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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 13, Issue 12 - Dec 2007
Volume 13, Issue 11 - Nov 2007
Volume 13, Issue 10 - Oct 2007
Volume 13, Issue 9 - Sep 2007
Volume 13, Issue 8 - Aug 2007
Volume 13, Issue 7 - Jul 2007
Volume 13, Issue 6 - Jun 2007
Volume 13, Issue 5 - May 2007
Volume 13, Issue 4 - Apr 2007
Volume 13, Issue 3 - Mar 2007
Volume 13, Issue 2 - Feb 2007
Volume 13, Issue 1 - Jan 2007
Selecting the target year
Global Asymptotic Stability of a Class of Nonlinear Time-Delay Systems
Choi, Joon-Young ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 187~191
DOI : 10.5302/J.ICROS.2007.13.3.187
We analyze the stability property of a class of nonlinear time-delay systems. We show that the state variable is bounded both below and above, and the lower and upper bounds of the state are obtained in terms of a system parameter by using the comparison lemma. We establish a time-delay independent sufficient condition for the global asymptotic stability by employing a Lyapunov-Krasovskii functional obtained from a change of the state variable. The simulation results illustrate the validity of the sufficient condition for the global asymptotic stability.
Hybrid PI Controller of IPMSM Drive using FAM Controller
Ko, Jae-Sub ; Choi, Jung-Sik ; Chung, Dong-Hwa ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 192~197
DOI : 10.5302/J.ICROS.2007.13.3.192
This paper presents Hybrid PI controller of IPMSM drive using fuzzy adaptive mechanism(FAM) control. In general, PI controller in computer numerically controlled machine process fixed gain. They may perform well under some operating conditions, but not all. To increase the robustness, fixed gain PI controller, Hybrid PI controller proposes a new method based self tuning PI controller. Hybrid PI controller is developed to minimize overshoot and settling time following sudden parameter changes such as speed, load torque, inertia, rotor resistance and self inductance. The results on a speed controller of IPMSM are presented to show the effectiveness of the proposed gain tuner. And this controller is better than the fixed gains one in terms of robustness, even under great variations of operating conditions and load disturbance.
Analysis on the Behavior Characteristics According to the Design Parameters of Pressure Control Valve for CVT
Kim, Joong-Bae ; Yoon, Young-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 198~204
DOI : 10.5302/J.ICROS.2007.13.3.198
The modelling and design of the PCV(Pressure Control Valve) for passenger car CVT(Continuously Variable Transmission) are considered in this paper. For analysis and design, the simulation model of the PCV is derived by using commercial software, AMESim. For a good design of the PCV, the sensitivity analysis for design parameters is carried out and the static and dynamic characteristics of the developed PCV are experimented. The simulation and experimental results are presented to show the validity of the design process.
Implementation of Wearable Sensor Glove using Pulse-wave Sensor, Conducting Fabric and Embedded System
Lee, Young-Bum ; Lee, Byung-Woo ; Lee, Myoung-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 205~209
DOI : 10.5302/J.ICROS.2007.13.3.205
Today, there are research trends about the wearable sensor device that measures various bio-signals and provides healthcare services to user using e-Health technology. This study describes the wearable sensor glove using pulse-wave sensor, conducting fabric and embedded system. This wearable sensor glove is based on the pulse-wave measurement system which is able to measure the pulse wave signal in much use of oriental medicine on the basis of a research trend of e-Health system.
Optical Path Analysis and Experiments for Optical Microphone
Kwon, Hyu-Sang ; Kim, Kyong-Woo ; Kim, Jin-Ki ; Che, Woo-Seong ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 210~217
DOI : 10.5302/J.ICROS.2007.13.3.210
The theoretical formulations are derived for calculating optical power change for intensity modulated fiber optical microphone. The optical power change is due to optical paths, misalignment and geometry of optical coupler. Based on the theoretical equations, three different optical couplers are simulated with respect to several angles of optical couplers. In order to evaluate the formulation, a multi-mode to multi-mode coupler which is one of abovementioned optical couplers is designed and characterized by carving out both static experiments and dynamic experiments. Considering experimental results, this paper conclude that the theoretical formulations is very useful for design optical coupler and this kind of fiber optic sensor is adequate to microphone.
