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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
Journal Basic Information
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
Selecting the target year
LMI-based Design of Integral Sliding Mode Controllers
Choi, Han-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 563~566
DOI : 10.5302/J.ICROS.2009.15.6.563
This paper presents an LMI-based method to design a integral sliding mode controller for a class of uncertain systems. Using LMIs we derive an existence condition of a sliding surface. And we give a switching feedback control law. Our method is a generalization of the previous integral sliding mode control design methods. Since our method is based on LMIs, it gives design flexibility for combining various useful design criteria that can be captured in the LMI-based formulation.
Analysis of the Dynamic Characteristics of Pressurized Water Discharging System for Underwater Launch using ATP
Han, Myung-Chul ; Kim, Jung-Kwan ; Kim, Kwang-Su ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 567~572
DOI : 10.5302/J.ICROS.2009.15.6.567
The underwater launch system using an ATP consists of five parts: compressor tank, proportional flow control servo valve, expulsion spool valve, air turbine pump, and discharge tube. The purpose of this study is to develop an underwater launch system using an ATP and to verify the validity of the system. The proportional flow control servo valve is modeled as a 2nd order transfer function. The projectile is ejected by pressurized water through the air turbine pump, which is controlled by expulsion valve. The mathematical model is derived to estimate the dynamic characteristics of the system, and the important design parameters are derived by using simulations. The computer simulation results show the dynamic characteristics and the possibility of control for underwater launch system.
Nonlinear Control of an Electromagnetic Levitation System Using High-gain Observers for Mmagnetic Bearing Wheels
Choi, Ho-Lim ; Shin, Hee-Sub ; Koo, Min-Sung ; Lim, Jong-Tae ; Kim, Yong-Min ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 573~580
DOI : 10.5302/J.ICROS.2009.15.6.573
In this paper, we develop a functional test model for magnetic bearing wheels. The functional test model is an electromagnetic levitation system that has three degree of freedom, which consists of one axial suspension from gravity and two axes gimbaling capability to small angels. A nonlinear controller with high-gain observers is proposed and the real-time experiment results show that the rotor is accurately levitated at the desired position and well-balanced, which is a suitable result for the potential use an magnetic bearing wheels. Also, the proposed scheme exhibits better performance when it is compared with the conventional PID control method.
Speed Controller Design of a Two-Inertia Motor System Using Weighted ITAE Index
Park, Jung-Il ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 581~589
DOI : 10.5302/J.ICROS.2009.15.6.581
In a two-inertia motor system with flexible shaft, a torsional vibration is often generated as a quick speed response is required. This vibration makes it difficult to achieve a quick response of speed and disturbance rejection. The objective of this paper is to provide a systematic analysis and design of the three kinds of speed controllers such as I-P, I-PD, and state feedback control by using the weighted ITAE performance index. Some simulation and experiment results verify the effectiveness of the proposed design.
Design of Robust Stability Maximizing PI Controller in Motor Parameter Variation
Cho, Nae-Soo ; Ryu, Jee-Youl ; Park, Chul-Woo ; Kwon, Woo-Hyen ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 590~597
DOI : 10.5302/J.ICROS.2009.15.6.590
This paper propose a PI controller that maximizes the degree of stability using a stability in a simplified motor model the applies decoupling control. The PI controller gains are directly from the motor parameters, thereby reducing the element of trial and error, and, the Kharitonov equation was used to evaluate the robustness of the gains to changes in the motor parameters. In addition, the system poles are located in the same position, the proposed method can provide a fast response. The effectiveness of the proposed controller is verified by simulation results.
An Adaptive Checkpointing Scheme for Fault Tolerance of Real-Time Control Systems
Ryu, Sang-Moon ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 598~603
DOI : 10.5302/J.ICROS.2009.15.6.598
The checkpointing scheme is a well-known technique to cope with transient faults in digital systems. This paper proposes an adaptive checkpointing scheme for the reliability improvement of real-time control systems. The proposed adaptive checkpointing scheme is based on the previous work about the reliability problem of an equidistant checkpointing scheme. For the derivation of the adaptive scheme, some conditions are introduced which are to be satisfied for the reliability improvement by exploiting an equidistant checkpointing scheme. Numerical data show the proposed adaptive scheme outperforms the equidistant scheme from a reliability point of view.
A Comparative Study of Evolutionary Computation Techniques for Locomotion Control of Modular Snake-like Robots
Jang, Jae-Young ; Hyun, Soo-Hwan ; Seo, Ki-Sung ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 604~611
DOI : 10.5302/J.ICROS.2009.15.6.604
Modular snake-like robots are robust for failure and have flexible locomotion for environments, but are difficult to control. Various phase and evolutionary approaches for modular robots have been studied for many years, but there are few comparisons among these methods. In this paper, Phase, GAps, GA and GP approaches are implemented and compared for flat, stairs, and slope environments. In addition, simulations of the locomotion evolution for modular snake-like robot are executed in Webots environments.
