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 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
Selecting the target year
Robust State Observer for Lipschitz Nonlinear Systems with Time Delay
Lee, Sung-Ryul ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1089~1093
DOI : 10.5302/J.ICROS.2008.14.11.1089
This paper presents a robust state observer design for a class of Lipschitz nonlinear systems with time delay and external disturbance. Sufficient conditions on the existence of the proposed observer are characterized by linear matrix inequalities. It is also shown that the proposed observer design can reduce the effect on the estimation error of external disturbance up to the prescribed level in spite of the existence of time delay. Finally, a numerical example is provided to verify the proposed design method.
Characteristics Comparison of Motion Controllers through Experiments
Jung, Seung-Hyun ; Wang, Jun ; Han, Chang-Wook ; Park, Jung-Il ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1094~1102
DOI : 10.5302/J.ICROS.2008.14.11.1094
Through the motion control experiment using Industrial Emulator(Model 220 by ECP), the performance comparison of three kinds of controllers such as PID, RIC and LQR was carried out. It was shown that RIC has the best performance in the presence of disturbances such as step one, sinusoidal one and Coulomb friction for the rigid body. LQR using feedback state variables has the best tracking performance far the flexible body. The performance of PID controller is low compared to other controllers, but the design process is simple. The most advanced controller is LQR. In order to attenuate disturbance, an additional state observer should be used to estimate it, making more complex control system. RIC lies between PID and LQR in view of complexity of design. Even though RIC is not complicated, it has good disturbance rejection ability and less tracking error. By considering these aspects, the RIC is suggested as high precision controller to be used in motion control system.
A Study on Simple Adaptive Control of Flexible-Joint Robots Considering Motor Dynamics
Yoo, Sung-Jin ; Choi, Yoon-Ho ; Park, Jin-Bae ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1103~1109
DOI : 10.5302/J.ICROS.2008.14.11.1103
Since the flexible joint robots with motor dynamics are represented by the fifth-order nonlinear sγstem, it is difficult and complex to design the controller for electrically driven flexible-joint (EDFJ) robots. In this paper, we propose a simple adaptive control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. For the simple control design, the dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. It is proved that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.
Genetic Operators Based on Tree Structure in Genetic Programming
Seo, Ki-Sung ; Pang, Cheul-Hyuk ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1110~1116
DOI : 10.5302/J.ICROS.2008.14.11.1110
In this paper, we suggest GP operators based on tree structure considering tree distributions in structure space and structural difficulties. The main idea of the proposed genetic operators is to place generated offspring into the specific region which nodes and depths are balanced and most of solutions exist. To enable that, the proposed operators are designed to utilize region information where parents belong and node/depth rates of selected subtree. To demonstrate the effectiveness of our proposed approach, experiments of binomial-3 regression, multiplexer and even parity problem are executed. The experiments results show that the proposed operators based on tree structure is superior to the results of standard GP for all three test problems in both success rate and number of evaluations.
Implementation of Dual-Kernel based Control System and Evaluation of Real-time Control Performance for Intelligent Robots
Park, Jeong-Ho ; Yi, Soo-Yeong ; Choi, Byoung-Wook ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1117~1123
DOI : 10.5302/J.ICROS.2008.14.11.1117
This paper implements dual-kernel system using standard Linux and real-time embedded Linux for the real-time control of intelligent robot systems. Such system provides more useful services including standard Linux thread that is easy to implement complicated tasks and real-time tasks for the deterministic response to velocity control. Here, an open source real-time embedded Linux, XENOMAI, is ported on embedded target board. And for interfacing with motor controller we adopted a real-time serial device driver. The real-time task was implemented with a priority to keep the cyclic control command for trajectory control. In order to validate deterministic response of the proposed system, the performance measurement of the delay in performing trajectory control with feedback loop is evaluated with non real-time standard Linux. The proposed software architecture is anticipated to take advantage of features in both standard Linux and real-time operating systems for the intelligent robot systems.
Bilateral Control with Time Domain Passivity Approach under Time-varying Communication Delay: Resetting Scheme
Ryu, Jee-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1124~1129
DOI : 10.5302/J.ICROS.2008.14.11.1124
Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port caused unstable behavior until the passivity controller is activated. Resetting scheme is introduced for solving this problem, and stable bilateral teleoperation can be guaranteed without worrying about the accumulated energy difference.
Limit-cycle Navigation Method for Fast Mobile Robots
Rew, Keun-Ho ; Kim, Dong-Han ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1130~1138
DOI : 10.5302/J.ICROS.2008.14.11.1130
A mobile robot should be designed to navigate with collision avoidance capability in the real world, coping with the changing environment flexibly. In this paper, a novel navigation method is proposed for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. To demonstrate the effectiveness and applicability, it is applied to the robot soccer. Simulations and real experiments ascertain the merits of the proposed method.
Robust Positioning-Sensing for n Ubiquitous Mobile Robot
Choi, Hyo-Sik ; Hwang, Jin-Ah ; Lee, Jang-Myung ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1139~1145
DOI : 10.5302/J.ICROS.2008.14.11.1139
A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.
Mobility and Agility of Multi-legged Walking Robot System
Shim, Hyung-Won ; Lee, Ji-Hong ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1146~1154
DOI : 10.5302/J.ICROS.2008.14.11.1146
This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot`s body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body`s gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body`s center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.
