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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
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Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 11, Issue 12 - Dec 2005
Volume 11, Issue 11 - Nov 2005
Volume 11, Issue 10 - Oct 2005
Volume 11, Issue 9 - Sep 2005
Volume 11, Issue 8 - Aug 2005
Volume 11, Issue 7 - Jul 2005
Volume 11, Issue 6 - Jun 2005
Volume 11, Issue 5 - May 2005
Volume 11, Issue 4 - Apr 2005
Volume 11, Issue 3 - Mar 2005
Volume 11, Issue 2 - Feb 2005
Volume 11, Issue 1 - Jan 2005
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Controller Design and Stability Analysis of Affine System with Dead-Time
Yang Hai-Won ; Byun Hwang-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 93~102
DOI : 10.5302/J.ICROS.2005.11.2.093
The Nyquist robust stability margin is proposed as a measure of robust stability for systems with Affine TFM(Transfer Function Matrix) parametric uncertainty. The parametric uncertainty is modeled through a Affine TFM MIMO (Multi-Input Multi-Output) description with dead-time, and the unstructured uncertainty through a bounded perturbation of Affine polynomials. Gershgorin`s theorem and concepts of diagonal dominance and GB(Gershgorin Bands) are extended to include model uncertainty. Multiloop PI/PID controllers can be tuned by using a modified version of the Ziegler-Nichols (ZN) relations. Consequently, this paper provides sufficient conditions for the robustness of Affine TFM MIMO uncertain systems with dead-time based on Rosenbrock`s DNA. Simulation examples show the performance and efficiency of the proposed multiloop design method for Affine uncertain systems with dead-time.
Accurrate Position Control of Pneumatic Manipulator Using On/Off Valves
Pyo Sung Man ; Ahn Kyoung Kwan ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 103~108
DOI : 10.5302/J.ICROS.2005.11.2.103
Loading/Unloading task in the real industry is performed by crane, but most of the loading/unloading task with the weight of 5kg∼30kg is done by human workers and this kind of work causes industrial disaster of workers. Therefore it is necessary to develop low cost loading/unloading manipulator system to prevent this kind of industrial accidents. This paper is concerned with the design and fabrication of 2 axis pneumatic manipulators using on/off solenoid valves and accurate position control without respect to the external load and low damping in the pneumatic rotary actuator. To overcome the change of external load, switching of control parameter using LVQNN (Learning Vector Quantization Neural Network) is newly applied, which estimates the external loads in the pneumatic cylinder. As an underlying controller, a state feedback controller using position, velocity and acceleration is applied to the switching control system. The effectiveness of the proposed control algorithms are demonstrated through experiments of pneumatic cylinder with various loads.
Development of Electronic Tongue System Using Fuzzy C-Means Algorithm Combined to PCA Method
Jung Woo Suk ; Hong Chul Ho ; Kim Jeong Do ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 109~116
DOI : 10.5302/J.ICROS.2005.11.2.109
In this paper, we investigate the visual and quantitative analysis at the same time with an electronic tongue(e-tongue) system using an array of ISE(ion-selective electrode). We apply the FCM(fuzzy c-means) algorithm combined with PCA(principal component analysis), which can be reduced multi-dimensional data to third-dimensional data, to classify data patterns detected by E-Tongue system. The proposed technique can be designed to solve the cluster centers and membership grade of patterns combined with the output results obtained by PCA method. According to the proposed technique, the membership grade of unknown pattern, which does not shown previously can be determined and analyzed visually. Conclusionally, the relationship between the standard patterns and unknown pattern can be easily analyzed. Throughout the experimental trials, the proposed technique has been confirmed using developed E-Tongue system.