Optimal Design and Simulation of SCARA Robot Arm
Lee, Jong-Shin ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 612~618
DOI : 10.5302/J.ICROS.2009.15.6.612
This study is concerned about the optimal design of the arm 1 and arm 2 in the SCARA robot. The mass and inertia moment of the arm I and arm 2 in a SCARA robot is greatly affected on the performance such as a cycle time, and torques loaded on
axis. To reduce the mass and inertia moment, this study carried out optimal design by FEM analysis using parametric variables, which is a width, a height of the rib and a thickness of arm in the arm. The rib is adapted instead of reducing the thickness in the arm. And the simulation by computer was conducted on two given paths in X direction and Y direction. After optimal design, the result showed that maximum torque of
axis reduced to maximum 9.5% on a given path.
An Improved Resampling Technique using Particle Density Information in FastSLAM
Woo, Jong-Suk ; Choi, Myoung-Hwan ; Lee, Beom-Hee ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 619~625
DOI : 10.5302/J.ICROS.2009.15.6.619
FastSLAM which uses the Rao-Blackwellized particle filter is one of the famous solutions to SLAM (Simultaneous Localization and Mapping) problem that estimates concurrently a robot`s pose and surrounding environment. However, the particle depletion problem arises from the loss of the particle diversity in the resampling process of FastSLAM. Then, the performance of FastSLAM degenerates over the time. In this work, DIR (Density Information-based Resampling) technique is proposed to solve the particle depletion problem. First, the cluster is constructed based on the density of each particle, and the density of each cluster is computed. After that, the number of particles to be reserved in each cluster is determined using a linear method based on the distance between the highest density cluster and each cluster. Finally, the resampling process is performed by rejecting the particles which are not selected to be reserved in each cluster. The performance of the DIR proposed to solve the particle depletion problem in FastSLAM was verified in computer simulations, which significantly reduced both the RMS position error and the feature error.
Walking Motion Planning for Quadruped Pet Robot
Yi, Soo-Yeong ; Choi, Dae-Sung ; Choi, Byoung-Wook ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 626~633
DOI : 10.5302/J.ICROS.2009.15.6.626
A motion planning algorithm is presented in this paper for a commercialized quadruped walking of robot pet. Stable walking is the basic requirement for a commercial-purpose legged robot. In order to secure the walking stability, modified body sway to the centroid of support polygon is addressed. By representation of walking motion with respect to the world coordinate system rather than body coordinate, it is possible to design the several gaits in unified fashion. The initial gait posture is introduced to maximize the stride and to achieve fast walking. The proposed walking motion planning is verified through computer simulation and experiments.
An Implementation of Fuzzy Automatic Gauge Control for the Plate Steel Rolling Process
Hur, Yone-Gi ; Choi, Young-Kiu ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 634~640
DOI : 10.5302/J.ICROS.2009.15.6.634
The plate manufacturing processes are composed of the reheating furnace, finishing mill, cooling process and hot leveling. The finishing rolling mill (FM) as a reversing mill has produced the plate steel through multiple pass rolling. The automatic gauge control (AGC) is employed to maintain the thickness tolerance. The high grade products are forming greater parts of the manufacturing and customers are requiring strict thickness margin. For this reason, the advanced AGC method is required instead of the conventional AGC based on the PI control. To overcome the slow response performance of the conventional AGC and the thickness measurement delay, a fuzzy AGC based on the thickness deviation and its trend is proposed in this paper. An embedded controller with the fuzzy AGC has been developed and implemented at the plate mill in POSCO. The fuzzy AGC has dynamically controlled the roll gap in real time with the programmable logic controller (PLC). On line tests have been performed for the general and TMCP products. As the results, the thickness deviation range (maximum - minimum of the inner plate) is averagely from 0.3 to 0.1 mm over the full length. The fuzzy AGC has improved thickness deviation and completely satisfied customer needs.
ToA Based Sensor Localization Algorithm in Underwater Wireless Sensor Networks
Lee, Kang-Hoon ; Yu, Chang-Ho ; Choi, Jae-Weon ; Seo, Young-Bong ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 641~648
DOI : 10.5302/J.ICROS.2009.15.6.641
Currently several kinds of sensor localization methods have been developed for terrestrial wireless sensor networks. This study, in order to extend the field to underwater environments, a localization technique is studied for UWSNs (Underwater Wireless Sensor Networks). In underwater environments, RF (Radio Frequency) signal is not suitable for underwater usage because of extremely limited propagation. Because of that reason UWSNs should be constituted with acoustic modems. But, to realize underwater application, we can borrow many design principles from ongoing research for terrestrial environments. So, in this paper we introduce the modified localization algorithm using ToA method which is based on the terrestrial research. First of all, we study the localization techniques for terrestrial environments where we investigate possible methods to underwater environment. And then the appropriate algorithm is presented in the underwater usage. Finally the proposed underwater based localization algorithm is evaluated by using computer.
Design of Efficient Frequency Discriminator for Weak Signal Tracking
Im, Sung-Hyuck ; Jee, Gyu-In ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 6, 2009, Pages 649~654
DOI : 10.5302/J.ICROS.2009.15.6.649
In this paper, an frequency tracking algorithm for weak signal tracking is proposed. The proposed frequency tracking algorithm uses a FMS (Fast Minus Slow) discriminator for frequency error estimation. This frequency tracking algorithm shows good frequency estimation performance under weak signal condition and is a computationally efficient for embedded software GNSS receiver. The software GNSS receiver implementing the proposed weak signal tracking algorithms could track GPS signal down to - 159dBm signal strength in the signal generator test and real GPS signal under dense urban condition.