임베디드 시스템을 이용한 인터넷 제어감시 시스템에 관한연구

천행춘 한국마린엔지니어링학회 2004 한국마린엔지니어링학회지 Vol.28 No.5

Recently embedded systems are widely used in various industrial fields as supervisory controller because they have many merits. One of merits seems to be that operating environment of embedded system is the same as development environment using PC. That makes developing and manufacturing period shorten and also proper time to market. Most of all machinery have sequential control system for their maneuvering which is composed of relays, contacts, timers, etc.In this paper, software sequential control system is proposed to be able to replace hardware sequential control system by using embedded system. A lot of merits by the software sequential control system can be expected in the respect of economic reproduction, intelligent technologies and utilities. And porting of LINUX operating system to embedded system is carried out and device drivers and interface boards for LINUX OS are designed for controlling air compressor by software. Internet remote control and monitoring system of air compressor is implemented with Java script and CGI for these purposes. The experiment for operating air compressor system is taken through internet networks. The results show that developed system can be used for real plant.

지방자치단체의 자율적 내부통제시스템구축 사례와 발전방향

정운섭,신경식 (사)한국정부회계학회 2017 정부회계연구 Vol.15 No.2

This study seeks to find out the development direction of Cheongbaek-e system from the mid-term and long-term perspective by identifying and diagnosing the performance and problems of the Cheongbaek-e system, an autonomous internal control system introduced in 2012. Especially, as the fourth industrial revolution, artificial intelligence and big data technology are expanding, the purpose of this study is to examine the feasibility of the next generation preventive audit system. Cheongbaek-e system has been evaluated as showing the results such as anti-corruption prevention, administrative error, and tax incomes through constant monitoring using local government's IT. However, since it is possible to cause administrative inefficiency due to scenarios with high exclusion rates in the current operating scenario, continuous activities are needed to lower the exclusion rate by expanding additional data linkages. To achieve this, it is necessary to secure legal authority to expand additional data linkage. In addition, since the Cheongbaek-e system has a limitation of monitoring control that is immediately checked, in order to be proactive internal control, automatic control should be redesigned as internal control in each business system so that any malfunction or administrative error should be blocked. It is desirable to design and implement the next generation system of each business system in the mid to long term in view of the internal control perspective at the design stage. As a project, it is necessary to develop a common framework for the Cheongbaek- e system and the pre-emptive embedded control system that will be applied to the next-generation business systems. There is an opportunity to improve the efficiency and effectiveness of auditing by developing the intelligent audit support system required for the auditors of Cheongbaek-e results. Currently, it is necessary to select the fields that do not overlap with the audit analysis system being pursued by the Board of Audit and Inspection. 본 연구는 2012년부터 도입된 지방자치단체의 자율적 내부통제시스템인 청백-e 시스템의 성과와 문제점을 파악 진단함으로써 중장기적 관점에서 청백-e 시스템의 발전방향을 모색하고자 한다. 특히 4차 산업혁명, 인공지능 및 빅데이터 기술이 확대되고 있는 상황에서 차세대 예방 감사체계의 구현 가능성을 타진하기 위한 것이다. 청백-e 시스템은 지방자치단체의 IT를 활용한 상시 모니터링을 통해서 비리예방, 행정오류, 세원수입 발굴 등의 성과를 발휘한 것으로 평가되고 있다. 그러나 현재 운영 중인 시나리오 중에 제외율이 높은 시나리오로 인해 행정 비효율을 발생시킬 수 있으므로 추가 데이터 연계 확대를 통해서 제외율을 낮추기 위한 지속적인 활동이 필요하다. 이를 위해서는 추가 데이터 연계를 확대할 수 있는 법적권한 확보를 추진할 필요가 있다. 또한 청백-e 시스템은 즉시 점검하는 모니터링 통제라는 한계점을 내재하고 있으므로 사전 예방적인 내부통제가 되기 위해서는 각 업무시스템에 자동통제가 내재화된 통제(Embedded Controls)로 재설계되어 비리나 행정오류가 원천적으로 차단되어야 할 것이다. 중장기적으로 각 업무시스템의 차세대 시스템 구현 시 업무 요건 및 설계 단계에서 내부통제 관점을 반영하여 설계하고 구현하는 것이 바람직하다. 이를 구현하기 위한 추진 과제로서 차세대 업무시스템에 공통 적용할 청백-e 시스템과 사전예방적인 내재화된 통제('통합내부통제‘)의 공통 프레임워크 개발이 필요하다. 청백-e 결과를 활용하고 업무에 대한 모니터링 기능을 넘어서서 발생 가능한 부정행위의 예방 및 적발 효율성을 높이기 위해서는 업무당사자가 아닌 제 3자의 감사를 지원할 지능형 감사시스템의 도입을 검토할 필요가 있으나 현재 감사원에서 추진 중인 감사분석시스템과 중복되지 않는 분야를 선택해서 추진할 필요가 있다.

