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

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.176.3-176
• /
• 2001

Hydraulic servo system has the characteristic of high power in itself, as combining its characteristics with excellent electro equipment that comes from the development of electronics, electro-hydraulic servo system is widely used in industry that are requested high precision and power Electro-hydraulic servo system is characteristic of very strong non-linearity in itself and it is mainly applied the field of the inner or outer fluctuating load or disturbance in industry. Evolutionary computation based on the natural evolutionary process may solve many engineering problems. Algorithms can represent the natural selection in crossovers, mutations, production of the offspring, selection, etc. Nature has already shown is the superiority through ...

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2001년도 춘계학술대회 논문집
• /
• pp.979-982
• /
• 2001

In CNC machining, demands on precision machining of free formed surface model are increasing. Most of the CAD/CAM systems provide the NURBS(Non-Uniform Rational B-Spline) interpolator. NURBS is defined with NURBS parameter by control point, weight value and knot value. This paper shows the realtime NURBS interpolation algorithms and compared with each other. One is based on the equal length of curve segments rather than equal increment of the parameter Δu. The other is to limit the interpolation error to any desired level by adjusting the feedrate considering the curvature of the shape and sampling time.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.181-184
• /
• 2003

Recently, the fieldbus becomes an indispensable component for many automated systems. In the fieldbus system, realtime data containing sensor values and control commands has a tendency to rapidly lose its value as time elapses after its creation. In order to deliver these data in time, the fieldbus network should be designed to have short delay compared to the maximum allowable delay. Because the communication delay is affected by performance parameters such as target rotation timer of token passing protocol, it is necessary to select proper parameter settings to satisfy the real-time requirement for communication delay. This paper presents the timer selection method for Profibus token passing networks using genetic algorithm (GA) to meet the delay requirements.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.170-174
• /
• 1990

The information with regard to the working range of lathe, cutting tool, cutting condition is managed as Database system for turning operation as one part of CAM system. Data with regard to the working range of lathe, cutting tool, cutting condition are stored by the DBMS(Data Base Management System) and can be added, modified, deleted and retrieved for realtime usages. Data stored in Database system are searched to select the most proper cutting tool and cutting condition with the input data fed from the design stage. Codes in regards to tool shape are displayed on graphic mode for easy selection for user and thus presents a good decision support for tool selection. The system developed in this work is operated by the pull down menu on the IBM PC/AT personal computer, or compatible series.

• 한국컴퓨터산업교육학회:학술대회논문집
• /
• 한국컴퓨터산업교육학회 2003년도 제4회 종합학술대회 논문집
• /
• pp.33-38
• /
• 2003

Reports have a significant meaning in time-constrained large transaction environments, such as airplane control systems or wargame simulations. This is due to the necessity of generating reports within a limited scope of time without restraining the operation performance of large transaction environments. In order to generate reports in large transaction environments while satisfying time - constrained requirements, this paper propose a model which combines the incremental operation mechanism and materialized view mechanism using triggers and stored procedures. Further, the implementation and evaluation of the preposed model provides analysis for model characteristics.

• 한국IT서비스학회지
• /
• 제7권2호
• /
• pp.181-195
• /
• 2008

The rapid growth of mobile communication technology has provided the expansion of mobile internet services, particularly mobile realtime transaction takes much weight among mobile fields. There is an increasing demand for various mobile applications to process transactions in a mobile computing fields. Thus, During transmission in wireless networks a base station failure inevitably causes data loss of the base station buffer. It is required to compensate the loss for communication. The existing methods for a base station failure are not adequate because they all suffer from too much overhead and resolve only the link failure. In this paper, we study an efficient recovry systems for a mobile DBMS. We propose SLL (Segment Log List) that enables the mobile host to compensate data loss efficiently in the case of base station failure. In SLL, a base station deliveries an output information of data cells to a mobile host. when a base station fails, the mobile host can retransmit just next data cells. We also prove the efficiency of new method.

• 한국산학기술학회:학술대회논문집
• /
• 한국산학기술학회 2006년도 춘계학술발표논문집
• /
• pp.298-301
• /
• 2006

DC-Motor is needed more and more sophisticated control to follow the highest precision of industrial automation and used in a number of control equipment or industrial fields. It is also useful to control single crystal($Al_2O_3$) growth. It is possible to procure a quality crystal utilizing a DC-Motor, if you mix Hydrogen and Oxygen gas properly and keep proper temperature in accordance with time process. In this paper, we will study about electrical valve positioning system for the gas mixture to improve the quality of single crystal($Al_2O_3$) growth and we will design about realtime monitoring systems of the automatic gas contol DC- Motor for single crystal($Al_2O_3$) growth

• ETRI Journal
• /
• 제29권1호
• /
• pp.120-123
• /
• 2007

In this letter, we address the problem of resource allocation with efficiency and quality of service (QoS) support in uplink for a wireless CDMA network supporting real-time (RT) and non-realtime (NRT) communication services. For RT and NRT users, there are different QoS requirements. We introduce and describe a new scheme, namely, traffic aided uplink opportunistic scheduling (TAUOS). While guaranteeing the different QoS requirements, TAUOS exploits the channel condition to improve system throughput. In TAUOS, the cross-layer information, file size information, is used to improve fairness for NRT users. Extensive simulation results show that our scheme can achieve high system throughput in uplink wireless CDMA systems, while guaranteeing QoS requirements.

• 대한임베디드공학회논문지
• /
• 제9권3호
• /
• pp.165-171
• /
• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.