• 한국정보처리학회논문지
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• 제5권6호
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• pp.1522-1536
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• 1998

우리는 이 논문에서 실시간 시스템을 위한 모형화 방법을 제공한다. 이 방법은 DARTS(Design Approach for Real Time Systems)에 기초하며 훨씬 확장되었다. 기존의 DARTS 방법은 좋은 설계 가이드라인은 제공해 주지만, 구조적 분석방법을 이용하며, 명세언어를 제공하지 않는다. 그래서 본 논문에서는 객체에 기반하고 분석까지 가능한 확장된 DARTS 모형화 방법을 제공하고자 한다. 분석을 위해 수치 페트리넷(NPN)을 이용하여 시스템의 내부행위를 보여주며, 천이동기 순서제어를 위해 시제논리에 기초한 명세언어를 제공한다. 적용 예제를 통하여 제안된 방법이 잘 적용되었고 내부의 메시지 전달과정에 대한 도달성 그래프를 통하여 데드락의 존재여부를 미리 확인할 수 있어 분석이 용이하며 자연스럽게 설계와 연결된다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.472-477
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• 1996

This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 대한기계학회논문집A
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• 제26권6호
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• pp.1035-1046
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• 2002

Time Delay Control(TDC) is a robust nonlinear control scheme using Time Delay Estimation(TDE) and also has a simple structure. To apply TDC to a real system, we must design Time Delay Controller to guarantee stability. The earlier research stated sufficient stability condition of TDC for general plants. In that research, it was assumed that time delay is infinitely small. But, it is impossible to implement infinitely small time delay in a real system. So, in this research we propose a new sufficient stability condition of TDC for general plants with finite time delay. And the simulation results indicate that the previous sufficient stability condition does not work even for small time delay, while our proposed condition works well.

• 한국정보과학회논문지:소프트웨어및응용
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• 제27권2호
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• pp.120-133
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• 2000

산업현장에서 복합 실시간 계통(HRTS: Hybrid Real-Time Systems) 개발을 위한 정형기법 사용의 주된 장벽은 인지적 어려움이며 이는 또 다른 위험을 초래할 수 있다. 이러한 문제를 극복하기 위해 HRTS 요구분석과 안전성 분석 시 사용자의 인지적 부담을 줄여줄 수 있는 정성적 요구분석 체계를 제안한다. 이 체계는 요구사항 명세를 위한 정성적 정형기법(QFM: Qualitative Formal Method)과 인과정보에 의한 요구사항 안전성 분석기법(CRSA: Causal Requirements Safety Analysis)으로 구성되어 있다. QFM에서는 인공지능 분야에서 연구된 정성추론 이론을 정형명세에 도입하여 요구사항 설계자와 분석자의 인지적 부담을 줄일 수 있도록 하였다. CRSA는 QFM에서 도출한 HRTS 동작의 인과 정보에 따라 체계적으로 위험 원인을 추적할 수 있도록 하여, 기존 결함 트리 분석(FTA: Fault Tree Analysis) 기법의 단점인 분석자의 주관에 의존하는 문제를 해결한다. 월성 원자력 발전소 자동정지계통(Shutdown System 2) 소프트웨어 요구사항 명세와 안전성 분석에 QFM과 CRSA를 적용하여 그 실효성을 입증하고자 하였다.

• 한국시뮬레이션학회논문지
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• 제23권3호
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• pp.1-9
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• 2014

전통적인 워크플로우 시간분석은 단위작업을 독립적인 M/M/1 대기행렬모형에 적용하여 수행해왔다. M/M/1 시스템 성능척도의 일반해들을 활용하면 여러 가지 분석이 가능해진다. 특히 워크플로우 시스템의 AND 구조를 분석함에 있어 M/M/1 시스템 성능척도를 활용하면 그 체재시간에 대한 분석이 가능하다. 그러나 실질적인 AND 구조를 정확히 묘사하기 위해서는 각각의 M/M/1 시스템이 독립이라는 가정이 없어야 한다. 본 연구는 이러한 한계를 극복하기 위해 한 업무에 대한 모든 단위작업이 동시에 시작하는 상황으로 가정한다. 이 가정 하에서는 M/G/1 시스템의 성능척도를 이용하여 이론적 분석이 가능해진다. 또한 시뮬레이션을 이용하여 실질적인 AND 구조를 정확히 묘사할 수 있는 방법론을 소개한다. 마지막으로 가상의 시스템을 구성하여 이론적인 해와 시뮬레이션 결과들을 수록함으로써 제안된 방법론들을 검증한다. 본 연구에서 사용된 주요 시스템 성능척도는 평균대기시간과 평균체재시간이다.

