Go to the main menu
Skip to content
Go to bottom
REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
> Journal Vol & Issue
Journal of Institute of Control, Robotics and Systems
Journal Basic Information
Journal DOI :
Institute of Control, Robotics and Systems
Editor in Chief :
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
Selecting the target year
A Study on the Flight Control Law and the Dynamic Characteristic about Variation of Feedback Gains of T-50 Lateral-Directional Axis
Kim Chong-Sup ; Hwang Byung-Moon ; Kang Young-Shin ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 621~630
DOI : 10.5302/J.ICROS.2006.12.7.621
The T-50 advanced trainer aircraft combines advanced aerodynamic features and a fly-by-wire flight control system in order to produce a stability and highly maneuverability. The flight control system both longitudinal and lateral-directional axes to achieve performance enhancements and improve stability. The T-50 employs the RSS concept in order to improve the aerodynamic performance in longitudinal axis and the longitudinal control laws employ the dynamic inversion with proportional-plus-integral control method. And, lateral-directional control laws employ the blended roll system both beta-betadot feedback and simple roll rate feedback with proportional control method in order to guarantee aircraft stability. This paper details the design process of developing lateral-directional control laws, utilizing the requirement of MIL-F-8785C and MIL-F-9490D. And, this paper propose the analysis of aircraft characteristics such as dutch-roll mode, roll mode, spiral mode, gain and phase margin about gains for lateral-directional inner loop feedback.
GMDH Algorithm with Data Weighting Performance and Its Application to Power Demand Forecasting
Shin Jae-Ho ; Hong Yeon-Chan ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 631~636
DOI : 10.5302/J.ICROS.2006.12.7.631
In this paper, an algorithm of time series function forecasting using GMDH(group method of data handling) algorithm that gives more weight to the recent data is proposed. Traditional methods of GMDH forecasting gives same weights to the old and recent data, but by the point of view that the recent data is more important than the old data to forecast the future, an algorithm that makes the recent data contribute more to training is proposed for more accurate forecasting. The average error rate of electric power demand forecasting by the traditional GMDH algorithm which does not use data weighting algorithm is 0.9862 %, but as the result of applying the data weighting GMDH algorithm proposed in this paper to electric power forecasting demand the average error rate by the algorithm which uses data weighting algorithm and chooses the best data weighting rate is 0.688 %. Accordingly in forecasting the electric power demand by GMDH the proposed method can acquire the reduced error rate of 30.2 % compared to the traditional method.
Tracking Performance Improvement for Optical Disk Drive Using Error-based Modified Disturbance Observer
Kim Hong-Rok ; Choi Young-Jin ; Suh Il-Hong ; Chung Wan-Kyun ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 637~643
DOI : 10.5302/J.ICROS.2006.12.7.637
Generally, the tracking performance of optical disk drive(ODD) system can be improved using a disturbance observer(DOB). However, a DOB is not easily applied in an ODD system because an additional microprocessor, such as a digital signal processor(DSP), is needed. This paper shows how a DOB system can be replaced by the error-based modified disturbance observer(EM-DOB) when two mathematical conditions are satisfied. Due to the simplified structure of EM-DOB, the algorithm is easily implemented as an analog circuit, which is suitable for the ODD servo system. Additionally, in these algorithms, disturbances rejection performances can be tuned as Q filter parameters. Similar to a DOB system, three design guidelines of a Q filter can be applied. Experimental results of DOB and EM-DOB are evaluated under forced disturbances.
System Parameter Estimation and PID Controller Tuning Based on PPGAs
Shin Myung-Ho ; Kim Min-Jeong ; Lee Yun-Hyung ; So Myung-Ok ; Jin Gang-Gyoo ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 644~649
DOI : 10.5302/J.ICROS.2006.12.7.644
In this paper, a methodology for estimating the model parameters of a discrete-time system and tuning a digital PID controller based on the estimated model and a genetic algorithm is presented. To deal with optimization problems regarding parameter estimation and controller tuning, pseudo-parallel genetic algorithms(PPGAs) are used. The parameters of a discrete-time system are estimated using both the model adjustment technique and a PPGA. The digital PID controller is described by the pulse transfer function and then its three gains are tuned based on both the model reference technique and another PPGA. A set of experimental works on two processes are carried out to illustrate the performance of the proposed method.
