• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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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.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.6
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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.

• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.4
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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.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.3
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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.

• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.6
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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.

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.1
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• pp.56-62
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• 2012

This paper presents design and implementation of the speed controller for DC motor system using Embeded Target for TI C2000 DSP library in Matlab/Simulink is introduced. Speed controller are easily design and implemented by using the Matlab/Simulink program. Feedback of motor speed is processed through eZdsp F2812 AID converter using encoder and pulse meter as speed sensor. Real-time program of controller is drawn using Simulink and converted program code for speed control of P control, PID control and parameter estimation base adaptive control is downloaded into the TI eZdsp 2812 board. Experiments were carried out to examine validity of speed response for implemented controllers. And even if controlled plant becomes alteration studied controller design and implementation easily method.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1707-1712
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• 2013

In this paper, we implement a hardware for motor control based on FPGA + embedded processor using Zynq EPP which is All Programmable SoC in order to improve a structural problem of motion control based on such as DSP, MCU and FPGA previously. The implemented motor controller that is fused controller with advantage of FPGA and embedded processor. The signal processing part of high velocity motor control is performed by motor controller based on FPGA. A motion profile and kinematic calculation that are required algorithm process such as operation of a complicate decimal point has processed in an embedded processor based on dual core. As a result of a hardware implementation, it has an advantage that has can be realized an effect of distribution process in one chip. It has also an advantage that is able to organize as a multi-axis motor controller through adding the IP core of motor control implemented on FPGA.

• Journal of Drive and Control
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• v.11 no.4
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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.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.6
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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.

• Proceedings of the KIEE Conference
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• 2006.07b
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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.