• 로봇학회논문지
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• 제6권2호
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• pp.97-107
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• 2011

This paper describes efficient flight control algorithms for building a reconfigurable ad-hoc wireless sensor networks between nodes on the ground and airborne nodes mounted on autonomous vehicles to increase the operational range of an aerial robot or the communication connectivity. Two autonomous flight control algorithms based on adaptive gradient climbing approach are developed to steer the aerial vehicles to reach optimal locations for the maximum communication throughputs in the airborne sensor networks. The first autonomous vehicle control algorithm is presented for seeking the source of a scalar signal by directly using the extremum-seeking based forward surge control approach with no position information of the aerial vehicle. The second flight control algorithm is developed with the angular rate command by integrating an adaptive gradient climbing technique which uses an on-line gradient estimator to identify the derivative of a performance cost function. They incorporate the network performance into the feedback path to mitigate interference and noise. A communication propagation model is used to predict the link quality of the communication connectivity between distributed nodes. Simulation study is conducted to evaluate the effectiveness of the proposed reconfigurable airborne wireless networking control algorithms.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.831-835
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• 2000

The uniformity of themperature on a wafer is a wafer is one the most important parameters to conterol the RTF(Rapid Thermal Process) with proper input signals. It is impossible to achieve the uniformity of temperature without the exact estimation of temperature ar all points on the wafer. There fore, it is difficult to understand the internal dynamics as well as the structural complexities of the RTP, which is aprimary obstacle to measure the distributed temperatures on the wafer accurately. Furthermore, it is also hard to accomplish desirable estimation because only a few pyrometers are available in the general equipments. In the paper, a thermal model based on the chamber grometry of the AST SHS200 RTP system is developed to effectively control the thermal uniformity on the wafer. First of all, the estimation method of one-point measurement is developed, which is properly extended to the case of multi-point measurements. This thermal model is validated through simulation and experiments. The proposed work can be utilized to building a run-by -run or a real-time control of the RTP.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.632-638
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• 2010

This paper presents an optimum tire force distribution method for 6WD/6WS(6-Wheel-Drive and 6-Wheel-Steering) electric vehicles. Using an independent steering and driving system, the performance of 6WD/6WS vehicles can be improved, as, for example, with respect to their maneuverability under low speed and their stability at high speed. Therefore, there should be a control strategy for finding the optimum tire forces that satisfy the driver's command and minimize energy consumption. From the driver's commands (steering angle and accelerator/brake pedal stroke), the desired yaw moment, the desired lateral force, and the desired longitudinal force were obtained. These three values were distributed to each wheel as the torque and the steering angle, based on the optimum tire force distribution method. The optimum tire force distribution method finds the longitudinal/lateral tire forces of each wheel that minimize the cost function, which is the sum of the normalized tire forces. Next, the longitudinal/lateral tire forces of each wheel are converted into the reference torque inputs and the steering wheel angle inputs. The proposed method was tested through a simulation, and its effectiveness was verified.

• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.602-610
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• 2000

In communication networks used in safety-critical systems such as control systems in nuclear power plants there exist three types of data traffic : urgent or asynchronous hard real-time data hard real-time periodic data and soft real-time periodic data. it is necessary to allocate a suitable bandwidth to each data traffic in order to meet their real-time constraints. This paper proposes a method to meet the real-time constraints for the three types of data traffic simultaneously under a timer-controlled token bus protocol or the IEEE 802.4 token bus protocol and verifies the validity of the presented method by an example. This paper derives the proper region of the high priority token hold time and the target token rotation time for each station within which the real-time constraints for the three types of data traffic are met, Since the scheduling of the data traffic may reduce the possibility of the abrupt increase of the network load this paper proposes a brief heuristic method to make a scheduling table to satisfy their real-time constraints.

• 제어로봇시스템학회논문지
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• 제3권6호
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• pp.639-643
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• 1997

This paper presents how nonlinear PID control algorithms can be applied on chemical processes for a more stable operation and perfect automation. A pass balance controller is designed to balance the exiting temperatures of a heater and a heat exchange network. The proposed controller has gain-varying integral action and deals with the operational constraints in an efficient manner. Also, the use of a PID gap controller is proposed to maximize energy saving and operation stability and to minimize operator intervention in operation of air fan coolers. The proposed controller adjusts the opening of a louver automatically in such a way that it keeps the air fan pitch position within the desired range. All these nonlinear PID controllers have been implemented on the distributed control system (DCS) for good reliability and operability. Operator acceptance was very high and the implemented controllers have shown good performance and high service factor still now on. The proposed methodology can be directly applied to similar processes without any modification.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.68-73
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• 2005