A Last Design Utilizing an Uniform Foot Pressure FFD(UFPFFD)
Jang Yusung ; Lee Heeman ; Kim Sikyung ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 117~121
DOI : 10.5302/J.ICROS.2005.11.2.117
This paper presents a 3D last design system utilizing an uniform foot pressure FFD method. The proposed uniform foot pressure FFD(UFPFFD) is operated on the rule of foot pressure unbalance analysis and FFD. The deformation factor of the UFPFFD is constructed on the FFD lattice with the foot pressure unbalance analysis on the measured 3D foot bottom shape. In addition, the control points of FFD lattice are decided on the anatomical point and the foot pressure distribution. The 3D last design result obtained from the proposed UFPFFD is saved as a 3D dxf data format. The experimental results demonstrate that the proposed last design guarantees the balanced foot pressure distribution against on the conventional last design method.
A Technique for Alignment to True North Based on Camera in Meteorological Installation
Yoo Neung Soo ; Nam Yoo Su ; Lee Jeong Wan ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 122~126
DOI : 10.5302/J.ICROS.2005.11.2.122
A technique for alignment to true north is presented based on synchronized measurements of vision image by a camera and output voltage of wind direction sensor. The true wind direction is evaluated by means of image processing techniques with least square sense, and then evaluated true value is compared with measured output voltage of the sensor. The uncertainty analysis about the component error for the proposed method in practical situation is performed. The proposed technique is applied to real meteorological tower (wind measuring tower) at the Daekwanryung test site. In addition, some uncertainty analysis of this method is presented.
Genetically Optimized Rule-based Fuzzy Polynomial Neural Networks
Park Byoung-Jun ; Kim Hyun-Ki ; Oh Sung-Kwun ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 127~136
DOI : 10.5302/J.ICROS.2005.11.2.127
In this paper, a new architecture and comprehensive design methodology of genetically optimized Rule-based Fuzzy Polynomial Neural Networks(gRFPNN) are introduced and a series of numeric experiments are carried out. The architecture of the resulting gRFPNN results from asynergistic usage of the hybrid system generated by combining rule-based Fuzzy Neural Networks(FNN) with polynomial neural networks (PNN). FNN contributes to the formation of the premise part of the overall rule-based structure of the gRFPNN. The consequence part of the gRFPNN is designed using PNNs. At the premise part of the gRFPNN, FNN exploits fuzzy set based approach designed by using space partitioning in terms of individual variables and comes in two fuzzy inference forms: simplified and linear. As the consequence part of the gRFPNN, the development of the genetically optimized PNN dwells on two general optimization mechanism: the structural optimization is realized via GAs whereas in case of the parametric optimization we proceed with a standard least square method-based learning. To evaluate the performance of the gRFPNN, the models are experimented with the use of several representative numerical examples. A comparative analysis shows that the proposed gRFPNN are models with higher accuracy as well as more superb predictive capability than other intelligent models presented previously.
A Global Path Planning of Mobile Robot by Using Self-organizing Feature Map
Kang Hyon-Gyu ; Cha Young-Youp ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 137~143
DOI : 10.5302/J.ICROS.2005.11.2.137
Autonomous mobile robot has an ability to navigate using both map in known environment and sensors for detecting obstacles in unknown environment. In general, autonomous mobile robot navigates by global path planning on the basis of already made map and local path planning on the basis of various kinds of sensors to avoid abrupt obstacles. This paper provides a global path planning method using self-organizing feature map which is a method among a number of neural network. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.
PCB Assembly Optimization of Chip Mounters for Multiple Feeder Assignment
Kim Kyung-Min ; Park Tae-Hyoung ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 144~151
DOI : 10.5302/J.ICROS.2005.11.2.144
We propose an optimization method to reduce the assembly time of chip mounters. Feeder arrangement and assembly sequence are determined considering the multiple feeder assignment. The problem is divided into two sub-problems: feeder arrangement problem and assembly sequence problem. We present mathematical model for each sub-problem. The clustering algorithm and assignment algorithm are applied to solve the feeder arrangement problem. The assignment algorithm and connection algorithm are applied to solve the assembly sequence problem. Simulation results are then presented to verity the usefulness of the proposed method.
