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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
Journal Basic Information
Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 10, Issue 12 - Dec 2004
Volume 10, Issue 11 - Nov 2004
Volume 10, Issue 10 - Oct 2004
Volume 10, Issue 9 - Sep 2004
Volume 10, Issue 8 - Aug 2004
Volume 10, Issue 7 - Jul 2004
Volume 10, Issue 6 - Jun 2004
Volume 10, Issue 5 - May 2004
Volume 10, Issue 4 - Apr 2004
Volume 10, Issue 3 - Mar 2004
Volume 10, Issue 2 - Feb 2004
Volume 10, Issue 1 - Jan 2004
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The Parametric Sensitivity Analyses of linear System Relative to the Characteristic Ratios of Coefficient(II) : K-Polynomial Case
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 295~303
DOI : 10.5302/J.ICROS.2004.10.4.295
Previously it has been shown that the all pole systems resulting good time responses can be characterized by so called K-polynomial. The polynomial is defined in terms of the principal characteristic ratio
and the generalized time constant
. In this paper, Part II presents several sensitivity analyses of such systems with respect to
changes. We first deal with the root sensitivity to the perturbation of
. By way of determining the unnormalized function sensitivity, both time response sensitivity and frequency response sensitivity are derived. Finally, the root sensitivity relative to
change is also analyzed. These results provide some useful insight and background theory when we select of and l to compose a reference model of which denominator is a K-polynomial, which is illustrated by examples.
Design of a Discrete Time Sliding Mode Controller for Laser Marking System
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 304~311
DOI : 10.5302/J.ICROS.2004.10.4.304
In this paper we present a technique of discrete-time sliding mode controller design for assigning eigenvalues of sliding mode and determining a convergence rate to sliding surface. First the sliding mode coefficient is designed via Ackermann s formula. Then a linear controller is designed to enforce sliding mode such that the resulting closed loop yields the desired eigenvalues. As we use a linear control instead of nonlinear control, chattering is nearly eliminated. Simulation and experimental results are included to show the effectiveness of the proposed method for Laser Marking System.
Adaptive Robust Control for Robot Manipulator with the Uncertain Bound Estimation and Implementation
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 312~316
DOI : 10.5302/J.ICROS.2004.10.4.312
In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.
A Dual PID Controller for High-Accuracy Positioning of Ink Jet Printer Media Advance System
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 317~324
DOI : 10.5302/J.ICROS.2004.10.4.317
The ink jet printer media advance system is required to be exactly driven to the target position via tracking the reference velocity profile to obtain the high quality print image. A single gain PID controller is not sufficient to fulfill the control objectives, the exact velocity tracking and the accurate positioning, at the same time. A dual PID controller and its switching strategy are presented in this paper to achieve the control objectives. The media advance system is controlled by two separate PID controllers, one of which is for velocity control, and the other is for position control. A PID controller controls the velocity of the media advance system until it reaches the predetermined switching position. When the media advance system passes the predetermined position, the controller is switched to the other PID controller which is more profitable for exact positioning. The switching position is determined by the estimated stop distance. The simulation and experimental results are presented to show the validity and effectiveness of the proposed controller.
A study on the permissible range of voltage dips and the response time of DVR in 3-phase phase-controlled rectifier
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 325~333
DOI : 10.5302/J.ICROS.2004.10.4.325
It is investigated that the relation between the response time of DVR(Dynamic Voltage Restorer) and the possible compensation range of voltage dip by the DVR system which protects the 3-phase phase-controlled rectifier from voltage dip. As a result, the permissible range of voltage dip is presented in the 3-phase phase-controlled rectifier, and it is presented that the range of voltage dip which can be compensated according to the DVR s response time. when the DVR compensates voltage dip, Using the proposed method, the DVR s response time can be determined from the parameters of 3-phase phase-controlled rectifier and the possible compensation range of voltage dip, and it is possible to use the control system which have an appropriate speed. Therefore, the use of excessively fast device can be avoided, and the stability of the overall system is improved. Also the reliance of DVR about the 3-phase phase-controlled rectifier can be verified.