Various techniques have been proposed for detection and tracking of targets in order to develop a real-world computer vision system, e.g., visual surveillance systems, intelligent transport systems (ITSs), and so forth. Especially, the idea of distributed vision system is required to realize these techniques in a wide-spread area. In this paper, we develop a ubiquitous vision system for location-awareness of multiple targets. Here, each vision sensor that the system is composed of can perform exact segmentation for a target by color and motion information, and visual tracking for multiple targets in real-time. We construct the ubiquitous vision system as the multiagent system by regarding each vision sensor as the agent (the vision agent). Therefore, we solve matching problem for the identity of a target as handover by protocol-based approach. We propose the identified contract net (ICN) protocol for the approach. The ICN protocol not only is independent of the number of vision agents but also doesn't need calibration between vision agents. Therefore, the ICN protocol raises speed, scalability, and modularity of the system. We adapt the ICN protocol in our ubiquitous vision system that we construct in order to make an experiment. Our ubiquitous vision system shows us reliable results and the ICN protocol is successfully operated through several experiments.

• 한국컴퓨터정보학회논문지
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• 제27권11호
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• pp.13-18
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• 2022

본 논문에서는 학습에 참여하는 각 디바이스의 모델들로부터 성능검증에 따라 가중치를 두어 글로벌 모델을 업데이트하는 VW-FedAVG(Validation based Weighted FedAVG)를 두 가지 방식으로 제안 한다. 첫 번째 방식은 서버 검증(Server side Validation) 구조로 글로벌 모델을 업데이트 하기 전에 각 로컬 클라이언트 모델을 하나의 전체 검증 데이터셋을 통해 검증하도록 설계 했다. 두 번째는 클라이언트 검증(Client side Validation) 구조로 검증 데이터셋을 각 클라이언트에 고르게 분배하여 검증을 한 후 글로벌 모델을 업데이트 하는 방식으로 설계 했다. 전체 실험에 적용한 데이터셋은 MNIST, CIFAR-10으로 이미지 분류에 대해 IID, Non-IID 분포에서 기존 연구 대비 더 높은 정확도를 얻을 수 있었다.

• Journal of Electrical Engineering and Technology
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• 제7권4호
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• pp.589-595
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• 2012

When surges and electromagnetic pulses from lightning or power conversion devices are considered, it is desirable to evaluate grounding system performance as grounding impedance. In the case of large-sized grounding electrodes or long counterpoises, the grounding impedance is increased with increasing the frequency of injected current. The grounding impedance is increased by the inductance of grounding electrodes. This paper presents the measured results of frequency-dependent grounding impedance and impedance phase as a function of the length of counterpoises. In order to analyze the frequency-dependent grounding impedance of the counterpoises, the frequency-dependent current dissipation rates were measured and simulated by the distributed parameter circuit model reflecting the frequency-dependent relative resistivity and permittivity of soil. As a result, the ground current dissipation rate is proportional to the soil resistivity near the counterpoises in a low frequency. On the other hand, the ground current dissipation near the injection point is increased as the frequency of injected current increases. Since the high frequency ground current cannot reach the far end of long counterpoise, the grounding impedance of long counterpoise approaches that of the short one in the high frequency. The results obtained from this work could be applied in design of grounding systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1936-1939
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• 2004

This paper proposes streaming layer for personal robot's middleware. Under assumption that robot has open architecture, i.e. consists of modules created by different vendors and intercommunication between these modules is necessary, we have to consider that there are many different network interfaces. To make communication between modules possible it is necessary to develop new type of middleware. Such middleware has to support different platforms, i.e. OS, network interface, hardware, etc. In addition, it is necessary to implement effective interface between network and application in order to manage inter application communications and use network resources more effectively. Streaming layer is such interface that implements necessary functionality together with simplicity and portability. Streaming layer provides high level of abstraction and makes communication between distributed applications transparent as if are located in same module. With possibility of extension by user defined application interfaces it is suitable for distributed environments, i.e. module based architecture including small-embedded systems like as DSP board. To verify the proposed streaming layer structure it is implemented using C and tested.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1470-1473
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• 2003

In this paper the networked control systems (NCS) problem is discussed where plants and controllers are distributed and interconnected by a common network. NCS is designed with LQ regulator and applied to an inverted pendulum accounting for the multiple time delays. We are to deals with a networked control system with a single controller, multiple sensors and multiple actuators. Since these parts are distributed, they are interconnected by communication networks. An NCS with LQ regulator is designed and applied to an inverted pendulum as a benchmark plant to check its performance under time delays induced by the network. Network induced delays are composed of two parts. One is the delay from controller to plant, and another is from plant to controller. They are assumed to be constant in this paper, and the plant and controller are discretized. To apply the LQ regulator the NCS model is transformed to a standard model with delayed states as state variable. And real network induced delay is measuring in TCP/IP network assuming that two delays are constant.