A Comparison of Decentralized and Partially Observed Supervisors: Application to a CIM Testbed
Son, Hyoung-Il ; Lee, Suk ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1155~1164
DOI : 10.5302/J.ICROS.2008.14.11.1155
Supervisory control theory, which was first proposed by Ramadge and Wonahm, is a well-suited control theory for the control of complex systems such as semiconductor manufacturing systems, automobile manufacturing systems, and chemical processes because these are better modeled by discrete event models than by differential or difference equation models at higher levels of abstraction. Moreover, decentralized supervisory control is an efficient method for large complex systems according to the divide-and-conquer principle. Decentralized supervisors cannot observe the events those of which occur only within the other supervisors. Therefore decentralized supervisors can be designed according to supervisory control theory under partial observation. This paper presents a solution and a design procedure of supervisory control problem (SCP) for the case of decentralized control and SCP under partial observation (SCPPO). We apply the proposed design procedure to an experimental CIM Testbed. And we compare and analyze the designed decentralized supervisors and partially observed supervisors.
Optimization of Water-Reusing Network among the Industries in an Eco-Industrial Park Complex Using Water Pinch Technology
Kim, Young-Soo ; Kim, Hyun-Joo ; Lee, In-Beum ; Yoo, Chang-Kyoo ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1165~1173
DOI : 10.5302/J.ICROS.2008.14.11.1165
An water-reuse network design has drawn attention as a systematic method of reducing fresh water usage and increasing water-using efficiency. The final goal of an eco-industrial park(EIP) is accomplishing industrial sustainability and constructing water-reuse network can be a solution. When designing water-reuse network connecting various processes which consume water, the water pinch technology can be used frequently, since it simultaneously minimize freshwater usage and wastewater discharge. In this research water pinch technology is applied to develop an effective water-reuse network in an EIP. Three scenarios based on different reusing strategies were developed. The results show that the final water-reuse network can reduce the total fresh water usage more than 30%, while the water expenses decrease by 20%. It can be concluded that water pinch technology is an effective tool to optimize water-reuse network among different industrial facilities.
Sensitivity Analysis and Parameter Estimation of Activated Sludge Model Using Weighted Effluent Quality Index
Lee, Won-Young ; Kim, Min-Han ; Kim, Young-Whang ; Lee, In-Beum ; Yoo, Chang-Kyoo ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1174~1179
DOI : 10.5302/J.ICROS.2008.14.11.1174
Many modeling and calibration methods have been developed to analyze and design the biological wastewater treatment process. For the systematic use of activated sludge model (ASM) in a real treatment process, a most important step in this usage is a calibration which can find a key parameter set of ASM, which depends on the microorganism communities and the process conditions of the plants. In this paper, a standardized calibration protocol of the ASM model is developed. First, a weighted effluent quality index(WEQI) is suggested far a calibration protocol. Second, the most sensitive parameter set is determined by a sensitive analysis based on WEQI and then a parameter optimization method are used for a systematic calibration of key parameters. The proposed method is applied to a calibration problems of the single carbon removal process. The results of the sensitivity analysis and parameter estimation based on a WEQI shows a quite reasonable parameter set and precisely estimated parameters, which can improve the quality and the efficiency of the modeling and the prediction of ASM model. Moreover, it can be used for a calibration scheme of other biological processes, such as sequence batch reactor, anaerobic digestion process with a dedicated methodology.
Development of Kalman Hybrid Redundancy for Sensor Fault-Tolerant of Safety Critical System
Kim, Man-Ho ; Lee, Suk ; Lee, Kyung-Chang ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1180~1188
DOI : 10.5302/J.ICROS.2008.14.11.1180
As many systems depend on electronics, concern for fault tolerance is growing rapidly in the safety critical system such as intelligent vehicle. In order to make system fault tolerant, there has been a body of research mainly from aerospace field including predictive hybrid redundancy by Lee. Although the predictive hybrid redundancy has the fault tolerant mechanism to satisfy the fault tolerant requirement of safety crucial system such as x-by-wire system, it suffers form the variability of prediction performance according to the input feature of system. As an alternative to the prediction method of predictive hybrid redundancy for robust fault tolerant, Kalman prediction has attracted some attention because of its well-known and often-used with its structure called Kalman hybrid redundancy. In addition, several numerical simulation results are given where the Kalman hybrid redundancy outperforms with predictive smoothing voter.
Map-Matching Algorithm for MEMS-Based Pedestrian Dead Reckoning System in the Mobile Device
Shin, Seung-Hyuck ; Kim, Hyun-Wook ; Park, Chan-Gook ; Choi, Sang-On ;
Journal of Institute of Control, Robotics and Systems, volume 14, issue 11, 2008, Pages 1189~1195
DOI : 10.5302/J.ICROS.2008.14.11.1189
We introduce a MEMS-based pedestrian dead reckoning (PDR) system. A walking navigation algorithm for pedestrians is presented and map-matching algorithm for the navigation system based on dead reckoning (DR) is proposed. The PDR is equipped on the human body and provides the position information of pedestrians. And this is able to be used in ubiquitous sensor network (USN), U-hearth monitoring system, virtual reality (VR) and etc. The PDR detects a step using a novel technique and simultaneously estimates step length. Also an azimuth of the pedestrian is calculated using a fluxgate which is the one of magnetometers. Map-matching algorithm can be formulated to integrate the positioning data with the digital road network data. Map-matching algorithm not only enables the physical location to be identified from navigation system but also improves the positioning accuracy. However most of map-matching algorithms which are developed previously are for the car navigation system (CNS). Therefore they are not appropriate to implement to pedestrian navigation system based on DR system. In this paper, we propose walking navigation system and map-matching algorithm for PDR.