• 제목/요약/키워드: control data

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인터넷을 통한 로봇의 원격 제어 (Remote Control of a Robot Through the Internet)

  • 이동주;양태규
    • 정보학연구
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    • 제4권1호
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    • pp.9-22
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    • 2001
  • 본 논문에서는 웹브라우저를 이용하여 로봇을 원격 제어한다. 4대의 독립된 PC를 사용하여 자각의 기능을 분리하고 상호 연동하는 구조로 PC를 연결하였다. 조작자가 시간과 장소에 제약받지 않고 웹브라우저를 이용하여 제어값을 입력하면 제어값은 웹 서버를 거쳐 데이터베이스에 저장된다. 로봇과 연결된 PC는 데이터베이스에서 1ms 간격으로 제어값을 입력받아 제어값의 변화가 있을 경우만 제어값의 변화량으로 로봇이 동작한다. 스텝모터를 이용하여 간단한 로봇을 제작하고 이를 웹 브라우저를 이용하여 실제 동작시킨다. 조작자가 원하는 제어값이 최종 수신단의 로봇에 제대로 전달되어 동작하는지 확인하고 웹브라우저를 이용한 로봇제어의 가능성을 확인하였다

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원격 정보처리를 이용한 자율주행 트랙터 시스템의 개발 (Development of an Autonomous Tractor System Using Remote Information Processing)

  • 조도연;조성인
    • Journal of Biosystems Engineering
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    • 제25권4호
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    • pp.301-310
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    • 2000
  • An autonomous tractor system was developed and its performance was evaluated. The system consisted of a tractor system of and a remote control station. The tractor and the remote control station communicated each other via wireless modems. The tractor had a DGPS(differential global positioning system), sensors, a controller and a modem. The DGPS collected position data and the tractor status was estimated. The information of tractor status and sensors was transferred to the remote control station. Then, the control station determined the control data such as steering angles using a fuzzy controller. The fuzzy controller used the information from the DGPS, sensors, and GIS(geographic information system) data. The control data were obtained by remote signal processing at the control station The control data for autonomous operation were transferred to the tractor controller. The performances of an autonomous tractor were evaluated for various speeds, different initial positions and different initial headings. About 1.3 seconds of time lag was occurred in transferring the tractor status data and the control data. Compensation the time lag, about 27cm deviation was observed at the speed of 0.5m/s and 37cm at the speed of 1m/s. Error caused mainly by the time lag and it would be reduced by developing a full-duplex radio module for controlling the remote tractor.

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A Secure Cloud Computing System by Using Encryption and Access Control Model

  • Mahmood, Ghassan Sabeeh;Huang, Dong Jun;Jaleel, Baidaa Abdulrahman
    • Journal of Information Processing Systems
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    • 제15권3호
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    • pp.538-549
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    • 2019
  • Cloud computing is the concept of providing information technology services on the Internet, such as software, hardware, networking, and storage. These services can be accessed anywhere at any time on a pay-per-use basis. However, storing data on servers is a challenging aspect of cloud computing. This paper utilizes cryptography and access control to ensure the confidentiality, integrity, and proper control of access to sensitive data. We propose a model that can protect data in cloud computing. Our model is designed by using an enhanced RSA encryption algorithm and a combination of role-based access control model with extensible access control markup language (XACML) to facilitate security and allow data access. This paper proposes a model that uses cryptography concepts to store data in cloud computing and allows data access through the access control model with minimum time and cost for encryption and decryption.

Multivariate Control Charts for Autocorrelated Process

  • Cho, Gyo-Young;Park, Mi-Ra
    • Journal of the Korean Data and Information Science Society
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    • 제14권2호
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    • pp.289-301
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    • 2003
  • In this paper, we propose Shewhart control chart and EWMA control chart using the autocorrelated data which are common in chemical and process industries and lead to increase the number of false alarms when conventional control charts are applied. The effect of autocorrelated data is modeled as a autoregressive process, and canonical analysis is used to reduce the dimensionality of the data set and find the canonical variables that explain as much of the data variation as possible. Charting statistics are constructed based on the residual vectors from the canonical variables which are uncorrelated over time, and the control charts for these statistics can attenuate the autocorrelation in the process data. The charting procedures are illustrated with a numerical example and simulation is conducted to investigate the performances of the proposed control charts.

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위성항법 지상국 감시제어시스템 품질 감시 기법 분석 (Quality Monitoring Method Analysis for GNSS Ground Station Monitoring and Control Subsystem)

  • 정성균;이상욱
    • 한국항공운항학회지
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    • 제18권1호
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    • pp.11-18
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    • 2010
  • GNSS(Global Navigation Satellite System) Ground Station performs GNSS signal acquisition and processing. This system generates error correction information and distributes them to GNSS users. GNSS Ground Station consists of sensor station which contains receiver and meteorological sensor, monitoring and control subsystem which monitors and controls sensor station, control center which generates error correction information, and uplink station which transmits correction information to navigation satellites. Monitoring and control subsystem acquires and processes navigation data from sensor station. The processed data is transmitted to GNSS control center. Monitoring and control subsystem consists of data acquisition module, data formatting and archiving module, data error correction module, navigation determination module, independent quality monitoring module, and system maintenance and management module. The independent quality monitoring module inspects navigation signal, data, and measurement. This paper introduces independent quality monitoring and performs the analysis using measurement data.

