• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.677-680
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• 2003

In this paper, the analysis of practical end-to-end delay in worst case is performed for distributed control system considering the implementation of the system. The control system delay is composed of the delay caused by multi-task scheduling of operating system, the delay caused by network communication, and the delay caused by the asynchronous between them. Through simulation tests based on CAN(Controller Area Network), the proposed end-to-end delay in worst case is validated. Additionally, online clock synchronization algorithm is proposed here for the control system. Through another simulation test, the online algorithm is proved to have better performance than offline one in the view of network bandwidth utilization.

• Journal of Embryo Transfer
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• v.23 no.2
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• pp.109-114
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• 2008

This study examined pregnancy and fetal loss rates according to different estrus synchronization protocols and injection of gonadotropin releasing hormone (GnRH) after transfer of Korean Native Cattle embryos to Holstein recipients. In Experiment 1, recipients received no treatment (Control, n = 119); two injections of prostaglandin$F_{2{\alpha}}$ ($PGF_{2{\alpha}}$ ) 11 days apart (PGF group, n = 120); GnRH (day 0)-$PGF_{2{\alpha}}$ (day 7)-GnRH (day 9) (Ovsynch group, n = 120); and CIDR (day 0)-$PGF_{2{\alpha}}$ and CIDR removal (day 7)-GnRH (day 9) (CIDR group, n = 110). In Experiment 2, the control group was received no treatment of GnRH. The treatment groups were received GnRH at embryo transfer (ET) (day 0), 7 days later, 14 days later, ET and 7 days later, 7 and 14 days later, or ET, 7 and 14 days later. Recipients were assigned to treatment randomly and received two in vitro produced blastocysts. Pregnancy was diagnosed at day 60 by palpation per rectum. Fetal loss to term was determined by palpation every 90 days thereafter. In Experiment 1, the pregnancy rate in the CIDR group (59.1%) were higher than in the Control group (42.0%) (p<0.01); fetal loss rates were similar for all groups (12.0 to 18.5%). In Experiment 2, the pregnancy rate in Day 0+7+14 group was higher (60.2%) than the control (40.2%) (p<0.01) and resulted in a lower fetal loss (p<0.05) than the control (4.6 vs. 11.4%). There were no significant difference between other treatment and the control (p>0.05). These results show that pregnancy rates of bovine embryos can be enhanced by CIDR insertion or GnRH $3{\times}$ treatment. Additionally, fetal loss may be reduced with GnRH treatment after ET.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1048-1051
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• 1996

In this paper, we present real-time S/W architecture and techniques such as real-time scheduling, synchronization, and etc. for implementation of a real-time control system for driving multi-motors. Simulation shows feasibility of real-time S/W techniques presented here.

• Journal of IKEEE
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• v.23 no.3
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• pp.1096-1099
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• 2019

In this paper, we propose the protocol for construction of smart factory. The proposed protocol for construction of smart factory consists of an OPC UA Server/Client, a technology of TSN realtime communication, a NTP & PTP time synchronization protocol, a FieldBus protocol and conversion module, a technology of saving data for data transmit latency and synchronization protocol. OPC UA server/client is a system integration protocol which makes interface industrial hardware device and supports standardization which allows in all around area and also in not independent from any platform. A technology of TSN realtime communication provides an high sensitive time management and control technology in a way of sharing specific time between devices in the field of high speed network. NTP & PTP time synchronization protocol supports IEEE1588 standardization. A fieldbus protocol and conversion module provide an extendable connectivity by converting industrial protocol to OPC. A technology of saving data for data transmit latency and synchronization protocol provide a resolution function for a loss and latency of data. Results from testing agencies to assess the performance of proposed protocol for construction of smart factory, response time was 0.1367ms, synchronization time was 0.404ms, quantity of concurrent access was 100ea, quantity of interacting protocol was 5ea, data saving and synchronization was 1,000 nodes. It produced the same result as the world's highest level.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.5
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• pp.277-283
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• 2014

In this paper, we propose a control system for synchronizing attitude between an Android smartphone and a mobile robot. The control system is comprised of a smartphone and a mobile robot. The smartphone transports its attitude to the mobile robot and receives the attitude of mobile robot through bluetooth communication. Further, the smartphone displays the mobile robot on the screen by using embedded camera, which can be used as a pseudo augmented reality. Comparing the received attitude data from smartphone, the mobile robot measures its attitude by an AHRS(attitude heading reference system) and controls its attitude. Experiments show that the synchronization performance of the proposed system is maintained in the error range of $1^{\circ}$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.203-206
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• 2005

This paper presents a design experience of supervisory control system for agile and intelligent manufacturing(AIM). For effectively program job instructions, a Petri net-type graphical language is proposed and it can be applied to a various task such as concurrency and synchronization. PGL is consisted of PGL editor, PGL analyzer and PGL translator; PGL editor generates a job instruction program using graphic symbol. PGL analyzer prevents a deadlock or resource allocation of unit cell. PGL translator transfers to adequate sequential job commands of each unit cell.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.947-950
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• 2005

In this paper, we present an approach to control the locomotion of snake robot with concurrent programming model constructed using threads and semaphores. The multi-thread based concurrent programming model adds the flexibility to design and synchronize the movement of snake robots as compared with microcontroller and mechanical based approaches. We have designed a physical snake robot using LEGO sensors and actuator blocks and the wave motion of the snake robot is generated by multi-thread based concurrent programming under RT-Linux. The different robot movements in a desired direction along with different types of snake movements are achieved using angle sensors.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.1A
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• pp.10-15
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• 2010

This paper proposes a practical method for AGC (Automatic Gain Control) in WiBro (Wireless Broadband) AT (Access Terminal) system. Downlink packets in this system consist of preamble symbols for AGC, AFC (Automatic Frequency Control) and other purposes and data symbols for traffic transmission. In this paper we compare theoretical BER (Bit Error Rate) performance with simulation results and produce optimum parameters for AGC in this system. And we propose an efficient AGC scheme before synchronization.

• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.6
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• pp.585-592
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• 2003

The parallel operation system of UPS is used to increase reliability of power source at critical load. But parallel UPS system has a few defects, impedance is different from each other and circulating current occurs between UPSs, due to line impedance and parameter variation, though controlled by the same synchronization signal. According to such characteristic of parallel UPS, balanced load-sharing control is the most important technique in parallel UPS operation. In this paper, a novel power deviation compensation algorithm is proposed. it is composed of voltage controller to compensate power deviation that be calculated by using active and reactive current deviation between Inverters on synchronous d-q reference frame.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.639-642
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• 2000