A Measurement of Size of the Open Crack using Ultrasound Thermography
Cho, Jai-Wan ; Seo, Yong-Chil ; Jung, Seung-Ho ; Jung, Hyun-Kyu ; Kim, Seung-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 218~223
DOI : 10.5302/J.ICROS.2007.13.3.218
The dissipation of high-power ultrasonic energy at the faces of the defect causes an increase in temperature. It is resulted from localized selective heating in the vicinity of cracks because of the friction effect. In this paper the measurement of size and direction of crack using UET(Ultrasound Excitation Thermography) is described. The ultrasonic pulse energy is injected into the sample in one side. The hot spot, which is a small area around the crack tip and heated up highly, is observed. The hot spot, which is estimated as the starting point of the crack, is seen in the nearest position from the ultrasonic excitation point. Another ultrasonic pulse energy is injected into the sample in the opposite side. The hot spot, the ending point of the crack, is seen in the closest distance from the injection point also. From the calculation of the coordinates of both the first hot spot and the second hot spot observed, the size and slope of the crack is estimated. In the experiment of STS fatigue crack specimen(thickness 14mm), the size and the direction of the crack was measured.
A Camera Calibration Method using Several Images for Three Dimensional Measurement
Kang, Dong-Joong ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 224~229
DOI : 10.5302/J.ICROS.2007.13.3.224
This paper presents a camera calibration method using several images for three dimensional measurement applications such as stereo systems, mobile robots, and visual inspection systems in factories. Conventional calibration methods that use single image suffer from errors related to reference point extraction in image, lens distortion, and numerical analysis of nonlinear optimization. The camera parameter values obtained from images of same camera is not same even though we use same calibration method. The camera parameters that are obtained from several images of different view for a calibration target is usaully not same with large error values and we can not assume a special probabilistic distribution when we estimate the parameter values. In this paper, the median value of camera parameters from several images is used to improve estimation of the camera values in an iterative step with nonlinear optimization. The proposed method is proved by experiments using real images.
A Protocol for Reliable Data Transfer and Congestion Control in Wireless Sensor Networks
Kim, Hyun-Tae ; Joo, Young-Hoon ; Ra, In-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 230~234
DOI : 10.5302/J.ICROS.2007.13.3.230
Generally, huge amounts of data traffic are generated by using broadcasting method to deliver sensing data to a sink node reliably so that it makes a severe network saturation problem resulting in unreliable data transfer. In order to handle this problem, a new congestion control protocol is required for supporting reliable data transfer, minimal use of energy and network resources at the same time in wireless sensor networks. In this paper, it proposes a Protocol to guarantee both a reliable transfer in data accuracy and minimum consumption of energy waste by using Hop-by-Hop sequence number and DSbACK(Delayed and Selective ACK Buffer Condition) scheme. In addition, it proves that reliability and energy efficiency are enhanced by the proposed method with the simulation results performed on TinyOS platform which is a component based built-in OS announced by UC Berkely with the performance comparison of other existing methods.
A 3-D Position Compensation Method of Industrial Robot Using Block Interpolation
Ryu, Hang-Ki ; Woo, Kyung-Hang ; Choi, Won-Ho ; Lee, Jae-Kook ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 235~241
DOI : 10.5302/J.ICROS.2007.13.3.235
This paper proposes a self-calibration method of robots those are used in industrial assembly lines. The proposed method is a position compensation using laser sensor and vision camera. Because the laser sensor is cross type laser sensor which can scan a horizontal and vertical line, it is efficient way to detect a feature of vehicle and winding shape of vehicle`s body. For position compensation of 3-Dimensional axis, we applied block interpolation method. For selecting feature point, pattern matching method is used and 3-D position is selected by Euclidean distance mapping between 462 feature values and evaluated feature point. In order to evaluate the proposed algorithm, experiments are performed in real industrial vehicle assembly line. In results, robot`s working point can be displayed 3-D points. These points are used to diagnosis error of position and reselecting working point.