Web-based Building Automation System using Embedded Linux
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 334~340
DOI : 10.5302/J.ICROS.2004.10.4.334
In this paper, a Web-based management system for the building network is described. A multi-protocol converter based on SoC and embedded Linux is designed. The open source licensing, reliability, and broad hardware support are key reasons for use of embedded Linux in embedded industry. The multi-protocol converter integrates control network of RS-485 and LonWorks devices through TCP/IP protocol for a client with Java applet. The system consists of three-tier architecture, such as a client, a server that is performed on a multi-protocol converter, and control devices. The developed system includes the inverter motor control system with modbus protocol for the RS-485 network. The experiment results show that the multi-protocol converter using embedded Linux is a flexible and effective way to builda Web -based monitoring and control system.
Experimental Studies on Decentralized Neural Networks Using Reference Compensation Technique For Controlling 2-DOF Inverted Pendulum Based on Velocity Estimation
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 341~349
DOI : 10.5302/J.ICROS.2004.10.4.341
In this paper, the decentralized neural network control of the reference compensation technique is proposed to control a 2-DOF inverted pendulum on an x-y plane. The cart with the 2-DOF inverted pendulum moves on the x-y plane and the 2-DOF inverted pendulum rotates freely on the x-y axis. Since the 2-DOF inverted pendulum is divided into two 1-DOF inverted pendulums, the decentralized neural network control is applied not only to balance the angle of pendulum, but also to control the position tracking of the cart. Especially, a circular trajectory tracking is tested for position tracking control of the cart while maintaining the angle of the pendulum. Experimental results show that position control of the inverted pendulum system is successful.
Force Manipulability Analysis of Multi-Legged Walking Robot
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 350~356
DOI : 10.5302/J.ICROS.2004.10.4.350
This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.
A Study on Performance Improvement of the Motion Drive of a Card Vending Machine
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 357~363
DOI : 10.5302/J.ICROS.2004.10.4.357
Earlier models of card vending machines have generally motion drives with high cost and large size. However, current trend in card vending machines requires low-cost, compact-sized and readily installable motion drives. This paper shows the operational principle of the motion drive of a card vending machine and then presents the performance test results of the motion drive with improved mechanisms proposed in the paper. The results show that the proposed mechanism is valid and improves the card dispensing performance. The proposed model in the paper is accepted and introduced in the actual production line.
Fault Detection and Isolation using Singular Value Decomposition for Redundant Sensors System
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 364~370
DOI : 10.5302/J.ICROS.2004.10.4.364
In this paper, we propose a FDI method, which comes from singular value decomposition of measurement matrix fur redundant sensors. We analyze the performance of the proposed FDI method by comparing with the GLT method in two ways such as FDI performance and GN＆C performance. Also, we propose a GN＆C performance index by combining FDI and GN＆C performance.
Implementation of a Fieldbus System Based On Distributed Network Protocol Version 3.0
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 371~376
DOI : 10.5302/J.ICROS.2004.10.4.371
Distributed Network Protocol Version 3.0 (DNP3.0) is the communication protocol developed for the interoperability between a RTU and a central control station of SCADA in the power utility industry. In this paper DNP3.0 is implemented by using HDL with FPGA and C program on Hitachi H8/532 processor. DNP3.0 is implemented from physical layer to network layer in hardware level to reduce the computing load on a CPU. Finally, the ASIC for DNP3.0 has been manufactured from Hynix Semiconductor. The commercial feasibility of the hardware through the communication test with ASE2000 and DNP Master Simulator is performed. The developed protocol becomes one of IP, and can be used to implement SoC for the terminal device in SCADA systems. Also, the result can be applicable to various industrial controllers because it is implemented in HDL.
Scheduling of Tasks and Messages under Noise Environment
Journal of Institute of Control, Robotics and Systems, volume 10, issue 4, 2004, Pages 377~384
DOI : 10.5302/J.ICROS.2004.10.4.377
Nowadays, control systems consist of smart sensors, smart actuators, and controllers connected via fieldbus. Some devices such as motors in plant environments generate high degrees of EMI or noise. This noise may cause communication errors and make the successful transmission of data longer. Therefore, the noise condition has to be considered at the design of a reliable control system based on a network. This paper presents a scheduling method of task and message to guarantee the given end-to-end constraints under noise environments. A noise model with multi-sources of noise is used, and the analysis method of message's response time is presented when the noise model is applied to CAN (Controller Area Network). Two kinds of noise models are applied to an example system, and the effect to each control loop s end-to-end response time is analyzed. We believe that the proposed method help system designers design the control system guaranteeing its requirements under noise environment.