels data gating and DVS techniques can improve about 88.4% than that of the 32 bit parallel processor core without using those. The designed high energy efficiency 32 bit parallel processor core can utilize as the coprocessor processing massive data at high speed.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.631-637
• /
• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.7 no.2
• /
• pp.158-164
• /
• 2002

This paper presents a proper parallel control method using a conventional control and a repetitive control for improving the output voltage waveform of uninterruptable power supply. Although first-order prediction control method shows a good characteristics to rectifier load, it is not sufficient to reduce steady state errors generated in nonlinear loads such as rectifier loads and phase controled loads. So we also employed a repetitive control method. A repetitive control method can eliminate steady state errors in the distorted output voltage caused by cyclic loads. The presented control scheme is verified through simulation and experiment. Experimental results Implemented on a single phase PWM inverter equipped with a LC output filter with 3 kVA, 60 Hz are shown.

• Journal of Mechanical Science and Technology
• /
• v.16 no.8
• /
• pp.1079-1088
• /
• 2002

Motivated by the dynamic output feedback passification results, point-to-point control laws for an elastic joint robot are presented when only the position measurements are available. The proposed method makes a parallel connection of the robot system and an input-dimensional linear system which obtains the effect of the desired differentiators. It is shown that the closed-loop nonlinear robot system can be rendered output strictly passive and the regulation of the system is achieved in the end. Robustness analysis is also given with regard to uncertainties on the robot parameters. Performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints.

• Proceedings of the KIEE Conference
• /
• 1996.07a
• /
• pp.482-485
• /
• 1996

In this paper, a predictive current control of 12-pulse parallel connected dual converter system without interphase reactors(IPR) is presented. Firstly, the characteristics of system without IPR are analyzed and compared with that of system with IPR. And the predictive current control of this system is discussed. Finally the validity of the presented system and the excellence of the predictive current control response is proved through the simulation results.

• Proceedings of the KIEE Conference
• /
• 1996.07a
• /
• pp.309-311
• /
• 1996

In this paper, we propose two types of novel discrete time current control methods of modified fixed band hysteresis control and optimal control for Parallel Resonant DC Link Inverters(PRDCLI). Because zero bus voltage intervals are generated on the DC link of PRDCLI, we can obtain the information of counter electromotive force(emf) by a simple estimation strategy. The proposed current controllers predict the currents of the next resonant cycle using the obstained information of counter emf and the average values of DC link voltages. The computer simulation results for a simple equivalent circuit of induction motor show that the proposed control methods are more effective than conventional methods.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10b
• /
• pp.1817-1822
• /
• 1991

A method of reducing overhead caused by the processor synchronization process and common memory accesses in finely grained tasks is described. We propose a scheduler which considers the preparation time during searching to minimize the redundant accesses to shared memory. Since the suggested hardware (synchronizer) determines the access order of processors and bus arbitration simultaneously by including the synchronization process into the bus arbitration process, the synchronization time vanishes. Therefore this synchronizer has no overhead caused by the processor synchronization[l]. The proposed scheduler algorithm is processed in parallel. The processes share the upper bound derived by each searching and the lower bound function is built considering the preparation time in order to eliminate as many searches as possible. An application of the proposed method to a multi-DSP system to calculate inverse dynamics for robot arms, showed that the sampling time can be twice shorter than that of the conventional one.

• Proceedings of the IEEK Conference
• /
• 2002.07b
• /
• pp.1070-1073
• /
• 2002

This study presents a parallel branch-and-bound (PBAB) method for traveling salesman problem (TSP). The PBAB method adopts intermediate form of central control and distributed control in terms of the lightness of the master process's role. Compared with fully distributed control, the control scheme involves less concentration of communication on the master. Moreover, in order to reduce the influence of communication, the worker is composed of a computation thread and a communication thread. The multithreadness realizes the almost blocking free communications on the master. We implement the proposed PBAB method on a network of PCs, which consists of one master and up to 16 workers. We experiment five TSP instances. The results shows that the efficiency increases with the problem size.

• Proceedings of the KIPE Conference
• /
• 2010.07a
• /
• pp.448-449
• /
• 2010

This paper proposes a sensorless control strategy for the Interior Permanent Magnet Synchronous Motor (IPMSM) by using the parallel reduced-order Extended Kalman Filter. The sensorless control strategy is composed with two EKFs alternately computed every sampling period with a new model. The new model is based on the extended electromotive force (EEMF) which has a simple structure, making position estimation possible without approximation. The proposed strategy can save computation time and estimate rotor speed and position. To verify the merit of the proposed strategy, simulation and experimental results validate the theoretical analysis and show the feasibility of the proposed control strategy.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.12
• /
• pp.69-77
• /
• 2009

In this study an ANFIS-based trajectory tracking motion control algorithm is proposed for autonomous garage and parallel parking of a model car. The ANFIS controller is trained off-line using data set which obtained by Mandani fuzzy inference system and thereby the processing time decreases almost in half. The controller with a steering delay compensator is tuned through simulations performed under MATLAB/Simulink environment. Experiments are carried out with the model car for garage and parallel parking. The experimental results show that the trajectory tracking performance is satisfactory under various initial and road conditions