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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
Selecting the target year
A Study on Dong Scheduling Using HIV Dynamics and Optimal Control
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 475~486
DOI : 10.5302/J.ICROS.2004.10.6.475
The interaction of HIV and human immune system was studied in the perspective of dynamics. We summarized the recent researches on drug scheduling using optimal control theory for HIV treatment. The drug treatment to make immune system to work properly is investigated based on mathematical models including memory CTLp. In the simulation results, it was verified that stopping medication after a certain period of treatment can lead a patient to be cured naturally by one s immune system. Also, we summarized and categorized the advantages and disadvantages of each HIV drug scheduling method. In conclusion, model-based predictive control is more efficient for making decision of drug dose than other methods, when there exist uncertainties on model parameters or state variables.
A New Lighting System for the Inspection of Check Defect of CRT Panel
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 487~493
DOI : 10.5302/J.ICROS.2004.10.6.487
In this Paper, we propose a lighting system for the stable detection of check defects of the CRT panel through the analysis of the lighting interaction between the lighting unit and the CRT panel. The check defect is very difficult to detect reliably because of its high sensitivity according to the direction of incident light. At first, we model the physical shape of check defects using SEM image. And then we apply physics based illumination model to investigate the optical characteristics of the check defect. Finally, we propose a lighting system for the stable detection of check defect. Experimental results show the feasibility of the proposed lighting system for check inspection.
Development of Automatic ALC Block Measurement System Using Machine Vision
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 494~500
DOI : 10.5302/J.ICROS.2004.10.6.494
This paper presents a machine vision system, which inspects the measurement of the ALC block on a real-time basis in the production process. The automatic measurement system was established with a CCD camera, an image grabber, and a personal computer without using assembled measurement equipment. Images obtained by this system was processed by an algorithm, specially designed for an enhanced measurement accuracy. For the realization of the proposed algorithm, a preprocessing method that can be applied to overcome uneven lighting environment, boundary decision method, unit length decision method in uneven condition with rocking objects, and a projection of region using pixel summation are developed. From our experimental results, we could find that the required measurement accuracy specification is sufficiently satisfied by using the proposed method.
An Implementation of Traffic Accident Detection System at Intersection based on Image and Sound
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 501~509
DOI : 10.5302/J.ICROS.2004.10.6.501
The frequency of car accidents is very high at the intersection. Because of the state of a traffic signal, quarrels happen after accidents. At night many cars run away after causing an accident. In this case, accident analyses have been conducted by investigating evidences such as eyewitness accounts, tire tracks, fragments of the car or collision traces of the car. But these evidences that don't have enough objectivity cause an error in judgment. In the paper, when traffic accidents happen, the traffic accident detection system that stands on the basis of images and sounds detects traffic accidents to acquire abundant evidences. And, this system transmits 10 seconds images to the traffic center through the wired net and stores images to the Smart Media Card. This can be applied to various ways such as accident management, accident DB construction, urgent rescue after awaring the accident, accident detection in tunnel and in inclement weather.
Automatic Performance Tuning of PID Trajectory Tracking Controller for Robotic Systems
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 510~518
DOI : 10.5302/J.ICROS.2004.10.6.510
The PID trajectory tracking controller for robotic systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point can not be defined for the control system involving performance limitation, we define newly the quasi-equilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide us the auto-tuning method for PID controller. Also, the quasi-equilibrium region is used as the target performance of auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability and the characteristics of performance limitation. Finally, experimental results show that the target performance can be achieved by the proposed automatic tuning method.
A New Washout Algorithm for Reappearance of Driving Perception of Simulator
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 519~528
DOI : 10.5302/J.ICROS.2004.10.6.519
For reappearance of driving perception in a driving simulator, a washout algorithm is required. This algorithm can reappear the vehicle driving motions within workspace of the driving simulator. However classical washout algorithm contains several problems such as selection of order, cut-off frequency of filters, generation of wrong motion cues by characteristics of filters, etc. In order to overcome these problems, this paper proposes a new washout algorithm which gives more accurate sensations to drivers. The algorithm consists of an artificial inclination of the motion plate and human perception model with band pass filter and dead zone. As a result of this study, the motion of a real car could be reappeared satisfactorily in the driving simulator and the workspace of motion plate is restrained without scaling factor.
Autonomous Navigation of Mobile Robot Using Global Ultrasonic System
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 529~536
DOI : 10.5302/J.ICROS.2004.10.6.529
Autonomous navigation of an indoor mobile robot using the global ultrasonic system is presented in this paper. Since the trajectory error of the dead-reckoning navigation grows with time and distance, the autonomous navigation of a mobile robot requires to localize the current position of the robot, so that to compensate the trajectory error. The global ultrasonic system consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers on the mobile robot has the similar structure with the well-known satellite GPS(Global Positioning System), and it is useful for the self-localization of an indoor mobile robot. The EKF(Extended Kalman Filter) algorithm for the self-localization is proposed and the autonomous navigation based on the self-localization is verified by experiments.
