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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 14, Issue 12 - Dec 2008
Volume 14, Issue 11 - Nov 2008
Volume 14, Issue 10 - Oct 2008
Volume 14, Issue 9 - Sep 2008
Volume 14, Issue 8 - Aug 2008
Volume 14, Issue 7 - Jul 2008
Volume 14, Issue 6 - Jun 2008
Volume 14, Issue 5 - May 2008
Volume 14, Issue 4 - Apr 2008
Volume 14, Issue 3 - Mar 2008
Volume 14, Issue 2 - Feb 2008
Volume 14, Issue 1 - Jan 2008
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The Design and Implementation of Automatic Control System of Living Environment Based on Ubiquitous Sensor Network
Yun, Ji-Hoon ; Moon, Seung-Jin ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 1~6
DOI : 10.5302/J.ICROS.2008.14.1.001
The ubiquitous sensor network technique is widely applied to variety of information fields such as home automations, logistics, traffic controls, public administrations, health and environment monitoring and etc. It is particularly useful in the areas where energy consumption is minimal and where continuous monitoring of the surrounding environments, which generates streams of data, are required. In this study, we have designed and implemented a living environment automatic control system which collects the streams of temperature, humidity, light and noise data of a simulated house setting in real-time fashion, then controls the home environment based on the collected data according to the users favorites. In order to differentiate the proposed system from the currently existing similar system, we have demonstrated not only the feasibility of collecting data using sensor network in the controlled environment but also the ability to control the various household equipments through wireless communications.
Design of GPS L1-CA/Galileo Dual Mode Receiver
Kim, Chan-Mo ; Im, Sung-Hyuk ; Jee, Gyu-In ; Cho, Yong-Beom ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 7~12
DOI : 10.5302/J.ICROS.2008.14.1.007
A GNSS(Global Navigation Satellite System) using GPS provides us with very useful information concerning the positioning of users in many sectors such as transportation, social services, the justice system and customs services, public works, search and rescue systems and leisure. A GNSS using the Galileo satellite is due to work in 2008 and expected to be used in various fields such as aviation, marine transportation, land surveying, resources development precise agriculture, telemetics, and so on. In this paper, we discuss the implementation and testing of a combined GPS/Galileo receiver which we named KSTAR V1.0. Each tracking module of GPS/Galileo dual mode correlator has the five track arms which consist of Very Early code, Early code, Prompt code, late code, and Very late code. Each of 24 tracking modules can be assigned to GPS and/or Galileo signal by changing mode selection register. The basic correlator integration dump period is set to 1ms for GPS C/A code and fast Galileo signal tracking. The performance of the developed combined GPS/Galileo receiver was tested and evaluated using the IF (Intermediated Frequency)-level GPS/Galileo signal generator.
A Java Virtual Machine for Sensor Networks
Kim, Seong-Woo ; Lee, Jong-Min ; Lee, Jung-Hwa ; Shin, Jin-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 13~20
DOI : 10.5302/J.ICROS.2008.14.1.013
Sensor network consists of a large number of sensor node distributed in the environment being sensed and controlled. The resource-constrained sensor nodes tend to have various and heterogeneous architecture. Thus, it is important to make its software environment platform-independent and reprogrammable. In this paper, we present BeeVM, a Java operating system designed for sensor networks. BeeVM offers a platform-independent Java programming environment with its efficiently executable file format and a set of class APIs for basic operating functions, sensing and wireless networking. BeeVM`s high-level native interface and layered network subsystem allow complex program for sensor network to be short and readable. Our platform has been ported on two currently popular hardware platforms and we show its effectiveness through the evaluation of a simple application.
Context based User Required Services Reasoning Model
Ko, Kwang-Enu ; Sim, Kwee-Bo ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 21~26
DOI : 10.5302/J.ICROS.2008.14.1.021
It was already realized at a current technological level of home network systems that the systems recognizes a user`s simple order and carry out the order in the ubiquitous computing environment. However home is not a simple environment consisting into a large number of family members, so various order and situation would be needed accordingly. From now on we need to reach the technological level to infer that how is the user`s behavior patterns and what kinds of service is the fittest to user who belong to the ubiquitous computing environment by using the result of the context interpreter. In this regards, active inferred-model needs to be suggested upgrading user`s command into one step more higher level than the simple one adapting diversified feature. This study would like to suggest this active model recognizing context, which is user`s environmental information applying basic network and inferring Context-based Service that user wants through the recognized result This study proposes a new method that can infer the user`s desire in ubiquitous computing environment. First of all, we define a context as user`s information of ubiquitous computing environment situation that user belongs to and we classify the context into 4W1H(Where, Who, When, What) formats. We construct Bayesian network and put the factor of context use as Bayesian network nodes. As a result, we can infer the user`s behavior pattern and most proper service for user in the intelligent space from the probabilistic result of Bayesian network.