A Study on Architecting Method of a Welding Robot Using Model-Based System Design Method
Park Young-Won ; Kim Jin-Ill ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 152~159
DOI : 10.5302/J.ICROS.2005.11.2.152
This paper describes the application of a model-based system design method critical to complex intelligent systems, PSARE, to a welding robot development to define its top level architecture. The PSARE model consists of requirement model which describes the core processes(function) of the system, enhanced requirement model which adds technology specific processes to requirement model and allocates them to architecture model, and architecture model which describes the structure and interfaces and flows of the modules of the system. This paper focuses on the detailed procedure and method rather than the detailed domain model of the welding robot. In this study, only the top level architecture of a welding robot was defined using the PSARE method. However, the method can be repeatedly applied to the lower level architecture of the robot until the process which the robot should perform can be clearly defined. The enhanced data flow diagram in this model separates technology independent processes and technology specific processes. This approach will provide a useful base not only for improvement of a class of welding robots but also for development of increasingly complex intelligent real-time systems.
Control of Hydraulic Excavator Using Self Tuning Fuzzy Sliding Mode Control
Kim Dongsik ; Kim Dongwon ; Park Gwi-Tae ; Seo Sam-Jun ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 160~166
DOI : 10.5302/J.ICROS.2005.11.2.160
In this paper, to overcome drawbacks of FLC a self tuning fuzzy sliding mode controller is proposed, which controls the position of excavator`s attachment, which can be regarded as an ill-defined system. It is reported that fuzzy logic theory is especially useful in the control of ill-defined system. It is important in the design of a FLC to derive control rules in which the system`s dynamic characteristics are taken into account. Control rules are usually established using trial and error methods. However, in the case where the dynamic characteristics vary with operating conditions, as in the operation of excavator attachment, it is difficult to find out control rules in which all the working condition parameters are considered. Experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator. The experimental results show that both alleviation of chattering and performance are achieved. Fuzzy rules are easily obtained by using the proposed method and good performance in the following the desired trajectory is achieved. In summary, the proposed controller is very effective control method for the position control of the excavator`s attachment.
A Scheduling Method of Periodic Data in the Foundation Filedbus and Experimental Evaluation
Song Sung Min ; Hong Seung Ho ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 167~174
DOI : 10.5302/J.ICROS.2005.11.2.167
This paper experimentally validates the efficacy of scheduling method that satisfies the performance requirement of periodic data in the Foundation Fieldbus. The scheduling method allocates periodic data traffic to a bandwidth-limited fieldbus medium. The scheduling method generates schedule list that records schedule starting time and schedule period of each periodic data. This study developed an experimental model of a Foundation Fieldbus network system. Using the experimental model, this study showed that the scheduling method can be easily implemented in a practical Foundation Fieldbus network system. The results obtained from the experimental evaluation showed that the scheduling method restricts the delay of periodic data to a pre-specified bound.
Scheduling of Sporadic and Periodic Tasks and Messages with End-to-End Constraints
Oh Hoon ; Park Hong Seong ; Kim Hyoung Yuk ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 2, 2005, Pages 175~185
DOI : 10.5302/J.ICROS.2005.11.2.175
The scheduling methods of the distributed real-time systems have been proposed. However, they have some weak points. They did not schedule both sporadic and periodic tasks and messages at the same time or did not consider the end-to-end constraints such as precedence relations between sporadic tasks. This means that system scheduling must guarantee the constraints of practical systems and be applicable to them. This paper proposes a new scheduling method that can be applied to more practical model of distributed real-time systems. System model consists of sporadic and periodic tasks with precedence relations and sporadic and periodic messages and has end-to-end constraints. The proposed method is based on a binary search-based period assignment algorithm, an end-to-end laxity-based priority assignment algorithm, and three kinds of schedulability analysis, node, network, and end-to-end schedulability analysis. In addition, this paper describes the application model of sporadic tasks with precedence constraints in a distributed real-time system, shows that existing scheduling methods such as Rate Monotonic scheduling are not proper to be applied to the system having sporadic tasks with precedence constraints, and proposes an end-to-end laxity-based priority assignment algorithm.