• ETRI Journal
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• 제28권1호
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• pp.31-44
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• 2006

In a packet switching network, congestion is unavoidable and affects the quality of real-time traffic with such problems as delay and packet loss. Packet fair queuing (PFQ) algorithms are well-known solutions for quality-of-service (QoS) guarantee by packet scheduling. Our approach is different from previous algorithms in that it uses hardware time achieved by sampling a counter triggered by a periodic clock signal. This clock signal can be provided to all the modules of a routing system to get synchronization. In this architecture, a variant of the PFQ algorithm, called digitized delay queuing (DDQ), can be distributed on many line interface modules. We derive the delay bounds in a single processor system and in a distributed architecture. The definition of traffic contribution improves the simplicity of the mathematical models. The effect of different time between modules in a distributed architecture is the key idea for understanding the delay behavior of a routing system. The number of bins required for the DDQ algorithm is also derived to make the system configuration clear. The analytical models developed in this paper form the basis of improvement and application to a combined input and output queuing (CIOQ) router architecture for a higher speed QoS network.

• 한국정밀공학회지
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• 제26권11호
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• pp.47-54
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• 2009

Spin coaters are the essential instruments in micro-fabrication processes, which apply uniform thin films to flat substrates. In this research, a spin coater diagnosis system is developed to detect the abnormal operation of TFT-LCD process in real time. To facilitate the real-time data acquisition and analysis, the circular-buffered continuous data transfer and the short-time Fourier transform are applied to the fault diagnosis system. To determine whether the system condition is normal or not, a steady-state detection algorithm and a frequency spectrum comparison algorithm using confidence interval are newly devised. Since abnormal condition of a spin coater is rarely encountered, algorithm is tested on a CD-ROM drive and the developed program is verified by a function generator. Actual threshold values for the fault detection are tuned in a spin coater in process.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.77-79
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• 2004

Because robot hardware architecture generally is consisted of a few sensors and motors connected to the central processing unit, this type of structure is led to time consuming and unreliable system. For analysis, one of the fundamental difficulties in real-time system is how to be bounded the time behavior of the system. When a distributed control network controls the robot, with a central computing hub that sets the goals for the robot, processes the sensor information and provides coordination targets for the joints. If the distributed system supposed to be connected to a control network, the joints have their own control processors that act in groups to maintain global stability, while also operating individually to provide local motor control. We try to analyze the architecture of network-based humanoid robot's leg part and deal with its application using the CAN(Controller Area Network) protocol.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2008년 영문 학술대회
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• pp.16-21
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• 2008

Aero-engine, as one kind of rotating machinery with complex structure and high rotating speed, has complicated vibration faults. Therefore, condition monitoring and fault diagnosis system is very important for airplane security. In this paper, a vibration data acquisition and intelligent fault diagnosis system is introduced. First, the vibration data acquisition part is described in detail. This part consists of hardware acquisition modules and software analysis modules which can realize real-time data acquisition and analysis, off-line data analysis, trend analysis, fault simulation and graphical result display. The acquisition vibration data are prepared for the following intelligent fault diagnosis. Secondly, two advanced artificial intelligent(AI) methods, mapping-based and rule-based, are discussed. One is artificial neural network(ANN) which is an ideal tool for aero-engine fault diagnosis and has strong ability to learn complex nonlinear functions. The other is data mining, another AI method, has advantages of discovering knowledge from massive data and automatically extracting diagnostic rules. Thirdly, lots of historical data are used for training the ANN and extracting rules by data mining. Then, real-time data are input into the trained ANN for mapping-based fault diagnosis. At the same time, extracted rules are revised by expert experience and used for rule-based fault diagnosis. From the results of the experiments, the conclusion is obvious that both the two AI methods are effective on aero-engine vibration fault diagnosis, while each of them has its individual quality. The whole system can be developed in local vibration monitoring and real-time fault diagnosis for aero-engine.

• 센서학회지
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• 제20권5호
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• pp.311-316
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• 2011

Monitoring the carbon dioxide concentration in arterial blood is vital for the evaluation and prevention of pulmonary disease. Yet, domestic pure arterial blood carbon dioxide sensor technologies are not being developed, instead all sensors are imported. In this paper, we develop a real time monitoring system for arterial blood partial pressure of carbon dioxide($pCO_2$) gas from the wrist by using a carbon micro-heater. The micro-heater was fabricated with a thickness of 0.3 ${\mu}m$ in order to collect the carbon dioxide under the skin. The micro-heater has been designed to perform temperature compensation in order to prevent damage to the skin. Two clinical trials of the system were undertaken. As a result, we demonstrated that a portable, transcutaneous carbon dioxide analysis($TcpCO_2$) device produced domestically is possible. In addition, this system reduced the analysis time significantly. Carbon films could reduce the unit price of these sensors by replacing the gold film used in foreign models. Also, we developed a real time monitoring system which can be used with optical biosensors for medical diagnostics as well as gas sensors for environmental monitoring.