The Development of Driving Algorithm for an Unmanned Vehicle with Multiple-GPS`s
Moon, Hee-Chang ; Son, Young-Jin ; Kim, Jung-Ha ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 27~35
DOI : 10.5302/J.ICROS.2008.14.1.027
A navigation system is one of the important components of an unmanned ground vehicle (UGV). A GPS receiver collects data signals transmitted by (Earth orbiting) satellites. However, these data signals may contain many errors resulting misinformation and depending on one`s position (environment), reception may be impossible. The proposed self-driven algorithm uses three low-cost GPS in order to minimize errors of existing inexpensive single GPS`s driving algorithm. By using reliable final data, which is analyzed and combined from each of three GPS`s received data signals, gathering a vehicle`s steering performance information and its current pin-point position is improved even with error containing signals or from a place where signal gathering is impossible. The purpose of this thesis is to explain navigation system algorithm using multiple GPS and compass sensor and prove the algorithm through experiments.
Water Quality Control System Development for Cooling Towers
Lee, Ki-Keon ; Song, Moo-Jun ; Lee, Young-Jae ; Sung, Sang-Kyung ; Kang, Tae-Sam ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 36~41
DOI : 10.5302/J.ICROS.2008.14.1.036
Cooling tower is an important equipment of the cooling systems for large buildings like factory and department store. Water used for cooling in cooling tower is reused continuously. If the water is polluted, corrosion and scale can happen at equipments and pipes. In order to prevent this problem, it is necessary to control the water quality using chemicals. To control the water quality, an automatic control system is designed, fabricated, and experimented. The control system is based on an imbedded microcontroller. Relays are used for power driving, an LCD and LED for display, and RS485 for remote data acquisition. Monitoring program is also developed for easy man-machine interface and extraction of data stored in the imbedded processor and EEPROM. The control system calculates amounts of chemicals necessary using sensor data and injects the chemicals into the cooling tower on proper time. The developed water quality control system is expected to reduce cost of maintenance and extend the lifetime of the cooling systems with low cost.
An Observer Design for MIMO Nonlinear Systems and Its Application to Induction Motor
Lee, Sung-Ryul ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 42~48
DOI : 10.5302/J.ICROS.2008.14.1.042
This paper presents an observer design method for a special class of multi input multi output(MIMO) nonlinear systems. First, we characterize the class of MIMO nonlinear systems with a block triangular structure. Also, the observability matrices for SISO nonlinear systems are extended to MIMO systems. By using the generalized observability matrices, it is shown that under the boundedness conditions of system state and input, the proposed observer guarantees the local exponential stability of error dynamics. Finally, its application to induction motor is given to verify the proposed method.
Fault Diagnosis in Gas Turbine Engine Using Fuzzy Inference Logic
Mo, Eun-Jong ; Jie, Min-Seok ; Kim, Chin-Su ; Lee, Kang-Woong ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 49~53
DOI : 10.5302/J.ICROS.2008.14.1.049
A fuzzy inference logic system is proposed for gas turbine engine fault isolation. The gas path measurements used for fault isolation are exhaust gas temperature, low and high rotor speed, and fuel flow. The fuzzy inference logic uses rules developed from a model of performance influence coefficients to isolate engine faults while accounting for uncertainty in gas path measurements. Inputs to the fuzzy inference logic system are measurement deviations of gas path parameters which are transferred directly from the ECM(Engine Control Monitoring) program and outputs are engine module faults. The proposed fuzzy inference logic system is tested using simulated data developed from the ECM trend plot reports and the results show that the proposed fuzzy inference logic system isolates module faults with high accuracy rate in the environment of high level of uncertainty.
Detection and Recognition of Overlapped Circular Objects based a Signature Representation Scheme
Park, Sang-Bum ; Hahn, Hern-Soo ; Han, Young-Joon ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 54~61
DOI : 10.5302/J.ICROS.2008.14.1.054
This paper proposes a new algorithm for detecting and recognizing overlapped objects among a stack of arbitrarily located objects using a signature representation scheme. The proposed algorithm consists of two processes of detecting overlap of objects and of determining the boundary between overlapping objects. To determine overlap of objects, in the first step, the edge image of object region is extracted and those areas in the object region are considered as the object areas if an area is surrounded by a closed edge. For each object, its signature image is constructed by measuring the distances of those edge points from the center of the object, along the angle axis, which are located at every angle with reference to the center of the object. When an object is not overlapped, its features which consist of the positions and angles of outstanding points in the signature are searched in the database to find its corresponding model. When an object is overlapped, its features are partially matched with those object models among which the best matching model is selected as the corresponding model. The boundary among the overlapping objects is determined by projecting the signature to the original image. The performance of the proposed algorithm has been tested with the task of picking the top or non-overlapped object from a stack of arbitrarily located objects. In the experiment, a recognition rate of 98% has been achieved.
Design of a Humanoid Robot Hand by Mimicking Human Hand`s Motion and Appearance
Ahn, Sang-Ik ; Oh, Yong-Hwan ; Kwon, Sang-Joo ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 62~69
DOI : 10.5302/J.ICROS.2008.14.1.062
A specialized anthropomorphic robot hand which can be attached to the biped humanoid robot MAHRU-R in KIST, has been developed. This built-in type hand consists of three fingers and a thumb with total four DOF(Degrees of Freedom) where the finger mechanism is well designed for grasping typical objects stably in human`s daily activities such as sphere and cylinder shaped objects. The restriction of possible motions and the limitation of grasping objects arising from the reduction of DOF can be overcome by reflecting a typical human finger`s motion profile to the design procedure. As a result, the developed hand can imitate not only human hand`s shape but also its motion in a compact and efficient manner. Also this novel robot hand can perform various human hand gestures naturally and grasp normal objects with both power and precision grasping capability.