가상물리시스템 개념을 이용한 임베디드 제어 네트워크 시스템 설계에 관한 연구

박지훈,이석,이경창,Park, Jee-Hun,Lee, Suk,Lee, Kyung-Chang 대한임베디드공학회 2012 대한임베디드공학회논문지 Vol.7 No.5

Recent advances in electronics have enabled various conventional products to incorporate with numerous powerful microcontroller. Generally, an embedded system is a computer system designed for specific control functions within a larger system, often with real-time computing constraints. The growing performance and reliability of hardware components and the possibilities brought by various design method enabled implementing complex functions that improve the comport of the system's occupant as well as their safety. A cyber physical system (CPS) is a system featuring a tight combination of, and coordination between, the system's computational and physical elements. The concept of cyber physical system, including physical elements, cyber elements, and shared networks, has been introduced due to two general reasons: design flexibility and reliability. This paper presents a cyber physical system where system components are connected to a shared network, and control functions are divided into small tasks that are distributed over a number of embedded controllers with limited computing capacity. In order to demonstrate the effectiveness of cyber physical system, an unmanned forklift with autonomous obstacle avoidance ability is implemented and its performance is experimentally evaluated.

자동변속기용 임베디드 시스템 성능 시험을 위한 Hardware-in-the-Loop 시뮬레이터 구축

장인규(In-Gyu Jang),서인근(Inkeun Seo),전재욱(Jaewook Jeon),황성호(Sung-Ho Hwang) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.3

Drivers are becoming more fatigued and uncomfortable with increase in traffic density, and this condition can lead to slower reaction time. Consequently, they may face the danger of traffic accidents due to their inability to cope with frequent gear shifting. To reduce this risk, some drivers prefer automatic transmission (AT) over manual transmission (MT). The AT offers more superior drivability and less shifting shock than the MT; therefore, the AT market share has been increasing. The AT is controlled by an electronic control unit (ECU), which provides better shifting performance. The transmission control unit (TCU) is a higher-value-added product, so the companies that have advanced technologies end to evade technology transfer. With more cars gradually using the ECU, the TCU is expected to be faster and more efficient for organic communication and arithmetic processing between the control systems than the l6-bit controller. In this paper, the model of an automatic transmission vehicle using MATLAB/Simulink is developed for the Hardware in-the-Loop (HIL) simulation with a 32-bit embedded system, and also the AT control logic for shifting is developed by using MATLAB/Simulink. The developed AT control logic, transformed automatically by real time workshop toolbox, is loaded to a 32-bit embedded system platform based on Freescale"s MPC565. With both vehicle model and 32-bit embedded system platform, we make the HIL simulation system and HIL simulation of AT based on real time operating system (RTOS) is performed. According to the simulation results, the developed HIL simulator will be used for the performance test of embedded system for AT with low cost and effort.