Optimal Design Of Multisite Batch-Storage Network under Scenario Based Demand Uncertainty
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 537~544
DOI : 10.5302/J.ICROS.2004.10.6.537
An effective methodology is reported for determining the optimal lot size of batch processing and storage networks which include uncertain demand forecasting. We assume that any given storage unit can store one material type which can be purchased from suppliers, internally produced, infernally consumed, transported to or from other sites and/or sold to customers. We further assume that a storage unit is connected to all processing and transportation stages that consume/produce or move the material to which that storage unit is dedicated. Each processing stage transforms a set of feedstock materials or intermediates into a set of products with constant conversion factors. A batch transportation process can transfer one material or multiple materials at once between sites. The objective for optimization is to minimize the probability averaged total cost composed of raw material procurement, processing setup, transportation setup and inventory holding costs as well as the capital costs of processing stages and storage units. A novel production and inventory analysis formulation, the PSW(Periodic Square Wave) model, provides useful expressions for the upper/lower bounds and average level of the storage inventory. The expressions for the Kuhn-Tucker conditions of the optimization problem can be reduced to two sub-problems. The first yields analytical solutions for determining lot sires while the second is a separable concave minimization network flow subproblem whose solution yields the average material flow rates through the networks for the given demand forecast scenario. The result of this study will contribute to the optimal design and operation of the global supply chain.
Study On the Design of Risk Management Web-Monitoring System using AANN
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 545~550
DOI : 10.5302/J.ICROS.2004.10.6.545
Recent natural disasters like flooding and slope collapse have shown the need for natural risk management system, as they endanger directly public health and cause severe damages on the national economy. In order to improve the efficiency of risk management systems, this management system based on AANN(Auto-Associative Neural Network)is proposed in this paper. AANN can be effectively used for identification of abnormal data and data compression. The proposed AANN-based risk management system collects and stores measurement data from sensors and transmits them to remote server for web-monitoring. Generally, it is desirable to transmit the compressed data instead of raw data in normal state. However, if dangerous situation happens, rapid tramission of measurement data should be required. These requirements are easily satisfied by using AANN. In order to verify the feasibilities of the proposed system, The AANN-based risk management system is applied to slope collapse monitoring system.
A Study on the Coagulant Dosing Control Based on Neural Network and Streaming Current Detector for Water Treatment Plant
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 551~556
DOI : 10.5302/J.ICROS.2004.10.6.551
Coagulation process is one of the most important processes in water treatment procedures for stable and economical operation, and coagulant dosing of this process for most plants is generally determined by the jar test. However, this method does not only take a long time to analyze and get the result but also has difficulties in applying to automatic control. This paper shows the feasibility of applying neural network to control the coagulant dosing automatically in water treatment plant. To be specific, the predicted results of the neural network model is shown to be similar to that of jar test. The input variables for learning the neural network are turbidity, water temperature, pH, and alkalinity. Combining the neural network and SCD(Streaming Current Detector) for feedforward and feedback control of injecting coagulant, a rapid change of the raw water quality can be accommodated.
Development and Flight Result of Inertial Navigation System for KSR-III Rocket
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 557~565
DOI : 10.5302/J.ICROS.2004.10.6.557
The Korean space program was marked by the successful launching of a KSR-III liquid propelled sounding rocket. The Inertial Navigation System (INS) which carries out critical mission functions of navigation, guidance and control was domestically developed and perfectly certified through the flight test. The system consists of a strapdown inertial measurement, an onboard computer and flight software. This paper will describes the development works of the inertial navigation system, including top level system design, hardware and software. And it summarizes flight results.
Development of a LonRF Intelligent Device-based Ubiquitous Home Network Testbed
Journal of Institute of Control, Robotics and Systems, volume 10, issue 6, 2004, Pages 566~573
DOI : 10.5302/J.ICROS.2004.10.6.566
This paper describes the ubiquitous home network (uHome-net) testbed and LonRF intelligent devices based on LonWorks technology. These devices consist of Neuron Chip, RF transceiver, sensor, and other peripheral components. Using LonRF devices, a home control network can be simplified and most devices can be operated on LonWorks control network. Also, Indoor Positioning System (IPS) that can serve various location based services was implemented in uHome-net. Smart Badge of IPS, that is a special LonRF device, can measure the 3D location of objects in the indoor environment. In the uHome-net testbed, remote control service, cooking help service, wireless remote metering service, baby monitoring service and security ＆ fire prevention service were realized. This research shows the vision of the ubiquitous home network that will be emerged in the near future.