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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 12, Issue 12 - Dec 2006
Volume 12, Issue 11 - Nov 2006
Volume 12, Issue 10 - Oct 2006
Volume 12, Issue 9 - Aug 2006
Volume 12, Issue 8 - Jul 2006
Volume 12, Issue 7 - Jul 2006
Volume 12, Issue 6 - Jun 2006
Volume 12, Issue 5 - May 2006
Volume 12, Issue 4 - Apr 2006
Volume 12, Issue 3 - Mar 2006
Volume 12, Issue 2 - Feb 2006
Volume 12, Issue 1 - Jan 2006
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Reduced Order Observer Based Sliding Mode Control
Choi, Han-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1057~1060
DOI : 10.5302/J.ICROS.2006.12.11.1057
This paper presents an LMI-based method to design a reduced order observer based sliding mode controller for a class of uncertain systems. Using LMIs we derive an existence condition of a reduced order observer and a sliding mode control law. And we give explicit formulas of the gain matrices. Finally, we give a numerical design example, together with a design algorithm.
Sliding Mode Control with Velocity Feedforward Gain of a Pneumatic Motor
Kim, Geun-Mook ; Kang, E-Sok ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1061~1064
DOI : 10.5302/J.ICROS.2006.12.11.1061
In this study, the performance of the tracking control of a pneumatic servo motor driven position control system using sliding mode is investigated. It is usually quite difficult to obtain precise tracking control of a pneumatic servo motor driven position control system because of the nonlinear deadband and stick-slip friction of the proportional valve. Therefore, a continuous sliding mode controller with velocity feedforward gain is proposed. Experimental results show that the tracking accurracy can be remarkably improved by adding a proper velocity feedforward term to continuous sliding mode controller.
ft Study on the Dither Random Noise for Improving the Bias Stability of Ring Laser Gyroscope
Shim, Kyu-Min ; Kim, Cheon-Joong ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1065~1073
DOI : 10.5302/J.ICROS.2006.12.11.1065
In this paper we confirm the relation between the phases and phase errors of the beat signal at the lock-in region of the amplitude modulation type ring laser gyroscope by numerical calculation. Based on this facts, we, numerically, study the envelopes and magnitudes of the dither noise for statistically summing out the beat signal phase error, and we, experimently, confirm these numerical results. As a result, we find that the dither noise requires the increase gradient and the decrease gradient of the dither amplitudes, and those gradients should be combined with white noise. The magnitude of the dither noise which is satisfied with these requirements should be more than 5 percents of the average dither amplitude.
Development of a Real Time Three-Dimensional Motion Capture System by Using Single PSD Unit
Jo, Yong-Jun ; Oh, Choon-Suk ; Ryu, Young-Kee ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1074~1080
DOI : 10.5302/J.ICROS.2006.12.11.1074
Motion capture systems are gaining popularity in entertainment, medicine, sports, education, and industry, with animation and gaming applications for entertainment taking the lead. A wide variety of systems are available for motion capture, but most of them are complicated and expensive. In the general class of optical motion capture, two or more optical sensors are needed to measure the 3D positions of the markers attached to the body. Recently, a 3D motion capture system using two Position Sensitive Detector (PSD) optical sensors was introduced to capture high-speed motion of an active infrared LED marker. The PSD-based system, however, is limited by a geometric calibration procedure for two PSD sensor modules that is too difficult for common customers. In this research, we have introduced a new system that used a single PSD sensor unit to obtain 3D positions of active IR LED-based markers. This new system is easy to calibrate and inexpensive.
Hybrid Sliding Mode Control of 5-link Biped Robot in Single Support Phase Using a Wavelet Neural Network
Kim, Chul-Ha ; Yoo, Sung-Jin ; Choi, Yoon-Ho ; Park, Jin-Bae ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1081~1087
DOI : 10.5302/J.ICROS.2006.12.11.1081
Generally, biped walking is difficult to control because a biped robot is a nonlinear system with various uncertainties. In this paper, we propose a hybrid sliding-mode control method using a WNN uncertainty observer for stable walking of the 5-link biped robot with model uncertainties and the external disturbance. In our control system, the sliding mode control is used as main controller for the stable walking and a wavelet neural network(WNN) is used as an uncertainty observe. to estimate uncertainties of a biped robot model, and the error compensator is designed to compensate the reconstruction error of the WNN. The weights of WNN are trained by adaptation laws that are induced from the Lyapunov stability theorem. Finally, the effectiveness of the proposed control system is verified through computer simulations.