32-bit 임베디드 시스템을 이용한 자동변속기용 전자제어시스템의 Software-in-the-loop simulation

장인규(In-Gyu Jang),서인근(Inkeun Seo),전재욱(Jaewook Jeon),황성호(Sung-Ho Hwang) 한국자동차공학회 2007 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-

Drivers are becoming more fatigued and uncomfortable as traffic densities increase, which can lead to slower reaction time, They then face the danger of traffic accidents due to an inability to cope with frequent shifting, To reduce this risk some drivers prefer automatic transmissions (AT) to manual transmissions (MT), The AT is superior drivability and less shifting shock than the MT, so the market-share of AT is increasing, The AT is controlled by Electronic Control Unit (ECU) to obtain better shifting performance, The Transmission Control Unit (TCU) is a product of higher-value-added, so the companies which have advanced technology (BOSCH, SIEMENS VDO, DELPHI, and etc.) tend to evade technology transfer. As the number of ECU used on a car is increasing gradually (for example, engine management unit, transmission control unit, brake control unit, and powertrain control unit), TCU's performance is expected to be faster and more efficient for organic communication and arithmetic processing between the control systems than the performance of 16bit controller. In this paper, the model of automatic transmission vehicle using MATLAB/Simulink is developed for the hardware in-the-loop simulation with an embedded system. The AT control logic developed is loaded to 32-bit Embedded system platform developed on the basis of Freescale's MPC565, and we execute the Software-in-the-loop simulation (SILS) of AT based on Real Time Operating System (RTOS). These test results show that the developed embedded system can be used as AT control unit.

중성자, 감마선, 엑스선 방사선 측정 및 통합 제어 시스템 개발

고태영,이주현,이승호 한국전기전자학회 2017 전기전자학회논문지 Vol.21 No.4

In this paper, we propose an integrated control system that measures neutrons, gamma ray, and x-ray. The proposed system is able to monitor and control the data measured and analyzed on the remote or network, and can monitor and control the status of each part of the system remotely without remote control. The proposed system consists of a gamma ray/x-ray sensor part, a neutron sensor part, a main control embedded system part, a dedicated display device and GUI part, and a remote UI part. The gamma ray/x-ray sensor part measures gamma ray and x-ray of low level by using NaI(Tl) scintillation detector. The neutron sensor part measures neutrons using Proportional Counter Detector(low-level neutron) and Ion Chamber Type Detector(high-level neutron). The main control embedded system part detects radiation, samples it in seconds, and converts it into radiation dose for accumulated pulse and current values. The dedicated display device and the GUI part output the radiation measurement result and the converted radiation amount and radiation amount measurement value and provide the user with the control condition setting and the calibration function for the detection part. The remote UI unit collects and stores the measured values ​​and transmits them to the remote monitoring system. In order to evaluate the performance of the proposed system, the measurement uncertainty of the neutron detector was measured to less than ± 8.2% and the gamma ray and x-ray detector had the uncertainty of less than 7.5%. It was confirmed that the normal operation was not less than ±15 percent of the international standard. 본 논문에서는 중성자, 감마선, 엑스선 등의 방사선을 측정하는 통합 제어 시스템을 제안한다. 제안하는 시스템은 원격 또는 네트워크상으로 측정 및 분석한 데이터를 디스플레이를 통해 모니터링 및 제어할 수 있는 장비로서, 현장에 가지 않고도 시스템 각 구성 부분의 상태를 보고 변경하여 원격으로 감시 및 관리할 수 있다. 제안하는 시스템은 감마선/엑스선 센서부, 중성자 센서부, 주제어 임베디드 시스템부, 전용 디스플레이 장치 및 GUI부, 원격 UI부 등으로 구성된다. 감마선/엑스선 센서부는 NaI(Tl) Scintillation Detector를 사용하여 저준위의 감마선 및 엑스선을 측정한다. 중성자 센서부는 Proportional Counter Detector(저준위 중성자)와 Ion Chamber Type Detector(고준위 중성자)를 사용하여 중성자를 측정한다. 주제어 임베디드 시스템부는 방사선을 검출하여 초단위로 샘플링하고 누적된 펄스 및 전류값에 대한 방사선량으로 변환한다. 전용 디스플레이 장치 및 GUI부는 방사선 측정 결과와 변환된 방사선량 및 방사능량 측정 수치를 출력하고, 사용자에게 제어 조건 설정 및 검출부에 대한 캘리브레이션 기능을 제공한다. 원격 UI부는 측정된 값들을 취합, 저장하여 원격 감시 시스템에 전달한다. 제안된 시스템의 성능을 평가하기 위하여 공인시험기관에서 실험한 결과는 중성자 검출부는 ±8.2% 이하의 측정 불확도가 측정되었고, 감마선, 엑스선 검출부는 7.5%이하의 불확도가 측정되어 국제 표준인 ±15% 이하에서 정상동작 됨이 확인되었다.

