• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1858-1862
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• 2005

Stepping motor normally operates without feedback and may loss the synchronization. This problem can be prevented by using positional feedback. This paper introduces one method for closed loop control of stepping motor and a method for combining full-step control and micro-step control. This combination controlling apparatus can perform position control with high accuracy in a high speed, so that it will not suffer from vibration (or hunting) problem when stopping motor. Controlling apparatus contains a position counter block for detecting rotor position of stepping motor, a driving block for supplying current to windings of stepping motor, a control block for comparing output signal of position counter block with command position (desired position) and outputting current command signal based on deviation between current position and command position of rotor. To output current command signal, the control block refers to a sine wave data table. This table contains value of duty cycle of Pulse Width Modulation signal. As the second object of this paper, the process of building this data table is also presented.

• 한국정보전자통신기술학회논문지
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• 제14권5호
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• pp.385-393
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• 2021

본 논문에서는 차량 멀티코어 프로세서를 통한 ESC(Electronic Stability Control) 시스템을 위한 멀티코어 기반 제어기를 제시한다. 차량용 멀티코어 프로세서와 ESC 시스템의 아키텍처를 고려할 때 ESC 소프트웨어의 전체 수행 시간은 멀티코어에 최적화되어 있다. 일반적으로 차량용 멀티코어 시스템에서는 코어 간 동기화, 멀티코어에 대한 테스크 할당, 코어 종속 변수에 대한 메모리 할당을 고려해야 한다. 본 논문에 사용된 ESC 시스템은 초기화, SlipRatio 계산, YawRate 계산, ABS, 통신으로 구성된다. 제안된 설계 방법을 기반으로 싱글코어 프로세서는 멀티코어 프로세서로 확장된다. ESC 시스템은 기능 모듈 할당, 세마포어, 인터럽트, 코어 별 변수 할당과 같은 멀티코어 최적화 방법을 사용하여 멀티코어 제어기로 재설계된다. 실험 결과로 멀티코어 프로세서의 수행 시간이 싱글코어 프로세서에 비해 59.7% 단축되었다.

• 한국콘텐츠학회논문지
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• 제22권10호
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• pp.861-869
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• 2022

투렛증후군 환자에게서 뮤파(Mu wave) 동기화가 깨졌을 때 틱이 발생하고, 그 반대로 뮤파 동기화를 이루면 틱이 발생하지 않는다. 연구시험 결과는 전운동피질(Frontal Cortical 3 사이트)에서 뮤파 동기화를 틱 환자가 인위적으로 하지 않고 뉴로피드백 훈련처럼 자율적으로 뇌파 조절이 이뤄진다면 마찬가지 결과로 틱이 발생하지 않는다는 사실을 시사한다. 피시험자에게 틱을 억제시켰을 때 인지 제어 반응 프로세스가 변경된다. 변경된 인지 제어를 뇌파 주파수 파워를 조절하는 뉴로피드백으로 훈련하면 환자가 인위적으로 틱을 억제하지 않아도 자율적으로 치료가 된다. 연구시험 결과는 뇌 운동영역의 뮤파 통제를 통해 틱이 발생하지 않는 생체신호 지표가 뉴로피드백 훈련의 치료프로토콜이 될 수 있는 단초를 마련하였다. 기존 뉴로피드백 치료 프로토콜인 SMR강화, 세타파-베타파 불균형 수정, 알파파 강화 등에 뮤파 강화를 추가할 수 있게 되었다. 본 연구가 투렛증후군 환자 치료법인 뉴로피드백 치료 프로토콜을 보다 과학적으로 검증하는 후속 연구와 임상시험에 활용될 것이다.

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.306-314
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• 2009

The pelvis platform is the mechanical part which accomplishes the activities of diminishing the disturbances from the lower body and maintaining a balanced posture. When a biped robot walks, a lot of disturbances and irregular vibrations are generated and transmitted to the upper body. As there are some important machines and instruments in the upper body or head such as CPU, controller units, vision system, etc., the upper part should be isolated from disturbances or vibrations to functions properly and finally to improve the biped stability. This platform has 3 rotational degrees of freedom and is able to maintain balanced level by feedback control system. Some sensors are fused for more accurate estimation and the control system which integrates synchronization and active filtering is simulated on the virtual environment.