Auto Path Generation and Active Compliance Force Control Using 3-axis Grinding Robot
Choo, Jung-Hoon ; Kim, Soo-Ho ; Lee, Sang-Bum ; Kim, Jung-Min ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1088~1094
DOI : 10.5302/J.ICROS.2006.12.11.1088
In this paper, an auto path generation and an active compliance grinding control using 3-axis farce sensor are presented. These control algorithms enable the grinding robot to follow unknown path of various workpiece shape pattern. The robot is able to go grinding along unknown paths by position controller managing tangential direction angle and cutting speed, with only information about the start position and the end position. Magnitude and direction of normal force are calculated using force data that go through low pass filter. Moreover, normal and tangential directions are separated for force control and velocity control, respectively.
Wafer Position Sensing and Control in the Clean Tube System
Kim, Yu-Jin ; Shin, Dong-Hun ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1095~1101
DOI : 10.5302/J.ICROS.2006.12.11.1095
The clean tube system was developed as a means of transferring air-floated wafers inside a closed tube filled with super clean air. This paper presents a wafer position sensing method in the clean tube system, where the photo proximity sensors are used. The first presented method uses the two positions sensed lately in order to compute the wafer center position. The next method uses the latest sensed position and the next latest position compensated with the information of the wafer velocity. The third method uses the kalman filter, which enable us to use all the previous sensing information. The simulation results are compared to show results of the presented method. In addition, the paper presents a control method to stop the wafer at the center of the unit in the clean tube system. The experimental clean tube system worked successfully with the applying the both presented methods of sensing and control.
Grasp Stability Analysis in Dual-Space and Optimal Grasp Planning for Two-Fingered Robots in 2-D
Kook, Myung-Ho ; Jang, Myeong-Eon ; Lee, Ji-Hong ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1102~1110
DOI : 10.5302/J.ICROS.2006.12.11.1102
This paper addresses the problem of computing grasp stability of the object for two-fingered robots in two dimensions. The concepts of force-closure and dual space are introduced and discussed in novel point of view, and we transform friction cones in a robot work space to line segments in a dual space. We newly define a grasp stability index by calculating intersection condition between line segments in dual space. Moreover, we propose a method to find the optimal grasp points of the given object by comparing the defined grasp stability index. Its validity and effectiveness are investigated and verified by simulations for quadrangle object and elliptic objects.
Sensorless Vibratory Orienting of Small Polygonal Parts
Han, In-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1111~1118
DOI : 10.5302/J.ICROS.2006.12.11.1111
This paper covers topics related to the investigations for the problem of sensorless vibratory orienting of polygonal parts with high probability through dynamic simulation. The author's program for mechanical systems with changing topologies was experimentally validated and was used as a simulation and design tool for motion behaviors of the vibratory parts-orienting system in the dynamic environment. A flat level vibrating bar is proposed as a means of orienting parts. Dynamic manipulation, in which a part is repeatedly caught and tossed by the bar without sensing, forms the fundamental manipulation strategy. This paper presents how to plan vibratory manipulation strategies that can orient a small rigid polygonal part using interaction between the part and the vibrating bar without requiring sensing. The planned motion strategies have been experimentally validated to show how the dynamic simulation can be used to find favorable vibration parameters for a given part without knowledge of their initial orientations.
Flame Image Processing System for Combustion Condition Monitoring of Pulverized Coal Firing Boilers in Thermal Power Plant
Baek, Woon-Bo ; Shin, Jin-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1119~1123
DOI : 10.5302/J.ICROS.2006.12.11.1119
The flame image processing and analysis system has been investigated for the optimal pulverized coal firing of thermal power plant, especially for lower nitrogen oxide generation and more safe operation. We aimed at gaining the relationship between burner flame image information and emissions of nitrogen oxide and unburned carbon in furnace utilizing the flame image processing methods, by which we quantitatively determine the condition of combustion on the individual humors. Its feasibility test was undertaken with a pilot furnace for coal firing, through which the system was observed to be effective for the monitoring of the combustion condition of pulverized coal firing boilers.