New Control System Aspects for Supporting Complex Data and High Performance System

  • Yoo, Dae-Seung;Tan, Vu Van;Yi, Myeong-Jae
    • Journal of Computing Science and Engineering
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    • 제2권4호
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    • pp.394-411
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    • 2008
  • The data in automation and control systems can be achieved not only from different field devices but also from different OPC (OLE for Process Control) servers. However, current OPC clients can only read and decode the simple data from OPC servers. They will have some problems to acquire structured data and exchange the structured data. In addition to the large network control systems, the OPC clients can read, write, and subscribe to thousands of data points from/to OPC servers. Due to that, the most important factor for building a high performance and scalable industrial control system is the ability to transfer the process data between server and client in the most efficient and fastest way. In order to solve these problems, we propose a means to implement the OPC DA (Data Access) server supporting the OPC complex data, so that the OPC DA clients are able to read and decode any type of data from OPC servers. We also propose a method for caching the process data in large industrial control systems to overcome the limitation of performance of the pure OPC DA system. The performance analysis and discussion indicate that the proposed system has an acceptable performance and is feasible in order for applying to real-time industrial systems today.

Anomaly Detection in Sensor Data

  • Kim, Jong-Min;Baik, Jaiwook
    • 한국신뢰성학회지:신뢰성응용연구
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    • 제18권1호
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    • pp.20-32
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    • 2018
  • Purpose: The purpose of this study is to set up an anomaly detection criteria for sensor data coming from a motorcycle. Methods: Five sensor values for accelerator pedal, engine rpm, transmission rpm, gear and speed are obtained every 0.02 second from a motorcycle. Exploratory data analysis is used to find any pattern in the data. Traditional process control methods such as X control chart and time series models are fitted to find any anomaly behavior in the data. Finally unsupervised learning algorithm such as k-means clustering is used to find any anomaly spot in the sensor data. Results: According to exploratory data analysis, the distribution of accelerator pedal sensor values is very much skewed to the left. The motorcycle seemed to have been driven in a city at speed less than 45 kilometers per hour. Traditional process control charts such as X control chart fail due to severe autocorrelation in each sensor data. However, ARIMA model found three abnormal points where they are beyond 2 sigma limits in the control chart. We applied a copula based Markov chain to perform statistical process control for correlated observations. Copula based Markov model found anomaly behavior in the similar places as ARIMA model. In an unsupervised learning algorithm, large sensor values get subdivided into two, three, and four disjoint regions. So extreme sensor values are the ones that need to be tracked down for any sign of anomaly behavior in the sensor values. Conclusion: Exploratory data analysis is useful to find any pattern in the sensor data. Process control chart using ARIMA and Joe's copula based Markov model also give warnings near similar places in the data. Unsupervised learning algorithm shows us that the extreme sensor values are the ones that need to be tracked down for any sign of anomaly behavior.

Research on Railway Safety Common Data Model and DDS Topic for Real-time Railway Safety Data Transmission

  • Park, Yunjung;Kim, Sang Ahm
    • 한국컴퓨터정보학회논문지
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    • 제21권5호
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    • pp.57-64
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    • 2016
  • In this paper, we propose the design of railway safety common data model to provide common transformation method for collecting data from railway facility fields to Real-time railway safety monitoring and control system. This common data model is divided into five abstract sub-models according to the characteristics of data such as 'StateInfoMessage', 'ControlMessage', 'RequestMessage', 'ResponseMessage' and 'ExtendedXXXMessage'. This kind of model structure allows diverse heterogeneous data acquisitions and its common conversion method to DDS (Data Distribution Service) format to share data to the sub-systems of Real-time railway safety monitoring and control system. This paper contains the design of common data model and its DDS Topic expression for DDS communication, and presents two kinds of data transformation case studied for verification of the model design.

반복학습 제어를 사용한 신경회로망 제어기의 구현 (Realization of a neural network controller by using iterative learning control)

  • 최종호;장태정;백석찬
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.230-235
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    • 1992
  • We propose a method of generating data to train a neural network controller. The data can be prepared directly by an iterative learning technique which repeatedly adjusts the control input to improve the tracking quality of the desired trajectory. Instead of storing control input data in memory as in iterative learning control, the neural network stores the mapping between the control input and the desired output. We apply this concept to the trajectory control of a two link robot manipulator with a feedforward neural network controller and a feedback linear controller. Simulation results show good generalization of the neural network controller.

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열차제어시스템과 SCADA 장치간 네트워크 기반 데이터 전송 프로토콜의 성능분석 (Performance Analysis of Network-based Data Transmission Protocol between Railway Signaling and SCADA Systems)

  • 황종규;이재호;조현정;이종우
    • 대한전기학회논문지:전기기기및에너지변환시스템부문B
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    • 제55권9호
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    • pp.485-490
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    • 2006
  • According to the computerization of railway signaling systems, the interface link between the signaling systems has been replaced by the digital communication channel. At the same time, the importance of the communication link is more pronounced than before. In this paper, new Network-based protocol between railway signaling and SCADA (Supervisory Control and Data Acquisition system) has designed and the overview of designed protocol is briefly represented. And also this paper addresses analysis of newly designed train control systems. Fame error rates of the data transmissions are calculated and compared for the two cases that the CTC (Centralized Traffic Control)/SCADA has an extra data transmission error control (CRC16) besides the inherent error control of the Ethernet and that the CTC/SCADA has no extra data transmission error control. With simulation results it has been verified that the additional error control code contributes to lowering the frame error rate. It will be expected to increase the safety, reliability and efficiency of maintenance of the signaling systems by using the designed protocol for railway signaling system.