• 대한임베디드공학회논문지
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• 제3권2호
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• pp.49-56
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• 2008

This paper proposes a PC-based open architecture controller for a multi-axis robotic manipulator. The designed controller can be applied for various multi-axes robotic manipulators since the motion controller is implemented on a PC with its peripheral devices. The accuracy of the controller based on the computed torque method has been measured with the dynamic model of manipulator. Since the controller is implemented in the PC-based architecture, it is free from the user circumstances and the operating environment. Dynamics of the manipulator have been compensated by the feed forward path in the inner loop and the resulting linear outer loop has been controlled by PD algorithm. Using the specialized language, it can be more efficient in programming and in driving of the multi-axis robot. Unlike the conventional controller that is used to control only a specific robot, this controller can be easily changed for various types of robots. This paper proposes a PC-based controller that has a simple architecture with its simple interface circuits than general commercial controllers. The maintenance and the performance of the controller can be easily improved for a specific robot. In fact, using a Samsung multi-axis robot, AT1, the controller performance and convenience of the PC-based controller have been verified by comparing to the commercial one.

• 대한임베디드공학회논문지
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• 제17권6호
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• pp.375-382
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• 2022

This paper proposes a multi-core cooperative computing structure considering the heterogeneous features of automotive embedded on-chip software. The automotive embedded software has the heterogeneous execution flow properties for various hardware drives. Software developed with a homogeneous execution flow without considering these properties will incur inefficient overhead due to core latency and load. The proposed method was evaluated on an target board on which a automotive MCU (micro-controller unit) with built-in multi-cores was mounted. We demonstrate an overhead reduction when software including common embedded system tasks, such as ADC sampling, DSP operations, and communication interfaces, are implemented in a heterogeneous execution flow. When we used the proposed method, embedded software was able to take advantage of idle states that occur between heterogeneous tasks to make efficient use of the resources on the board. As a result of the experiments, the power consumption of the board decreased by 42.11% compared to the baseline. Furthermore, the time required to process the same amount of sampling data was reduced by 27.09%. Experimental results validate the efficiency of the proposed multi-core cooperative heterogeneous embedded software execution technique.

• 대한임베디드공학회논문지
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• 제10권4호
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• pp.257-264
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• 2015

For the tracking of the way-points of hovering AUV (HAUV), we suggest a simple PID controller. The way-points are designed to approach to a virtual underwater structure and the heading angles at each way-point are set to look at the structure in the face. The proposed controller consists of a vertical controller to maintain the depth and pitch angle, and a horizontal controller to move to the desired position as well as to adjust the heading angle of the HAUV. In the simulation using Matlab/Simulink, the HAUV with the proposed PID controller is shown to track all the way-points within 1 m range while maintaining proper heading angle at each way-point.

• 대한임베디드공학회논문지
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• 제7권3호
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• pp.143-150
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• 2012

In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.

• 대한임베디드공학회논문지
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• 제13권6호
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• pp.321-328
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• 2018

This paper presents an automatic target tracking flight system using a PID controller based on velocity command of a multirotor UAV. The automatic flight system includes marker based onboard target detection and an automatic velocity command generation replacing manual controller. A quad-rotor UAV is equipped with a camera and an image processing computer to detect the marker in real time and to estimate the relative distance from the target. The marker tracking system consists of PID controller and generates velocity command based on the relative distance. The generated velocity command is used as the input of the UAV's original flight controller. The operation of the proposed system was verified through actual flight tests using a marker on top of a moving vehicle and tracks it to successfully demonstrate its capability using a quad-rotor UAV.

• 융합신호처리학회논문지
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• 제13권1호
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• pp.56-62
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• 2012

이 논문은 매트랩/시뮬링크에서 도입한 TI 2000 DSP 라이브러리를 위한 임베디드 타켓을 사용하여 직류 모터 시스템에 대한 속도 제어기를 설계하고 구현하였다. 속도 제이기는 매트랩/시뮬링크 프로그램을 사용하여 쉽게 설계하고 구현할 수 있다. 모터 속도의 궤환은 속도 감지기로 엔코드와 펄스미터를 사용하여 eZdsp F2812 의 A/D 변환기를 통하여 처리하였다. 제어기의 실시간 프로그램은 시뮬링크를 사용하여 그렸고, P 제어기, PID 제어기 그리고 매개변수 추정 을 기반 적응제어기의 변환된 프로그램 코드는 Realsys eZdsp 2812 보드로 다운로드하였다. 그리고 실험을 통하여 구현된 제어기들의 속도응답을 확인하였다. 제어대상이 변경되었을 때에도 제어기를 쉽게 설계 및 구현하는 방법을 연구했다.

• 한국전자통신학회논문지
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• 제8권11호
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• pp.1707-1712
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• 2013

본 논문에서는 기존의 DSP, MCU, FPGA 기반의 모션 제어기들의 구조적인 문제점을 개선하기 위하여 최신 All Programmable SoC 인 Zynq EPP를 이용한 FPGA + 임베디드 프로세서 기반의 모터 제어기에 대한 하드웨어를 구현하였다. 구현한 모터 제어기는 FPGA와 임베디드 프로세서의 장점을 융합한 제어기로서 고속의 모터 제어용 신호처리 부분은 FPGA 기반의 모터 제어기가 수행한다. 복잡한 소수연산 등의 알고리즘 처리가 요구되는 모션 프로파일 및 기구학 계산 등은 듀얼 코어 기반의 임베디드 프로세서에서 처리하여 하나의 칩에서 분산처리 효과를 실현할 수 있는 구조적인 장점을 가진다. 또한 FPGA 상에 구현된 모터 제어 IP 코어의 추가를 통하여 손쉬운 다축 모터 제어기로의 구성이 가능한 장점도 가진다.

• 드라이브 ㆍ 컨트롤
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• 제11권4호
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• pp.1-7
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• 2014

This paper presents the development of a compact position generator to be used for industrial purposes based on a pump controlled Electro-Hydraulic Actuator (EHA), which is closed-loop controlled by an embedded based Iterative PID controller. The controller is designed by combining the PID controller and the iterative learning scheme to perform tracking control for periodically desired references. Control algorithm is implemented on an embedded computer (AD 7011-EVA) which makes the implementation and application in industrial environments easier.

• 대한임베디드공학회논문지
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• 제16권6호
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• pp.241-246
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• 2021

In this paper, we developed the evaluation system for the active noise control so that the algorithms can be easily evaluated in real-time on the system. We implemented the active noise controller based on a single-chip with only additional op-amps for signal conditioning because the TMS320C280049 MCU includes almost all necessary peripherals for the active noise controller. Due to the difficulty in testing algorithms on embedded-type hardware unlike in computer simulation, we also developed GUI-based evaluation software which makes it simple to test algorithms on the hardware. Using the GUI software, we can optimize the parameters of the algorithms with ease in a specific noise environment because the parameters can be adjusted in real-time when the algorithm is running on the hardware.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 B
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• pp.1027-1028
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• 2006

In this paper, design of current and speed controller for DC motor drive system using Embedded Target for TI C2000DSP in Matlab/Simulink is introduced. Current and speed controller is designed and implemented using program simply and easily, and speed control response of DC motor can be advanced. Current and speed control of DC motor is carried in eZdsp F2812 control board using Embeded Target for TI C2000DSP in Matlab/Simulink. Speed feedback is processed through A/D converter using tacho generator as speed sensor, and current feedback is processed through A/D converter using hall sensor as current sensor. Controller is designed to PI current controller and PI speed controller. Current and speed response is verified through simulations and experiments.