• 대한기계학회논문집A
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• 제26권6호
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• pp.1135-1142
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• 2002

In this study, a methodology of synchronous control which can be applied to position synchronization of a multi-axes driving system has been developed. The synchronous error is caused by model uncertainties and disturbance at each axis. To overcome these problems, the synchronous control system of each axis has been composed of reference model, speed and synchronous controllers. The speed control system has been designed to follow speed reference. And the synchronous controller has been designed to keep minimizing the position synchronous error by reference model and H$\sub$ / approach. By the proposed method, position synchronous control system can be easily extended to two or more axes driving system. The effectiveness of the proposed method has been demonstrated by experiment.

• 한국군사과학기술학회지
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• 제18권6호
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• pp.755-761
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• 2015

Satellite Air-defence Warning System receives the aircraft/ballistic track information and air defense control command obtained from Master Control & Reporting Center (MCRC) and Air Missile Defence Cell (AMD Cell) Systems. It consists of terminal and control system to propagate track information and air defense control command control via the military satellite communications. In this paper, there were described track information, air defense control command, the frame structure of modem to transmit a voice information and modulation/demodulator design, network synchronization methods via the satellite network.

• 제어로봇시스템학회논문지
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• 제16권1호
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• pp.5-11
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• 2010

An adaptive formation control approach is proposed for nonhonolomic multiple mobile robots considering unknown slipping and skidding. It is assumed that unknown slipping and skidding effects are bounded by unknown constants. Under this assumption, the adaptive technique is employed to estimate the bounds of unknown slipping and skidding effects of each mobile robot. To deal with the skidding effect included in kinematics, the dynamic surface design approach is applied to design a local controller for each mobile robot. Using Lyapunov stability theorem, the adaptation laws for tuning bounds of slipping and skidding are induced and it is proved that all signals of the closed-loop system are bounded and the tracking errors and the synchronization errors of the path parameters converge to an adjustable neighborhood of the origin. Finally, simulation results are provided to verify the effectiveness of the proposed approach.

• Journal of Power Electronics
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• 제2권1호
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• pp.25-31
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• 2002

Servo drives with microcomputer control provide the possibility of using modern and sophisticated control algorithms. As an additional feature it is possible to implement parallel and/or redundant software and hardware structures to realise safe motion or similar security functions. Unfortunately microcomputer control also has some impact on the behaviour of servo drives. Control algorithm, cycle time, sensors and interface have to be perfectly synchronised. Special control schemes are necessary on the line side (power supply) to meet the actual requirements concerning EMC. This contribution presents experiences and results obtained from a modern digital drive system pointing out the influences of low and high accuracy position sensors and the interdependencies mentioned above.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권3호
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• pp.182-187
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• 2004

In this paper, we propose a PC based distributed controller for a two axis convey table using real-time micro-kernel. PC, Windows program, gives an easy way to implement wealthy GUI and micro-kernel, ${\mu}$C/OS-II, provides a real-time capability to control devices. We built a real-time distributed control system using ${\mu}$C/OS-II kernel which needs to process the tasks for two motors within the desired time to synchronize the motion. We used both semaphore and message mail box for synchronization. Unlike the previous study where we used step motors for the actuator of two axes convey table, we rebuilt the convey table with DC motors and the dedicated position servo which had built in out lab, and then we implemented a realtime distributed control system by putting the micro-kernel into between PC and position servo. Moreover we developed the PC based graphic user interfaces for generating planar drawing image control. Experimental results also presented to show the Proposed control system is useful.

• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.930-937
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• 2013

In this paper, a motor control algorithm for performing a mode change without an integrated starter generator (ISG) is suggested for the automatic transmission-based hybrid electric vehicle (HEV). Dynamic models of the HEV powertrains such as engine, motor, and mode clutch are derived for the transient state during the mode change, and the HEV performance simulator is developed. Using the HEV performance bench tester, the characteristics of the mode clutch torque are measured and the motor torque required for the mode clutch synchronization is determined. Based on the dynamic models and the mode clutch torque, a motor torque control algorithm is presented for mode changes, and motor control without the ISG is investigated and compared with the existing ISG control.