• Journal of Computational Design and Engineering
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• 제1권4호
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• pp.243-255
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• 2014

The present study describes the development of control hardware and software for a mobile welding robot. This robot is able to move and perform welding tasks in a double hull structure. The control hardware consists of a main controller and a welding machine controller. Control software consists of four layers. Each layer consists of modules. Suitable combinations of modules enable the control software to perform the required tasks. Control software is developed using C programming under QNX operating system. For the modularizing architecture of control software, we designed control software with four layers: Task Manager, Task Planner, Actions for Task, and Task Executer. The embedded controller and control software was applied to the mobile welding robot for successful execution of the required tasks. For evaluate this imbedded controller and control software, the field tests are conducted, it is confirmed that the developed imbedded controller of mobile welding robot for shipyard is well designed and implemented.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.148-154
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• 2009

In this paper, an embedded Kalman filter for a time-delayed controller is designed on an FPGA to estimate accelerations of the robot arm. When the time-delayed controller is used as a controller, the inertia estimation along with accelerations is needed to form the control law. Although the time-delayed controller is known to be robust to cancel out uncertainties in the nonlinear systems, performances are very much dependent upon estimating the acceleration term ${\ddot{q}}(t-{\lambda})$ along with inertia estimation ${\hat{D}}(t-{\lambda})$. Estimating accelerations using the finite difference method is quite simple, but the accuracy of estimation is poor specially when the robot moves slowly. To estimate accelerations more accurately, various filters such as the least square fit filter and the Kalman filter are introduced and implemented on an FPGA chip. Experimental studies of following the desired trajectory are conducted to show the performance of the controller. Performances of different filters are investigated experimentally and compared.

• 대한임베디드공학회논문지
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• 제8권6호
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• pp.295-301
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• 2013

In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

• Journal of Electrical Engineering and Technology
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• 제11권2호
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• pp.490-498
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• 2016

Proportional Integral Derivative (PID) controller tuning is an area of interest for researchers in many areas of science and engineering. This paper presents a new algorithm for PID controller tuning based on a combination of bacteria foraging and particle swarm optimization. BFO algorithm has recently emerged as a very powerful technique for real parameter optimization. To overcome delay in an optimization, combine the features of BFOA and PSO for tuning the PID controller. This new algorithm is proposed to combine both the algorithms to get better optimization values. The real time prototype model of paper machine is designed and controlled by using PIC microcontroller embedded with the programming in C language.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2008년도 한국컴퓨터종합학술대회논문집 Vol.35 No.1 (D)
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• pp.327-331
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• 2008

본 논문에서는 ALtera Cyclone II FPGA와 VGA Controller, ISP1362 Host Controller, DM9000A Ethernet Controller를 사용하여 FPGA를 구성하고, ${\mu}Clinux$를 포팅하여 Nano-X 기반에서 JPEG 파일을 디스플레이 시키는 임베디드 디지털 액자를 구현한다. 구현한 시스템은 일반적인 마이크로프로세서를 사용하지 않고 Altera 사의 Cyclone II FPGA를 이용해 직접 프로세서를 설계하고, ISP1362 Host Controller를 이용하여 USB 드라이브를 인식하며, DM9000A를 통해 웹과 연결하여 웹서버로부터 전송되어진 JPEG 이미지를 Display 할 수 있도록 설계하였다.

• 대한임베디드공학회논문지
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• 제19권3호
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• pp.123-130
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• 2024

This paper proposes an EMPC (Explicit Model Predictive Controller) for temperature tracking control based on heat load prediction by an ESO (Extended State Observer) for a variable cooling circulation system with multiple indoor units connected to one outdoor unit. In this system, heat transfer and heat loss relative to the input temperature are modeled using system dynamics. Using this model, we design an EMPC based on an ESO that is robust to temperature changes and depends on airflow. To determine the stability of both the controller and the observer, asymptotic stability is verified through Lyapunov stability analysis. Finally, to validate the performance of the proposed controller, simulations are conducted under three scenarios with varying airflow, set temperature, and heat load.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.535-536
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• 2008

By reducing size of operation code, an improved MCU(micro controller unit) is implemented in this paper. The proposed MCU is developed for 32Bit Embedded System. The MCU has a general 32Bit MCU operations. The MCU supports to an ICE device.

• 대한임베디드공학회논문지
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• 제7권2호
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• pp.61-70
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• 2012

This paper describes terrain-adaptive attitude controller for a hybrid mobile platform which operates in wheel & track mode. The wheel mode of the hybrid mobile platform allows quick driving performance in the flatland, while the track mode provides adaptive movement in the rough ground or stairway. The switching of the platform between two modes is automatically controlled by attitude controller algorithm. In addition, in the track mode, the platform automatically adjusts its attitude angle to overcome the obstacles in front. This paper demonstrates the attitude controller for the aforementioned wheel-track hybrid mobile platform in order to overcome terrain obstacles by using an adaptive method. The driving performance of the hybrid mobile platform has been tested and verified in various surrounding environments in both wheel and track mode. Further, this paper presents the experiments by using the track structure of mobile platform on forming adaptive attitude under various types of obstacles. The practicability and effectiveness of the proposed attitude controller of the platform has been demonstrated in urban building and a test-bed.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 II
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• pp.1209-1212
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• 2003

In this paper, we propose a SDRAM Controller. The SDRAM is often used a mainstream memory as embedded system memory due to its short latency, burst access and pipeline features. The proposed Controller provides essential functions for SDRAM initialization, read/write accesses, memory refresh and Burst access. Furthermore, the proposed controller is implemented in the form of SOFT IP. Therefore, it reduces the designer's effort greatly.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.94.3-94
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• 2002

Modern distributed control systems focus on system openness, network system architecture and PC based controller. This paper discusses the embedded systems with ORB for distributed control systems. Embedded systems have merits such as small size, low cost and user convenience. ORB allows users to program easily by using IDL and provides client/server network for heterogeneous platforms. By using embedded systems and ORB, we implement the system and validate it by using VME system. The developed system has benefits when it is applied to distributed control systems.