Performance Analysis of In-Flight Alignment Using UKF
Kang, Woo-Yong ; Kim, Kwang-Jin ; Park, Chan-Gook ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1124~1129
DOI : 10.5302/J.ICROS.2006.12.11.1124
In this paper, in-flight alignment algorithm using UKF is presented for an SDINS aided by SSBL or GPS system under large initial heading error. The EKF usually applied for this task. This approximates the propagation of mean and covariance accurate to first-order only. To overcome this limitation, the unscented transformation that achieves second order approximation is applied to the in-flight alignment. To analyze the performance of the proposed method, simulations for S-type trajectory are carried out. The results show that performance of EKF and UKF are the almost same when the initial heading error is smaller than
, but UKF has a better performance for large initial heading error about
A Study on the Design of Software Switching Mechanism for Develops the Flight Control Law
Kim, Chong-Sup ; Cho, In-Je ; Ahn, Jong-Min ; Shin, Ji-Hwan ; Park, Sang-Seon ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1130~1137
DOI : 10.5302/J.ICROS.2006.12.11.1130
Relaxed Static Stability(RSS) concept has been applied to improve aerodynamic performance of modern version supersonic jet fighter aircraft. Therefore, the flight control systems are necessary to stabilizes the unstable aircraft and provides adequate handling qualities. The initial production flight control system are verified by flight test and it's always an elements of danger because of flight-critical nature of control law function and design error due to model base design method. These critical issues impact to flight safety, and it could be lead to a loss of aircraft and pilot's life. Therefore, development of an easily modifiable RFCS(Research Flight Control System) capable of reverting to a PFCS(Primary Flight Control System) of reliable control law must be developed to guarantee the flight safety. This paper addresses the concept of SSWM(Software Switching Mechanism) using the fader logic such as TFS(Transient Free Switch) based on T-50 flight control law. The result of the analysis based on non-real time simulation in-house software using SSWM reveals that the flight control system are switching between two computers without any problem.
Tree-based Deployment Algorithm in Mobile Sensor Networks
Moon, Chong-Chun ; Park, Jae-Hyun ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1138~1143
DOI : 10.5302/J.ICROS.2006.12.11.1138
Sensor deployment is an important issue in the mobile wireless sensor network. In this paper, we propose a deployment algorithm for mobile sensor network to spread out mobile sensor nodes widely as well as regularly. Since the proposed algorithm uses tree topology in deploying the sensor nodes, calculating power as well as spreading speed can be reduced compare to other deployment algorithms. The performance of the proposed algorithm is simulated using NS-2 simulator and demonstrated.
Implementation and Experimental Evaluation of Bandwidth Allocation Scheme on MS/TP Protocol
Kwon, Young-Chan ; Hong, Seung-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1144~1155
DOI : 10.5302/J.ICROS.2006.12.11.1144
Digital communication networks have become a core technology in advanced building automation systems. BACnet(Building Automation and Control networks) is a standard data communication protocol designed specifically for building automation and control systems. BACnet adopts Master-Slave/Token-Passing(MS/TP) protocol as one of its field level networks. In this study, we introduce a method of implementing a bandwidth allocation scheme in the MS/TP protocol. The bandwidth allocation scheme improves the capability of real-time communication of the original MS/TP protocol. The bandwidth allocation scheme introduced in this paper can be easily implemented in the existing MS/TP protocol with a slight modification. In this study, we actually developed the hardware and firmware of the modified MS/TP communication module in which the bandwidth allocation scheme is implemented. Using the modified MS/TP communication module, we developed an experimental model in order to examine the validity of the bandwidth allocation scheme in the MS/TP protocol. Experimental results show that the modified MS/TP protocol satisfies the requirements of real time communication for periodic and urgent messages of BACnet communication services.
Modified East labeling Algorithm for the Surface Defect Inspection of Cold Mill Strip
Kim, Kyoung-Min ; Park, Joong-Jo ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 11, 2006, Pages 1156~1161
DOI : 10.5302/J.ICROS.2006.12.11.1156
This paper describes a fast image labeling algorithm for the feature extraction of connected components. Labeling the connected regions of a digitized image is a fundamental computation in image analysis and machine vision, with a large number of application that can be found in various literature. This algorithm is designed for the surface defect inspection of Cold Mill Strip. The labeling algorithm permits to separate all of the connected components appearing on the Cold Mill Strip.