Internet-Based Remote Control of the Intelligent Robot
Yu, Young-Sun ; Kim, Jong-Sun ; Kim, Hyong-Suk ; Joo, Young-Hoon ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 242~248
DOI : 10.5302/J.ICROS.2007.13.3.242
In this paper, we implement the internet-based remote control system for intelligent robot. For remote control of the robot, it uses the socket communication of the TCP/IP. It consists of the user interface and the robot control interface. Robot control interface transmits the navigation and environmental informations of the robot into the user interface. In order to transmit the large environmental images, a JPEG compression algorithm is used. User interface displays the navigation status of the robot and transmits the navigation order into the robot control interface. Also, we propose the design method of the fuzzy controller using navigation data acquired by expert`s knowledge or experience. To do this, we use virus-evolutionary genetic algorithm(VEGA). Finally, we have shown the proposed system can be operated through the real world experimentations.
Development of Sensor Device and Probability-based Algorithm for Braille-block Tracking
Roh, Chi-Won ; Lee, Sung-Ha ; Kang, Sung-Chul ; Hong, Suk-Kyo ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 249~255
DOI : 10.5302/J.ICROS.2007.13.3.249
Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot`s localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot`s attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.
Functional Architecture Modeling of the Product Family
Kim, Tai-Oun ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 256~262
DOI : 10.5302/J.ICROS.2007.13.3.256
In mass customization, the focus is variety and customization through flexibility and quick responsiveness. Mass customizers seek to provide personalized, custom-designed products at low prices to give customers exactly what they want and to provide sufficient variety in products and services. The idea of the product family is the most adequate approach to realize mass customization. An understanding of customer needs using functional decomposition becomes necessary to enhance the performance of the product family. This paper focuses on functional architecture modeling based on customer need regarding sub-functions for the product family. A quantitative functional model captures product functionality and customer need. Based on customer need ratings and sub-function, a product-function matrix was created. Additionally, a product-product matrix was generated to provide a similarity index among product families. A case study for implementing the functional architecture modeling was performed on the single use cameras.
Traffic Capacity Estimate of Personal Rapid Transit System based on Digraph Model
Won, Jin-Myung ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 263~267
DOI : 10.5302/J.ICROS.2007.13.3.263
This study proposes a new methodology to estimate the traffic capacity of a personal rapid transit(PRT) system. The proposed method comprises three steps. The first step models the guideway network(GN) of PRT as a digraph, where its node and link represent a station and a one-way guideway link between two stations, respectively. Given local vehicle control strategies, the second step formulates the local traffic capacities through the nodes and links of the GN model. The third step estimates the worst-case local traffic demands based on a shortest-path routing algorithm and an empty vehicle allocation algorithm. By comparing the traffic estimates to the local traffic capacities, we can determine the feasibility of the given GN in traffic capacity.
A Study for Controllability, Stability by Optimal Control of Load and Angular Velocity of Flying Objects using the Spiral Predictive Model(SPM)
Wang, Hyun-Min ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 268~272
DOI : 10.5302/J.ICROS.2007.13.3.268
These days many scientists make studies of feedback control system for stability on non-linear state and for the maneuver of flying objects. These feedback control systems have to satisfy trajectory condition and angular conditions, that is to say, controllability and stability simultaneously to achieve mission. In this paper, a design methods using model based control system which consists of spiral predictive model, Q-function included into generalized-work function is shown. It is made a clear that the proposed algorithm using SPM maneuvers for controllability and stability at the same time is successful in attaining our purpose. The feature of the proposed algorithm is illustrated by simulation results. As a conclusion, the proposed algorithm is useful for the control of moving objects.
Performance Comparisons between Command to Line-of-Sight Guidance Law and Proportional Navigation Guidance Law in Short Range Surface-to-Air Missile
Lee, Yeon-Seok ; Liu, Yue-Huan ; Kim, Yang-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 3, 2007, Pages 273~278
DOI : 10.5302/J.ICROS.2007.13.3.273
In this paper, a performance comparison between CLOS(Command to Line-of-Sight) guidance law and PN(Proportional Navigation) guidance law is made, based on a short range surface-to-air missile simulation program called KNUCLOS. This simulation program has a full nonlinear aerodynamic missile model, a tracker model for missile and target, and target model. According to the simulation results, the PN guidance law has a better performance than CLOS guidance law under various target speed.