FPGA 기반의 임베디드 프로세서 시스템을 이용한 CAN 통신 인터페이스 구현

구태묵,박영석,Koo, Tae-Mook,Park, Young-Seak 한국융합신호처리학회 2010 융합신호처리학회 논문지 (JISPS) Vol.11 No.1

최근 전자제어 차량을 비롯한 각종 산업용 임베디드 시스템은 분산형 다중 마이크로 컨트롤러 시스템으로 진화하고 있다. 이에 따라 제어의 효율성이 큰 객체지향형 시스템 구축이 용이하고, 통신의 높은 안정성과 신뢰성이 보장되는 표준적 CAN(Contro11er Area Network) 통신 규약이 필요하게 되었다. 기존의 범용 프로세서를 이용한 CAN 통신 인터페이스는 하드웨어 아키텍처가 고정되어 있기 때문에 다양한 응용에 적용함에 있어 유연성이 결여되는 등의 많은 한계를 가진다. 본 논문에서는 FPGA 기반 CAN 통신 인터페이스 시스템을 설계 구현하고, 기존의 AT90CAN128 컨트롤러와의 통신 성능을 모니터링 하여 시스템의 기능과 성능을 검증하였다. 본 연구의 CAN 인터페이스 시스템은 IFI_Nios_II_Advanced CAN IP 코어와 NIOS II 소프트 코어 프로세서를 사용하여 설계 되었다. 이에 따라 개발된 CAN 통신 인터페이스는 다양한 FPGA 기반 응용 시스템 개발에 재사용 릴 수 있고, 저비용, 소형화 그리고 저전력화를 달성할 수 있다. Recently, various industrial embedded systems including vehicles controlled electronically are evolving to distributed multi-micro controller system. Accordingly, there is a need for standard CAN(Controller Area Network) protocol that ensures high stability and reliability of communication and is simple to construct object-oriented system with high control efficiency. CAN communication interface used general-purpose processor doesn't have many limitations in various application development because of fixed hardware architecture. This paper design and implement a CAN communication interface system based on FPGA. It is verified function and performance of system through monitoring communication with existing AT90CAN128 controller. Implemented CAN communication interface can be reused in development of application systems based on FPGA. And it provides low-cost, small-size and low-power design advantages.

PID 알고리즘을 이용한 역 진자 시스템의 자세 제어에 관한 연구

강진구 한국정보전자통신기술학회 2023 한국정보전자통신기술학회논문지 Vol.16 No.6

Currently, inverted pendulums are being studied in many fields, including posture control of missiles, rockets, etc, and bipedal robots. In this study, the vertical posture control of the pendulum was studied by constructing a rotary inverted pendulum using a 256-pulse rotary encoder and a DC motor. In the case of nonlinear systems, complex algorithms and controllers are required, but a control method using the classic and relatively simple PID(Proportional Integral Derivation) algorithm was applied to the rotating inverted pendulum system, and a simple but desired method was studied. The rotating inverted pendulum system used in this study is a nonlinear and unstable system, and a PID controller using Microchip's dsPIC30F4013 embedded processor was designed and implemented in linear modeling. Usually, PID controllers are designed by combining one or two or more types, and have the advantage of having a simple structure compared to excellent control performance and that control gain adjustment is relatively easy compared to other controllers. In this study, the physical structure of the system was analyzed using mathematical methods and control for vertical balance of a rotating inverted pendulum was realized through modeling. In addition, the feasibility of controlling with a PID controller using a rotating inverted pendulum was verified through simulation and experiment. 현재 도립진자는 많은 분야에서 연구 중이며 미사일, 로켓, 등의 자세 제어와 2족 보행 로봇 등에 응용되고 있다. 본 연구에서는 256펄스의 로터리 엔코더와 DC 모터를 이용한 회전형 도립진자(Rotary Inverted Pendulum)를 구성하여 회전형 역 진자의 수직 자세 제어를 연구하였다. 비선형 시스템의 경우 복잡한 알고리즘과 제어기가 필요하지만 고전적이며 비교적 간단한 PID(Proportional Integral Derivation)알고리즘을 이용한 제어 방법을 회전형 도립진자 시스템에 적용하였으며 간단하지만 원하는 성능을 높이는 방안을 연구하였다. 본 연구에서 사용된 회전형 도립진자 시스템은 비선형적이고 불안정한 시스템으로 선형화된 모델링에서 마이크로칩 사의 dsPIC30F4013 임베디드 프로세서를 이용한 PID 제어기를 설계 및 구현하였다. 보통 PID 제어기는 하나 혹은 두 가지 이상을 조합하여 설계하며 우수한 제어 성능에 비해 구조가 간단하며 제어 이득 조정이 다른 제어기들에 비해 비교적 쉽다는 장점이 있다. 본 연구에서는 시스템의 물리적 구조를 수학적 방법으로 분석하고 모델링을 통한 회전형 도립진자의 수직 균형을 위한 제어를 실현하였다. 또한 회전형 역 진자를 이용하여 PID 제어기로 제어가 가능한지 시뮬레이션과 실험을 통하여 그 타당성을 검증하였다.

