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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 15, Issue 12 - Dec 2009
Volume 15, Issue 11 - Nov 2009
Volume 15, Issue 10 - Oct 2009
Volume 15, Issue 9 - Sep 2009
Volume 15, Issue 8 - Aug 2009
Volume 15, Issue 7 - Jul 2009
Volume 15, Issue 6 - Jun 2009
Volume 15, Issue 5 - May 2009
Volume 15, Issue 4 - Apr 2009
Volume 15, Issue 3 - Mar 2009
Volume 15, Issue 2 - Feb 2009
Volume 15, Issue 1 - Jan 2009
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State Feedback Control of Asynchronous Sequential Machines with Uncontrollable Inputs: Application to Error Counters
Yang, Jung-Min ; Kwak, Seong-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 967~973
DOI : 10.5302/J.ICROS.2009.15.10.967
The model matching problem of asynchronous sequential machines is to design a corrective controller such that the stable-state behavior of the closed-loop system matches that of a prescribed model. In this paper, we address model matching when the external input set consists of controllable inputs and uncontrollable ones. Like in the frame of supervisory control of Discrete-Event Systems (DES), uncontrollable inputs cannot be disabled and must be transmitted to the plant without any change. We postulate necessary and sufficient conditions for the existence of a corrective controller that solves model matching despite the influence of uncontrollable events. Whenever a controller exists, the algorithm for its design is outlined. To illustrate the physical meaning of the proposed problem, the closed-loop system of an asynchronous machine with the proposed control scheme is implemented in VHDL code.
Auto-tuning of PID/PIDA Controllers based on Step-response
Ahn, Kyung-Pil ; Lee, Jun-Sung ; Lim, Jae-Sik ; Lee, Young-Il ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 974~981
DOI : 10.5302/J.ICROS.2009.15.10.974
In this paper, a method of auto-tuning of PID (Proportional-Integral-Derivative) and PIDA (Proportional-Integral-Derivative-Acceleration) controllers is proposed that can be applied to a time-delayed second order model. The proposed identification method is based on step responses, but it can be easily automated rising digital controller unlike the existing graphical identification methods. We provide a ways to yield parameter identifications which is independent to initial values of the plants. The tuning rule is based on the pole-placement strategy and is formulated so that it can be implemented using a digital controller with ease.
An Improved Bumpless Transfer by Solving the Input Discrepancy Problem
Kim, Tae-Shin ; Yang, Ji-Hyuk ; Kwon, Tae-Wan ; Kwon, Oh-Kyu ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 982~987
DOI : 10.5302/J.ICROS.2009.15.10.982
On the controller switching time, even though on-line/off-line controller outputs are the same, a problem which deteriorates the performance of bumpless transfer can happen in case that any discrepancy between the two controller inputs is transferred directly to the controller output. In this paper, we analyze the cause of that phenomenon in existing research results and propose a new method which improves that problem. In order to solve this problem, the off-line controller is augmented to an anti-windup structure and an improved bumpless transfer method is derived by using the changed input of the off-line controller instead of the plant input. We exemplify the performance of the proposed method by comparing with the performance of the existing method via numerical examples.
A Tracking Gain-Up Controller Design for Controlling the Shake of Actuator
Jin, Kyoung-Bog ; Lee, Moon-Noh ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 988~993
DOI : 10.5302/J.ICROS.2009.15.10.988
In this paper, we deal with a tracking gain-up controller design problem to control effectively the shake of tracking actuator after a track seek. A minimum tracking gain-up open-loop gain can be calculated by estimating the shake of tracking actuator and a desired transient specification is considered to diminish effectively the shake of actuator. A tracking gain-up controller is designed by considering a robust
control problem with a regional stability constraint. The proposed tracking gain-up controller design method is applied to the track-following system of a DVD recording device and is evaluated through the experimental results.
Localization for Mobile Robot Based on Chirp Spread Spectrum Ranging
Cho, Hyeon-Woo ; Lee, Young-Hun ; Kim, Sang-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 994~1001
DOI : 10.5302/J.ICROS.2009.15.10.994
CSS (Chirp Spread Spectrum) specified in IEEE 802.15.4a can be used for ranging applications. In this paper, we apply the CSS to estimate the coordinates of a mobile robot. Four anchor nodes are installed at known positions and a tag node is attached to the target mobile robot. By CSS ranging, we measure the distances between each anchor and the tag node. Based on the measured distances, the coordinates of the mobile robot can be calculated by the method of trilateration. However the calculated coordinates are not accurate because of the errors of the measured distances. Therefore we propose an algorithm for reducing the effect of the errors. The proposed algorithm is executed with the extended Kalman filter. Through localization experiments, we show the performance of the proposed algorithm and the accuracy of the estimated position.
Improvement of the Double Fault Detection Performance of Extended Parity Space Approach
Lee, Won-Hee ; Park, Chan-Gook ; Lee, Dal-Ho ; Kim, Kwang-Hoon ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 1002~1008
DOI : 10.5302/J.ICROS.2009.15.10.1002
We consider a double faults detection and isolation problem using modified extended parity space approach for inertial measurement unit which use redundant inertial sensors. A redundant IMU which has a hardware redundant is composed of the cone shape because it is good for fault detection and isolation. We analyze the type of double faults and the reason why fault isolation performance is low. We propose modified extended parity space approach method using EPSA and the difference of sensor data.
