• 제어로봇시스템학회논문지
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• 제7권9호
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• pp.774-782
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• 2001

In this paper, we propose a new approach to the autonomous and high-speed indoor navigation of wheeled mobile robots using hybrid system controller. The hierarchical structure of hybrid system presented consists of high-level reasoning process and the low-level motion control process and the environmental interaction. In a discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in the indoor navigation problem. For the evaluation of the proposed algorithm, the algorithm is implemented to the two-wheel driven mobile robot system. The experimental results show that the hybrid system approach is an effective method for the autonomous navigation in indoor environments.

• 한국국방경영분석학회지
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• 제23권2호
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• pp.1-14
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• 1997

TPNSim++ is the object-oriented framework for the discrete event simulation of military systems, developed by authors. The simulation world view of TPNSim++ is on the basis of activity scanning. TPNSim++ is implemented as C++ class library under Windows 95/NT. It uses the extended timed Petri nets which are called TPNSim nets for simulation modeling tool. The aim of this study is to conduct a comparative study of TPNSim++ and SLAM II in the simulation of military maintenance systems for the validation and the applicability of TPNSim++. From this study, TPNSim++ and SLAMII have given the same results under the equivalent assumption. Thus we can get the validation of TPNSim++ and its applicability to the simulation of maintenance systems.

• 제어로봇시스템학회논문지
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• 제7권1호
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• pp.1218-1225
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• 2001

This paper presents a design procedure for the supervisory controller(SC) of the high-speed train car. The proposed SC manages control logic and scenario of the overall train system, and monitors input/output signals among the sub-controllers in the system, The roles and functions of each sub-control system are defined, and the interfaces among the control systems are developed. Train control system is modeled with automata, and the model is implemented into a program using a computer-aided software engineering(CASE) tool, Object GEODE, The designed SC is verified and evaluated by using simulation. The SC is shown to successfully perform the designed functions without any errors.

• 제어로봇시스템학회논문지
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• 제6권6호
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• pp.433-440
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• 2000

To flexibly evaluate performance and reliability of a real-time system which is intrinsically characterized by stringent timing constraints to generate correct responses, we propose fuzzyrandom variables and build a discrete event model embedded with fuzzy-random variables. Also, we adapt fuzzy-variables to a path-space approach, which derives the upper and lower bounds of reliability by using a semi-Markov model that explicitly contains the deadline information. Consequently, we propose certain formulas of state automata properly transformed by fuzzy-random variables, and present numerical examples applying the formulas to RTP(Rapid Thermal Process) to show that a complex system can be properly evaluated based on this model by computer simulation.

• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.967-973
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• 2009

The model matching problem of asynchronous sequential machines is to design a corrective controller such that the stable-state behavior of the closed-loop system matches that of a prescribed model. In this paper, we address model matching when the external input set consists of controllable inputs and uncontrollable ones. Like in the frame of supervisory control of Discrete-Event Systems (DES), uncontrollable inputs cannot be disabled and must be transmitted to the plant without any change. We postulate necessary and sufficient conditions for the existence of a corrective controller that solves model matching despite the influence of uncontrollable events. Whenever a controller exists, the algorithm for its design is outlined. To illustrate the physical meaning of the proposed problem, the closed-loop system of an asynchronous machine with the proposed control scheme is implemented in VHDL code.

• 한국산업정보학회논문지
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• 제5권1호
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• pp.37-46
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• 2000

본 연구는 작업자 효율 균형화, 생산성 향상등과 같은 시스템 수행도를 개선하기 위해 자동차 부품 조립라인의 시뮬레이션 모델을 개발하였다. 시뮬레이션 모델은 완벽한 3D환경을 제공하는 이산사건모델링 도구인 QUEST를 이용하였으며, 이를 이용하여 현재의 생산라인의 수행도를 분석하였으며, 작업자효율을 균형화시키면서 생산성을 향상시킬 수 있는 방안을 제시하였다.

• 한국시뮬레이션학회논문지
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• 제2권1호
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• pp.91-106
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• 1993

Load sharing in distributed systems improves systems performance. Research in the field has been focused on steady state performance for load sharing algorithms. However, transient characteristics of such algorithms may be important in a distributed system in which workload for some node is changing. Simulation is the only means to analyze such characteristics. This paper presents a simulation-based analysis of the transient characteristics of four load sharing algorithms ; forward probing, reverse probing, symmetric probing, and multi-threshold symmetric probing algorithms. Discrete event system models for execution of the algorithms in a distributed system has been developed in a SIMSCRIOT II.5 environment. Simulation results indicate that the MSYM algorithm shows the shortest response time in the transient period.

• 제어로봇시스템학회논문지
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• 제12권8호
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• pp.834-841
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• 2006

Recently, many enterprises are installing AMSs(Automated Manufacturing Systems) for their competitive advantages. As the level of automation increases, proper design and validation of control logic is a imperative task for the successful operation of AMSs. However, current discrete event simulation methods mainly focus on the performance evaluation. As a result, they lack the modeling capabilities for the detail logic of automated manufacturing system controller. Proposed in this paper is a method of validation of the controller logic for automated material handling system using an object-oriented design and simulation. Using this method, FA engineers can validate the controller logic easily in earlier stage of system design, so they can reduce the time for correcting the logic errors and enhance the productivity of control program development Generated simulation model can also be used as a communication tool among FA engineers who have different experiences and disciplines.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.213-220
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• 2008

The object of this paper is to propose a method to deal with the problem of modeling user specifications in approaches based on supervisory control and Petri nets. However, most of Petri Net approaches are based on forbidden states specifications, and these specifications are suitable the use of tool such as the reachability graph. But these methods were not able to show the user specification easily and these formalisms are generally limited by the combinatorial explosion that occurs when attempting to model complex systems. Herein, we propose a new efficient method using FSSTP (Forbidden Sequences of State-Transitions Problem) and theory of region. Also, to detect and avoid the deadlock problem in control process, we use DAPN method (Deadlock Avoidance Petri nets) for solving this problem in control model.

• 대한전기학회논문지:전력기술부문A
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• 제48권6호
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• pp.760-772
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• 1999

The CAN is a serial communication protocol for distributed real-time control and automation systems. Data generated from field devices in the distributed control of power plant are classified into three categories: real-time event data, real-time control data, non-real-time data. These data share a CAN medium. If the traffic of the CAN protocol is not efficiently controlled, performance requirements of the power plant system could not be satisfied. This paper proposes a bandwidth allocation algorithm that can be applicable to the CAN protocol. The bandwidth allocation algorithm not only satisfies the performance requirements of the real-time systems in the power plant but also fully utilizes the bandwidth of CAN. The bandwidth allocation algorithm introduced in this paper is validated using the integrated discrete-event/continuous-time simulation model which comprises the CAN network and distributed control system of power plant.