The Estimation Method of the Impact Position Using the Envelope of Impact Signal
Lee Wee-Hyuk ; Woo Kyoung-Hang ; Choi Won-Ho ; Lee Jae-Kook ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 650~657
DOI : 10.5302/J.ICROS.2006.12.7.650
The LPMS (Loose Part Monitoring Systems) are used widely for detecting the impact position in the nuclear reactor. There are some major methods to detect impact position in LPMS such as the triangular method, the rectangular method, the circular intersection method and so on. The time difference of these methods are calculated using S0-mode and A0-mode waves of each sensor. In this paper, we propose a method to detect impact position using the enveloped waves of acquired signals. The result of this paper show that the position detecting accuracy and reducing the processing time are proposed method is improved than traditional methods.
RVDT Phase Error Compensation for Absolute Displacement Measurement
Shin Dong-Yun ; Yang Yoon-Gi ; Lee Chang-Su ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 658~665
DOI : 10.5302/J.ICROS.2006.12.7.658
RVDT is a transducer that presents rotary phase angle according to the displacement of eccentric rotor such as press machine. However a study on the phase error of RVDT that affects precision is not enough. This paper analyzes RVDT phase error and obtains compensation curves with serial or parallel resistance through simulation. First, error compensation procedure that analyses errors due to the unbalance of reference inductances of each pole and uses parallel resistance as a compensation is proposed. Second, error compensation procedure due to the amplitude unbalance of the sensor driving currents is examined by serial compensation resistance. Experimentally, we got stable RVDT with phase error under
by the proposed method.
Reinforcement Learning Method Based Interactive Feature Selection(IFS) Method for Emotion Recognition
Park Chang-Hyun ; Sim Kwee-Bo ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 666~670
DOI : 10.5302/J.ICROS.2006.12.7.666
This paper presents the novel feature selection method for Emotion Recognition, which may include a lot of original features. Specially, the emotion recognition in this paper treated speech signal with emotion. The feature selection has some benefits on the pattern recognition performance and 'the curse of dimension'. Thus, We implemented a simulator called 'IFS' and those result was applied to a emotion recognition system(ERS), which was also implemented for this research. Our novel feature selection method was basically affected by Reinforcement Learning and since it needs responses from human user, it is called 'Interactive feature Selection'. From performing the IFS, we could get 3 best features and applied to ERS. Comparing those results with randomly selected feature set, The 3 best features were better than the randomly selected feature set.
Smoothly Connected Path Generation and Time-Scheduling Method for Industrial Robot Applications
Lee Won-Il ; Ryu Seok-Chang ; Cheong Joo-No ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 671~678
DOI : 10.5302/J.ICROS.2006.12.7.671
This article proposes a smooth path generation and time scheduling method for general tasks defined by non-smooth path segments in industrial robotic applications. This method utilizes a simple 3rd order polynomial function for smooth interpolation between non-smooth path segments, so that entire task can effectively maintain constant line speed of operation. A predictor-corrector type numerical mapping technique, which correlates time based speed profile to the smoothed path in Cartesian space, is also provided. Finally simulation results show the feasibility of the proposed algorithm.
Development of Omni-Directional Mobile Robot System with Rocker-Bogie Link Structure
Gang Taig-Gi ; Yi Soo-Yeong ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 679~685
DOI : 10.5302/J.ICROS.2006.12.7.679
In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.
Localization of 3D Spatial Information from Single Omni-Directional Image
Kang Hyun-Deok ; Jo Kang-Hyun ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 686~692
DOI : 10.5302/J.ICROS.2006.12.7.686
This paper shows the calculation of 3D geometric information such as height, direction and distance under the constraints of a catadioptric camera system. The catadioptric camera system satisfies the single viewpoint constraints adopting hyperboloidal mirror. To calculate the 3D information with a single omni-directional image, the points are assumed to lie in perpendicular to the ground. The infinite plane is also detected as a circle from the structure of the mirror and camera. The analytic experiments verify the correctness of theory using real images taken in indoor environments like rooms or corridors. Thus, the experimental results show the applicability to calculate the 3D geometric information using single omni-directional images.