Fuzzy Model-Based Fault Detection Method of EPB System for Varying Temperature
Moon, Byoung-Joon ; Kim, Dong-Han ; Park, Chong-Kug ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 1009~1013
DOI : 10.5302/J.ICROS.2009.15.10.1009
In this paper, a robust fault detection method for varying temperature based on fuzzy model is proposed. To develop a robust force estimation model, it needs temperature information because the output of force sensor is affected by a temperature variation. The nonlinear dynamic system, such as the parking force of the EPB (Electronic Parking Brake) system is necessary to have a higher order equation model. But, because of the calculation time, the higher order equation model is hard to be used in real application. In case of the lower order equation model, the result is not as accurate as acceptable. To solve this problem, the robust fuzzy model-based fault detection is developed. A proposed fault detection method for varying temperature is verified by HILS (hardware in the loop simulation).
Odometry and Navigation of an Omni-directional Mobile Robot with Active Caster Wheels
Jung, Eui-Jung ; Yi, Byung-Ju ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 1014~1020
DOI : 10.5302/J.ICROS.2009.15.10.1014
This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.
Location Identification Using an Fisheye Lens and Landmarks Placed on Ceiling in a Cleaning Robot
Kang, Tae-Gu ; Lee, Jae-Hyun ; Jung, Kwang-Oh ; Cho, Deok-Yeon ; Yim, Choog-Hyuk ; Kim, Dong-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 1021~1028
DOI : 10.5302/J.ICROS.2009.15.10.1021
In this paper, a location identification for a cleaning robot using a camera shooting forward a room ceiling which kas three point landmarks is introduced. These three points are made from a laser source which is placed on an auto charger. A fisheye lens covering almost 150 degrees is utilized and the image is transformed to a camera image grabber. The widly shot image has an inevitable distortion even if wide range is coverd. This distortion is flatten using an image warping scheme. Several vision processing techniques such as an intersection extraction erosion, and curve fitting are employed. Next, three point marks are identified and their correspondence is investigated. Through this image processing and image distortion adjustment, a robot location in a wide geometrical coverage is identified.
Joint Position Control using ZMP-Based Gain Switching Algorithm for a Hydraulic Biped Humanoid Robot
Kim, Jung-Yup ; Hodgins, Jessica K. ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 1029~1038
DOI : 10.5302/J.ICROS.2009.15.10.1029
This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.
Optimal Static Output Feedback Control of Tendon Driven Master-Slave Manipulator
Kang, Min-Sig ; Lee, Jong-Kwang ; Yoon, Ji-Sup ; Park, Byung-Suk ; Kim, Ki-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 1039~1046
DOI : 10.5302/J.ICROS.2009.15.10.1039
In this work, a bilateral control for a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. The measurable variables are the positions and rates of master/slave motors. In the consideration of the flexibility of the tendon and available measurements for control, we proposed an optimal static output feedback control for possible bilateral control architecture. By using modal analysis, the system model is reduced to guarantee the detectability which is a necessity for the static output feedback control design. Based on the reduced model, the control gains are determined to attenuate vibration in the sense of optimality. The feasibility of the proposed control design was verified along with some simulation results.
Time-Efficient Trajectory Planning Algorithms for Multiple Mobile Robots in Nuclear/Chemical Reconnaissance System
Kim, Jae-Sung ; Kim, Byung-Kook ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 1047~1055
DOI : 10.5302/J.ICROS.2009.15.10.1047
Since nuclear and chemical materials could damage people and disturb battlefield missions in a wide region, nuclear/chemical reconnaissance systems utilizing multiple mobile robots are highly desirable for rapid and safe reconnaissance. In this paper, we design a nuclear/chemical reconnaissance system including mobile robots. Also we propose time-efficient trajectory planning algorithms using grid coverage and contour finding methods for reconnaissance operation. For grid coverage, we performed in analysis on time consumption for various trajectory patterns generated by straight lines and arcs. We proposed BCF (Bounded Contour Finding) and BCFEP (Bounded Contour Finding with Ellipse Prediction) algorithms for contour finding. With these grid coverage and contour finding algorithms, we suggest trajectory planning algorithms for single, two or four mobile robots. Various simulations reveal that the proposed algorithms improve time-efficiency in nuclear/chemical reconnaissance missions in the given area. Also we conduct basic experiments using a commercial mobile robot and verify the time efficiency of the proposed contour finding algorithms.
Short-term Water Demand Forecasting Algorithm Based on Kalman Filtering with Data Mining
Choi, Gee-Seon ; Shin, Gang-Wook ; Lim, Sang-Heui ; Chun, Myung-Geun ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 1056~1061
DOI : 10.5302/J.ICROS.2009.15.10.1056
This paper proposes a short-term water demand forecasting algorithm based on kalman filtering with data mining for sustainable water supply and effective energy saving. The proposed algorithm utilizes a mining method of water supply data and a decision tree method with special days like Chuseok. And the parameters of MLAR (Multi Linear Auto Regression) model are estimated by Kalman filtering algorithm. Thus, we can achieve the practicality of the proposed forecasting algorithm through the good results applied to actual operation data.
A Fuzzy Shape Control Method for the Stainless Steel at the Cold Rolling Process
Hur, Yone-Gi ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 10, 2009, Pages 1062~1070
DOI : 10.5302/J.ICROS.2009.15.10.1062
The strip shape for the stainless steel process has made an issue of the strip quality, and hence the shape control method is developed at the Sendzimir rolling mill (ZRM). ZRM is a stainless cold rolling mill and has actuators for the shape control. They are first intermediate rolls and top crown rolls, which are controlled horizontally and vertically, respectively. The shape control of the stainless steel rolling process has difficulty in obtaining the symmetrical shape. The objective of the shape control is to minimize the shape deviation and to maintain stable state, which keeps symmetrical shape pattern in the lateral direction. The method of the shape recognition employs a least squares method and neural network. The shape deviation is the difference between the target shape and actual shape and is controlled by the fuzzy shape control. The fuzzy shape control using operator's informative knowledge is proposed in this paper. The experiments are carried out online for various stainless materials and sizes. The productivity of the rolling process has increased from 9.0 to 9.4 tons per hour.