Camera Exterior Parameters Based on Vector Inner Production Application: Absolute Orientation
Chon, Jae-Choon ; Sastry, Shankar ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 70~74
DOI : 10.5302/J.ICROS.2008.14.1.070
In the field of camera motion research, it is widely held that the position (movement) and pose (rotation) of cameras are correlated and cannot be independently separated. A new equation based on inner product is proposed here to independently separate the position and pose. It is proved that the position and pose are not correlated and the equation is applied to estimation of the camera exterior parameters using a real image and 3D data.
Development of Welding Quality Inspection System for RV Sinking Seat
Yun, Sang-Hwan ; Kim, Han-Jong ; Kim, Sung-Gaun ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 75~80
DOI : 10.5302/J.ICROS.2008.14.1.075
This paper presents a vision based autonomous inspection system for welding quality control of a RV sinking seat. In order to overcome the precision error that arises from a visible inspection by an operator in the manufacturing process of a RV sinking seat, the machine vision based welding quality control system is proposed. It consists of the CMOS camera and the NI vision system. The geometry of the welding bead, which is the welding quality criteria, is measured by using the captured image with a median filter applied on it. The image processing software for the system was developed using the NI LabVIEW software. The proposed welding quality inspection system for RV sinking seat was verified using experimentation.
A Study on Applicability of RFID System for C-Hook Identification
Lee, Chang-Woo ; Cho, Hyeon-Woo ; Ban, Sung-Jun ; Kwon, Yong-Sin ; Kim, Sang-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 81~87
DOI : 10.5302/J.ICROS.2008.14.1.081
C-Hook is a kind of conveyer system for transporting steel coil in POSCO. To detect the current position and the trajectory of steel coils in a plant, C-Hooks are tracked by an inspection system based on PLC. The inspection system detects transit of C-Hooks by monitoring a physical contact between steel bars on a C-Hook and the inspection sensors. However, this system is not reliable because of the abrasion, damage and aging. Moreover, the number of distinguishable C-Hooks is limited by the number of combination of steel bars on a C-Hook. It means that more steel bars should be installed for distinguishing the more C-Hooks. Therefore, the conventional system is difficult and expensive to maintain. To overcome these problems, we propose a C-Hook identification system that uses RFID which is a non-contact type identification system, and evaluate its performance and applicability from a new monitoring program that operates along with the conventional system in the real environment of POSCO.
Design of a Missile Guidance Law via Backstepping and Disturbance Observer Techniques Considering Missile Control System Dynamics
Song, Seong-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 88~94
DOI : 10.5302/J.ICROS.2008.14.1.088
In this paper, a design method of a missile guidance command is presented considering the dynamics of missile control systems. The design of a new guidance command is based on the well-known PNG(propotional navigation guidance) laws. The missile control system dynamics cause the time-delays of the PN guidance command and degrade the performance of original guidance laws which are designed under the assumption of the ideal missile control systems. Using a backstepping method, these time-delay effects can be compensated. In order to implement the guidance command developed by the backstepping procedure, it is required to measure or calculate the successive time-derivatives of the original guidance command, PNG and other kinematic variables such as the relative distance. Instead of directly using the measurements of these variables and their successive derivatives, a simple disturbance observer technique is employed to estimate a guidance command described by them. Using Lyapunov method, the performance of a newly developed guidance command is analyzed against a target maneuvering with a bounded and time-varying acceleration.
Design of Guidance and Control Algorithm for Autolanding In Windshear Environment Using Fuzzy Gain Scheduling
Ha, Cheol-Keun ; Ahn, Sang-Woon ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 1, 2008, Pages 95~103
DOI : 10.5302/J.ICROS.2008.14.1.095
This paper deals with the problem of autolanding for aircraft under windshear environment for which the landing trajectory is given. It is well known that the landing maneuver in windshear turbulence is very dangerous and hard for the pilot to control because windshear is unpredictable in when and where it happens and its aerodynamic characteristics are complicated. In order to accomplish satisfactory autolanding maneuver in this environment, we propose a gain-scheduled controller. The proposed controller consists of three parts: PID controller, called baseline controller, which is designed to satisfy requirements of stability and performance without considering windshear, gain scheduler based on fuzzy logic, and safety decision logic, which decides if the current autolanding maneuver needs to be aborted or not. The controller is applied to a 6-DOF simulation model of the associated airplane in order to illustrate the effectiveness of the proposed control algorithm. It is noted that a cross wind in the lateral direction is included to the simulation model. From the simulation results it is observed that the proposed gain scheduled controller shows superior performance than the case of controller without gain scheduling even in severe downburst and tailwind region of windshear. In addition, touchdown along centerline of the runway is more precise for the proposed controller than for the controller without gain scheduling in the cross wind and the tailwind.