자동차 자가진단을 위한 임베디드 리눅스 시스템

김국세(Kuk se Kim),김길준(Gil choon Kim),이 준(Joon Lee) 한국전자통신학회 2007 한국전자통신학회 논문지 Vol.2 No.1

본 논문은 Wibro 시대를 맞아 차량내에서 인터넷이 가능하고 다양해지는 자동차 시스템에 적응하고 사용자가 자동차를 스스로 진단하고 이상이 생겼을 때 스스로 저장하여 자동차 정비소에 갔을 때 정확한 판단을 하여 신속하게 처리 할 수 있게 해 주며 자동차에 대해서 잘 모르는 운전자에게 정확한 정보를 제공한다. 주행 중에 자가 진단을 위해 임베디드 리눅스 시스템을 구축하고 자동차 와 진단 시스템의 통신을 위해 캔과 RS232 통신을 위한 EML327를 통해 통신을 한다. 그리고 미디어 플레이와 웹서버를 포팅하여 사용자 어플리케이션을 제공한다. This study provide Car driver with car sensor information which is car trouble code in engine and many sensors. This provide car manager with many information of car sensors when we go to vehicle maintenance. This system consist of embedded linux system which uses RS232 and EML327 for CAN communication of car system. Finally this is a lot of application for embedded linux system which get sensor informations of car control sensor system.

An Automatic Environmental Monitoring and Cooling System to Reduce Heat Stress in Dairy Cows

( Yu-chi Tsai ),( Chen-yu Cheng ),( Jih-tay Hsu ),( Shih-torng Dnig ),( Ta-te Lin ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1

In tropical and subtropical regions with high temperature and humidity conditions, one of the problems in dairy farm management is the effect of heat stress on animal productivity. Due to this problem, the utilization of an automatic environmental monitoring system for cooling, labor-saving and heat stress reduction is necessary. In this study, an environmental monitoring and automatic cooling system based on an embedded system for dairy farms was designed. The system aims to regulate the environmental condition by means of direct feedback depending on the monitoring of heat stress index (HSI) augmented by dairy cow drinking behavior. The system is composed of two sub-systems: data acquisition and environmental control. The data acquisition module collects images, temperature and humidity data. The cooling system is controlled based on the real-time environmental data, and the historical data are recorded and uploaded to the server for display and analysis. The data are analyzed on the environmental monitoring panel on the farm and on the website, which can be remotely accessed. The control parameters are adjusted using the image results from the dairy cow drinking behavior with a fixed time interval. The results of the conducted experiments show that there is labor saving improvement and an increment in milk production compared to the same period in the previous year when the system was not installed. The automatic environmental monitoring cooling system exhibits high efficiency and can perform real-time control and self-adjustment. The system can be used for fully automated dairy cow system application, as well as dairy cow behavior analysis through both environmental and image information.