• Journal of IKEEE
• /
• v.25 no.4
• /
• pp.762-765
• /
• 2021

In this paper, an automotive ECU (electronic control unit) with Kalman filter accelerator is designed and implemented. RISC-V is exploited as a processor core. Accelerator for Kalman filter matrix operation, CAN (controller area network) controller for in-vehicle network, and LIN (local interconnect network) controller are designed and embedded. Kalman filter operation consists of time update process and measurement update process. Current state variable and its error covariance are estimated in time update process. Final values are corrected from input measurement data and Kalman gain in measurement update process. Usually floating-point multiplication is exploited in software implementation, but fixed-point multiplier considering accuracy analysis is exploited in this paper to reduce hardware area. In 28nm silicon fabrication, its operating frequency, area, and gate counts are 100MHz, 0.37mm², and 760k gates, respectively.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.3 no.2
• /
• pp.221-232
• /
• 1999

This study investigates the applicability and design scheme of fieldbus network in the measurement system used for precise and safe construction as well as efficient maintenance of bridges. In order to maximize the function and performance of bridge monitoring system, this study introduces the CAN(Controller Area Network), one of the fieldbus protocols, in the measurement system of bridges. This study presents the implementation method of CAN on the monitoring system of bridge, and also proposes a bandwidth allocation scheme for the design of network. The validity of the proposed CAN design method is verified through a simulation experiment. It is shown that the CAN can be readily applicable to the measurement system of bridges.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.51 no.2
• /
• pp.55-60
• /
• 2002

This paper presents a controller for the multiple DC motors using the CAN(Controller Area Network). The controller has a benefit of reducing the cable connections and making the controller boards compact through the network including expansibility. CAN, among the field buses, is a serial communication methodology which has the physical layer and the data link layer in the ISO's OSI (Open System Interconnect) 7 layered reference model. It provides the user with many powerful features including multi-master functionality and the ability to broadcast / multicast telegrams. When we use a microprocessor chip embedding the CAN function, the system becomes more economical and reliable to react shortly in the data transmission. The controller, we proposed, is composed of two main controllers and a sub controller, which have built with a one-chip microprocessor having CAN function. The sub controller is plugged into the Pentium PC to perform a CAN communication, and connected to the main controllers via the CAN. Main controllers are responsible for controlling two motors respectively. Totally four motors, actuators for the biped robot in our laboratory, are controlled in the experiment. We show that the four motors are controlled properly to actuate the biped robot through the network in real time.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.1 no.2
• /
• pp.41-48
• /
• 2000

Recently, the requirement of automation in the every fields of the industrial places has been increased remarkably. The shooting range systems in the Past have been designed on the basis of static circumstance. However, Various transformation of the shooting circumstances is required, since the target for real shooting situation not static. In this study we have established for targets Per one shooting line to realize the dynamic shooting circumstance, distributed shooting order into sequence and random ones. and accommodated the shooting time variably. And, we have done an efficient communication possible, using CAN(Controller Area Network) applied to a lot of the car and the building automation. The CAN can support real-time control efficiently by connecting multiple ECU(Electric Control Unit), since it provide the high data transfer rate and the stability of communication.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.39B no.2
• /
• pp.123-132
• /
• 2014

In this paper, an IEEE1588 based clock synchronization technique for CAN (Controller Area Network) is presented. Clock synchronization plays a key role to the success of a networked embedded system. Recently, the IEEE1588 algorithm making use of dedicated chipsets has been widely adopted for the synchronization of various industrial applications using Ethernet. However, there is no chipset available for CAN. This paper presents the implementation of IEEE1588 for CAN, which is implemented using only software and CAN packets without any dedicated chipset. The proposed approach is verified by the comparison between the estimated synchronization precision with a simple model and the measured precision with experimental setup.

• The KIPS Transactions:PartC
• /
• v.17C no.1
• /
• pp.129-134
• /
• 2010

Intelligent Power Switch (IPS) is a semiconductor device which contains a logic circuit in itself. It has received significant attention as a switching component to substitute the fuse and relay components in common automobile since the internal logic provides the controllability on the loads. However, a control system for the IPS status control and a network system to share the status information of IPS are required to fully exploit the capabilities of IPS. In this paper, we propose a control circuit and algorithm using IPS. Also the communication system between the control systems and IPS components using Control Area network (CAN) are proposed.

• Journal of Information Processing Systems
• /
• v.13 no.2
• /
• pp.348-359
• /
• 2017

Nowadays most vehicles are equipped with a variety of electronic devices to improve user convenience as well as its performance itself. In order to efficiently interconnect these devices with each other, Controller Area Network (CAN) is commonly used. However, the CAN requires reconfiguration of the entire network when a new device, which is capable of supporting both of transmission and reception of data, is added to the existing network. In addition, since CAN is based on the collision avoidance using address priority, it is difficult that a new node is assigned high priority and eventually it results in transmission delay of the entire network. Therefore, in this paper we propose a new system component, called CAN coordinator, and design a new CAN framework capable of supporting plug and play functionality. Through experiments, we also prove that the proposed framework can improve real-time ability based on plug and play functionality.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.865-870
• /
• 2003

A motion controller has been used variously in industry such as semiconductor manufacture equipment, industrial robot, assembly/conveyor line applications and CNC equipment. There are several types of controller in motion control. One of these is a PC-based motion controller such as PCI or ISA, and another is stand-alone motion controller. The PC bus-based motion controller is popular because of improving bus architectures and GUI (Graphic User Interface) that offer convenience of use to user. There are some problems in this. The PC bus-based solution allows for only one of the form factors, so it has a poor flexibility. The overall system package size is bigger than other motion control system. And also, additional axes of control require additional slot, however the number of slots is limited. Furthermore, unwieldy and many wirings come to connect plants or I/O. The stand-alone motion controller has also this limit of axes of control and wiring problems. To resolve these problems, controller must have capability of operating as stand-alone devices that resides outside the computer and it needs network capability to communicate to each motion device. In this paper, a network-based stand-alone motion system is proposed. This system integrates PC and motion controller into one stand-alone motion system, and uses CAN (Controller Area Network) as network protocol. Single board computer that is type of 3.5" FDD form factor is used to reduce the system size and cost. It works with Windows XP Embedded as operating system. This motion system operates by itself or serves as master motion controller that communicates to slave motion controller. The Slave motion controllers can easily connect to master motion system through CAN-network.

• The KIPS Transactions:PartC
• /
• v.15C no.3
• /
• pp.199-204
• /
• 2008

Controller Area Network was developed originally for in-vehicle communication network. But it is now widely used for factory automation because of its properties such as strong noise resistance and high reliabilities. With changing communication environments from peer to peer topology to bus topology, we should check each devices about not only mechanical operations but also electronic or software operations. In this paper, we suggest reliability test environment for CAN based system, which is divided two parts, data correctness and timely delivery.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.17 no.6
• /
• pp.127-135
• /
• 2017

Recently, the most brand new vehicles contain a lot of ECU for comfortable and safety driving environments. For efficient communication network among ECUs, almost car manufactures use CAN protocol which enables to decrease the number of communication lines dramatically and ensures higher data transmission reliability. However, CAN dose not ensure authentication of CAN data frame. So it is vulnerable to replay-attack on CAN data frame. This paper proposes the practical message authentication technique for In-vehicle CAN. To transmit data and MAC together, it is very useful to use the short length of MAC after considering limited space of CAN data frame. However to ensure safety of MAC, additional technique is required. We suggested a message authentication technique that can be usefully applied to build a safety network inside the vehicle because it considers limited data payload of CAN.