• 전자공학회논문지C
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• 제34C권11호
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• pp.29-38
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• 1997

As the trend of the automation is increasing, the usage of the programmable automation equipments like programmable controller(PC), numerical controller(NC), distributed control systems(DCS) and robot controller is greatly expanding in the area of the industrial equipments. But the development of the programing language for the programmable automatic equipment is rarely accomplished. In this paper, we propose design and implementation technique of the real-time mechanism control language by adding time constraint constructs and timing analysis constructs ot conditional statement and iteration statement of a programming language. Moreover, we made it possible to predict plausibility of time constraint constructs of a real time application program at compilation time and developing execution time analysiss technique.

• 산업경영시스템학회지
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• 제37권4호
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• pp.154-161
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• 2014

In this research we investigate motion controller performance for mobile robots according to changes in the control loop sampling time. As a result, we suggest a proper range of the sample time, which can minimize final posture errors while improving tracking capability of the controller. For controller implementation into real mobile robots, we use a smooth and continuous motion controller, which can respect robot's path curvature limitation. We examine motion control performance in experimental tests while changing the control loop sampling time. Toward this goal, we compare and analyze experimental results using two different mobile robot platforms; one with real-time control and powerful hardware capability and the other with non-real-time control and limited hardware capability.

• 디지털융복합연구
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• 제10권10호
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• pp.289-294
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• 2012

본 논문에서는 스마트폰의 모바일 특성을 활용하여 시간과 공간의 제약 없이 서비스할 수 있고, 기존의 오프라인에서 이루어지던 다양한 서비스들이 모바일에서도 구현될 수 있는 사례관리 실시간 커뮤니티 시스템을 연구하여 개발하였다. 이를 위하여 일반 PC/노트북이외에 스마트모바일까지 동일한 환경 제공을 위한 HTML5 웹 전환과 동일한 Network 상의, 장치별 브라우저 Size를 고려한 최적의 인터페이스 구성하여 차세대 웹표준 HTML5기반 통합사례관리 웹과 모바일 웹으로 구현하였으며, 다양한 종류의 스마트기기 OS를 지원하는 SenchaTouch Mobile Framework 기반의 Hybrid App 개발하여 서버 간 실시간 동기화 및 메시지 Push Notification 기능 구현을 통하여 관리자와 보호자 간 대상자 실시간 양방향 커뮤니케이션 구현하여 실시간 사례관리 커뮤니티 시스템을 구현하였다.

• 정보과학회 컴퓨팅의 실제 논문지
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• 제21권4호
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• pp.315-319
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• 2015

본 논문은 실시간 정밀 모션 제어를 위한 안드로이드 응용의 설계와 구현을 다룬다. 안정적인 실시간 성능을 제공하기 위해서 다축 모터들이 특정 모션을 만들어낼 수 있도록 실시간 필드버스에 주기적으로 좌표 벡터 명령을 전달하고 그에 대한 피드백을 받는 모션 제어부를 데몬 프로세스 형태의 안드로이드 서비스로 구현하고, 이 모션 제어 서비스에 모션의 좌표 벡터들을 생성하여 전달하는 모션 계획부를 안드로이드 UI 응용으로 구현하였다. 이러한 소프트웨어 구성을 지원하기 위해서 멀티코어 프로세서를 모션 제어 서비스의 실행을 전담하는 실시간 코어들과 UI 응용의 실행을 전담하는 비실시간 코어로 나누었으며, 모션 제어 서비스와 응용 사이의 통신을 공유 메모리 형태로 구현하였다. 성능 측정 결과, 8축 모터들을 2개씩 그룹지어 4개의 쓰레드로 제어하는 경우에도 태스크 활성화 지터의 99%를 ${\pm}55{\mu}s$ 미만으로 유지하면서, 모션 제어 주기를 2ms까지 달성할 수 있었다.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1223-1232
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• 2004

We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• 한국정보시스템학회지:정보시스템연구
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• 제5권
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• pp.411-427
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• 1996

As the application of real time expert systems has been expanded, the real time expert systems have become an integral part of the information society. Real time expert systems are viewed as a new paradigm to integrate real time problem solving and expert system technology. However, a substantial amount of work is still required to effectively handle a new and challenging opportunity for successful implementation of real time expert systems. In this article, the basic concepts and characteristics of real time expert systems are discussed. The article also presents, through the literature survey, the summary of real time expert systems applications and a class of tools, providing an enabling real time based expert system technology. Finally, the article discusses a set of requirements which real time expert systems must satisfy.

• 대한음성학회지:말소리
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• 제44호
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• pp.93-104
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• 2002

There are many speech analysis tools available. Among them real-time analysis tool is very useful for interactive experiments. A real-time speech analysis tool was implemented using Matlab. Matlab is a very widely used general purpose signal processing tool. In general, its computational speed is relatively lower than that of the codes from conventional programming languages. Especially, real-time analysis including input of signal and output of the result was not possible in the past. However, due to the improvement of computing power of PCs and inclusion of real-time I/O toolboxes in Matlab, real-time analysis is now possible in some extent by Matlab only. In this experiment, we tried to implement a real-time speech analysis tool using Matlab. Pitch and spectral information is computed in real-time. From the result it is shown that such real-time applications can be implemented easily using Matlab.

• The Journal of the Acoustical Society of Korea
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• 제20권4E호
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• pp.52-60
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• 2001

This paper describes real time implementation of subband sound localization system on a floating-point DSP TI TMS320C31. The system determines two dimensional location of an active speaker in a closed room environment with real noise presents. The system consists of an two microphone array connected to TI DSP hosted by PC. The implemented sound localization algorithm is Subband CPSP which is an improved version of traditional CPSP (Cross-Power Spectrum Phase) method. The algorithm first split the input speech signal into arbitrary number of subband using subband filter banks and calculate the CPSP in each subband. It then averages out the CPSP results on each subband and compute a source location estimate. The proposed algorithm has an advantage over CPSP such that it minimize the overall estimation error in source location by limiting the specific band dominant noise to that subband. As a result, it makes possible to set up a robust real time sound localization system. For real time simulation, the input speech is captured using two microphone and digitized by the DSP at sampling rate 8192 hz, 16 bit/sample. The source location is then estimated at once per second to satisfy real-time computational constraints. The performance of the proposed system is confirmed by several real time simulation of the speech at a distance of 1m, 2m, 3m with various speech source locations and it shows over 5% accuracy improvement for the source location estimation.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.716-719
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• 1999

In this paper, a real-time control system for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested for tasks of tracking moving objects and compared with the conventional servo controller.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2001년도 봄 학술발표논문집 Vol.28 No.1 (A)
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• pp.82-84
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• 2001

Real-Time Linux는 기존의 Linux에 실시간 기능을 추가한 것으로서, 태스크 스케줄링 방법은 우선순위 기반의 스케줄링 방법을 사용한다. 그러나, 태스크의 개수가 많아지면 가장 높은 우선순위의 태스크를 찾는데 걸리는 시간이 태스크 개수에 비례해서 많이 걸린다. 이러한 이유로 태스크의 개수가 제한적일 수밖에 없다. 본 논문에서는 우선순위별로 서로 다른 목록을 유지하고, Bit Masking 기법을 사용함으로써 가장 높은 우선순위 태스크를 선택하는데 걸리는 시간을 상수시간으로 줄이고 각 태스크들의 시그널을 처리하는 부분을 좀더 효율적으로 처리하도록 함으로써 Real-Time Linux의 실시간 스케줄링 기능을 개선하였다.