• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2540-2545
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• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.40-43
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• 1996

An off-line programming, OLP, system is widely used in automation fines. To help an on-line robot system to carry out desirable tasks planned by the off-line simulation, an approach to the real-time communication is presented. The OLP system developed consists of a software, a host computer(PC), a SCARA robot body, four servo drivers, and four independent joint controllers. This study focuses on the software where real-time communication is included. The software, can be used in teaching, trajectory planning, real-time running, and performance evaluation. The evaluation of different control algorithms is one of the merits of the software. The software can give servo commands for task running. A comparison of generated and corresponding actual trajectories provides the evaluation of task performance. The safety, of the OLP system is ensured by alarming malfuntions of the system. The OLP system developed can reduce the teaching time and increase the user's convenience.

• 한국멀티미디어학회논문지
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• 제22권2호
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• pp.281-291
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• 2019

In order to reflect complex and diverse building types, resident characteristics and disaster factors, it is necessary to introduce a flexible situation-based response system based on real-time information. Intelligent CCTV, hybrid sensor, location scanner, and customized broadcasting device were examined to introduce for the real-time response intelligent response system and its feasibility was verified through field test. In addition, based on the real-time information, the evacuation simulation was executed by assuming the dormitory building and the resident of the school, and the safety of the evacuation and the shortening of the pinnacle time were confirmed. The feasibility of real time information based evacuation comparing with the existing evacuation system were verified in the case of evacuation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.85-88
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• 1997

Fieldbus is the real-time communication network for process control and manufacturing automation systems. IEC/ISA fieldbus was proposed as an international standard of fieldbus network. This protocol is operated on the basis of token-passing and scheduling mechanism. In this paper, we analyze the performance characteristics of the 1996 version of IEC/ISA fieldbus systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.40.1-40
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• 2001

In this paper, control theoretic approaches are proposed to guarantee QoS (Quality of Series) such as packet delay and packet loss of real-time traffic in high-speed communication network. Characteristics of variable rate real-time traÆc in communication networks are described. The mathematical model describing networks including source and destination nodes are suggested. By a traffic control mechanism, it is shown that worst-case end-to-end transfer delay of traffic can be controlled and packet loss can be prevented. The simulation shows results of delay control and buer level control to raise QoS in realtime traffic.

• International Journal of Quality Innovation
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• 제2권1호
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• pp.30-49
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• 2001

This paper considers a recent environment in the manufacturing process in which data in large amounts can be obtained on-line in real-time. Under this environment an on-line real-time Statistical Process Control (SPC) scheme equipped with detection of a process change, change-point estimation, and recognition of the change pattern is proposed. The proposed SPC scheme is composed of a Cusum chart, filtering methods and Akaike Information Criterion (AIC). We examine the performance of this scheme by Monte Carlo simulation and show its usefulness.

• 한국정밀공학회지
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• 제12권5호
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• pp.108-116
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• 1995

A tension control strategy for a multi-span web transport system is proposed. This strategy is developed by using the tension transfer phenomena in multi-span systems. The performance of this control strategy is compared with that of an existing control strategy through a computer simulation. A real-time software is designed based on the proposed tension control stration of master speed drive in tension control is demonstrated.

• 한국멀티미디어학회논문지
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• 제15권5호
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• pp.664-671
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• 2012

가상 의료 시뮬레이션을 통한 실습 교육은 학습 효과를 높이는 장점이 있기 때문에 최근 실제 의료 환경에 도입이 확대되고 있다. 특히 최소 침습적 수술 분야에서 가상 수술 의료 시뮬레이션의 필요성이 증가하고 있다. 하지만, 가상 수술 의료 시뮬레이션 환경에서 자주 발생하는 출혈 특수 효과를 현실감이 있게 표현하기 위한 출혈 애니메이션 기술은 아직까지 제안되지 않고 있다. 본 논문에서는 사실적인 실시간 출혈 애니메이션 기법을 제안한다. 제안 기법은 출혈 시뮬레이션을 위해서 주 출혈 방향 벡터 방향을 기준으로 주 출혈 영역과 유효 출혈 영역을 계산하여 자연스러운 출혈 효과의 표현이 가능하다. 또한, 출혈 렌더링을 위해서 정점들의 불투명도 값을 시그모이드 함수를 이용한 가중치 부여로 부드러운 불투명도 변화를 통하여 사실적이고, 자연스러운 출혈 애니메이션이 가능하다. 본 논문에서 제안한 기법은 가상 수술 의료 시뮬레이션의 현실감, 몰입감을 증진시켜 이러한 시뮬레이션을 사용하는 의사 혹은 의대생들에 대한 교육의 효과를 증진시킬 수 있다.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제6권10호
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• pp.479-486
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• 2017

최근 GPGPU를 이용하여 저하된 컴퓨터 성능 향상폭을 높일 수 있게 되었고, 이로 인하여 높은 연산을 요구로 하는 물리 기반의 실시간 시뮬레이션을 PC에서 구동할 수 있게 되었다. 물리 시뮬레이션에서 적용되는 물리 계산은 병렬 처리로 수행되어질 수 있으며, 최근 OpenGL 4.3 및 Unity4.0에서 지원되는 Compute shader를 통한 병렬 연산을 이용하면 효율적으로 구동할 수 있다. 본 논문에서는 다양한 플랫폼을 지원하는 디지털 콘텐츠 제작 툴인 Unity와 다양한 플랫폼에서 구동되어지는 OpenGL에서의 실시간 물리 시뮬레이션에서의 성능을 측정 및 비교한다. 본 논문에서 particle 시뮬레이션의 실험 결과 Unity를 이용한 particle 시뮬레이션이 OpenGL을 이용한 particle 시뮬레이션에 비해 최대 136.04% 빠른 성능을 보인다. 이를 통하여 추후 멀티 플랫폼을 지원하는 디지털 콘텐츠를 제작함에 있어 더 나은 개발 도구를 선정할 수 있을 것으로 기대된다.