Thinning-Based Topological Map Building for Local and Global Environments
Kwon Tae-Bum ; Song Jae-Bok ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 693~699
DOI : 10.5302/J.ICROS.2006.12.7.693
An accurate and compact map is essential to an autonomous mobile robot system. For navigation, it is efficient to use an occupancy grid map because the environment is represented by probability distribution. But it is difficult to apply it to the large environment since it needs a large amount of memory proportional to the environment size. As an alternative, a topological map can be used to represent it in terms of the discrete nodes with edges connecting them. It is usually constructed by the Voronoi-like graphs, but in this paper the topological map is incrementally built based on the local grid map using the thinning algorithm. This algorithm can extract only meaningful topological information by using the C-obstacle concept in real-time and is robust to the environment change, because its underlying local grid map is constructed based on the Bayesian update formula. In this paper, the position probability is defined to evaluate the quantitative reliability of the end nodes of this thinning-based topological map (TTM). The global TTM can be constructed by merging each local TTM by matching the reliable end nodes determined by the position probability. It is shown that the proposed TTM can represent the environment accurately in real-time and it is readily extended to the global TTM.
A Collision Avoidance Algorithm for Two Mobile Robots with Independent Goals in Skeleton Map
Yang Dong-Hoon ; Hong Suk-Kyo ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 700~705
DOI : 10.5302/J.ICROS.2006.12.7.700
This paper proposes a collision avoidance algorithm for two mobile robots with independent goals in a same workspace. Using skeleton map, an environment is presented as a graph consisting of nodes and arcs. Robots generate the shortest set of paths using the combination of objective functions of the two robots. Path for collision avoidance of a robot can be selected among three class; the shortest path, detour, paths with a waiting time at safety points around crossing points. Simulation results are presented to verify the efficiency of the proposed algorithms.
Block-wise Adaptive Predictive PLS using Block-wise Data Extraction
Kim Sung-Young ; Chung Chang-Bock ; Choi Soo-Hyoung ; Lee Bom-Sock ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 706~712
DOI : 10.5302/J.ICROS.2006.12.7.706
Recursive Partial Least Squares(RPLS) method has been used for processing the on-line available multivariate chemical process data and modeling adaptive prediction model for process changes. However, RPLS method is unstable in PLS model updating because RPLS method updates PLS model by merging past PLS model and new data. In this study, Adaptive Predictive Partial Least Squres(APPLS) method is suggested for more sensitive adaptation to process changes. By expanding APPLS method, block-wise Adaptive Predictive Partial Least Squares(block-wise APPLS) method is suggested for a lager scale data of chemical processes. APPLS method has been applied to predict the reactor properties and the product quality of a direct esterification reactor for polyethylene terephthalate(PTT), and block-wise APPLS method has been applied to predict the cetane number using NIR Diesel Spectra data. APPLS and block-wise APPLS methods show better prediction and updating performance than RPLS method.
A Study on Improvement of Aircraft Handling Quality for Asymmetric Loading Configuration from Flight Test
Kim Chong-Sup ; Hwang Byung-Moon ; Kim Seung-Jun ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 713~718
DOI : 10.5302/J.ICROS.2006.12.7.713
Supersonic jet fighter aircraft have several different weapon loading configuration to support air-to-air combat and air-to-ground delivery of weapon modes. Especially, asymmetric loading configurations could result in decreased handling qualities for the pilot maneuvering of the aircraft. The design of the T-50 lateral-directional roll axis control laws change from beta-betadot feedback structure to simple roll rate feedback structure and gains such as F-16 in order to improve roll-off phenomena during pitch maneuver in asymmetric loading configuration. Consequently, it is found that the improved control law decreases the roll-off phenomenon in lateral axes during pitch maneuver, but initial roll response is very fast and wing pitching moment is increased. In this paper, we propose the lateral control law blending between beta-betadot and simple roll rate feedback system in order to decreases the roll-off phenomenon in lateral axes during pitch maneuver without degrading of roll performance.
Maximum Allowable Delay Bounds and Real-time Scheduling Method of Networked Discrete-time Control Systems
Kim Dong-Sung ; Choi Dong-Hyuk ;
Journal of Institute of Control, Robotics and Systems, volume 12, issue 7, 2006, Pages 719~727
DOI : 10.5302/J.ICROS.2006.12.7.719
This paper proposes a new method to obtain a maximum allowable delay bound for a scheduling of networked discrete control systems and event-based scheduling method. The proposed method is formulated in terms of linear matrix inequalities and can give a much less conservative delay bound than the existing methods. A network scheduling method is presented based on the delay obtained through the proposed method, and it can adjust the sampling period to allocate same utilization to each control loop. The presented method can handle three types of data (sporadic, emergency data, periodic data and non real-time message) and guarantees real-time transmission of periodic and sporadic emergency data using modified EDF scheduling method.