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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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A New Unified Method for Anti-windup and Bumpless Transfer
Kim, Tae-Shin ; Kwon, Oh-Kyu ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 655~660
DOI : 10.5302/J.ICROS.2009.15.7.655
In many real applications, the discrepancy problem between controller outputs and plant inputs or the abrupt variation problem of controller outputs can occur. These problems have a negative effect on control performance and stability. It is well-known that two phenomena called 'windup' and 'bump' cause these problems. So far these problems have been studied separately in each side of the anti-windup and the bumpless transfer. This paper proposes a new unified method combines the anti-windup and the bumpless transfer method using the linear quadratic minimization and a proper state space model representation for the anti-windup controller. The proposed method has a feature that it takes account of both the anti-windup and the bumpless transfer in one formula. Finally, we exemplify the performance of the proposed method via numerical examples using the controller switching between the anti-windup PID controller and the anti-windup LQ controller.
Design of Linear Model Following Controller using the Plant Output
Cho, Nae-Soo ; Youn, Kyung-Sup ; Choi, Youn-Ho ; Kwon, Woo-Hyen ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 661~666
DOI : 10.5302/J.ICROS.2009.15.7.661
The linear model following controller(LMFC) scheme controls a plant based on the output of a reference model, thereby replacing a PI controller that has better time response characteristics, which are irrelevant to the structural perturbation of a plant. However, the main weakness of the LMFC scheme is a slow response time to load changes. Thus, to solve this problem, a robust linear model following controller(RMFC) was developed that is robust in load changes. However, when compared with the LMFC scheme, the RMFC scheme has a weaker performance in the case of system parameter changes. Therefore, this paper presents a new LMFC scheme, where the controller is designed based on the output of a plant rather than the output of a model, as in the case of the conventional LMFC scheme. As a result, in the case of load changes, the response characteristics of the proposed scheme are slower than those of the RMFC scheme, yet laster than those of the conventional LMFC scheme, however, for parameter changes, the proposed scheme has a superior performance over the RMFC scheme. The usefulness of the proposed LMFC scheme is verified through a comparison using MATLAB/SIMULINK.
Sliding Mode Control Design for Polytopic Models
Choi, Han-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 667~670
DOI : 10.5302/J.ICROS.2009.15.7.667
This paper presents an LMI-based method to design a sliding mode controller for a multivariable uncertain system with a polytopic model. In terms of LMIs an existence condition of a sliding surface is derived. And a switching feedback control law is given. Finally, a numerical design example is given to show that the proposed method can be better than the existing results.
Schur Stability of Complex Polynomials
Choo, Youn-Seok ; Kim, Dong-Min ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 671~674
DOI : 10.5302/J.ICROS.2009.15.7.671
Determining the Schur stability of a polynomial is one of fundamental steps in many engineering problems including digital control system design or digital filter design. Due to its importance a variety of techniques have been reported in the literature for checking the Schur stability of a given polynomial. However most of them focus on real polynomials, and few results are available for complex polynomials. This paper concerns the Schur stability of complex polynomials. A simplified Jury's table for real polynomials is extended to complex polynomials.
Improvement of Dynamic Characteristic of Large-Areal Planar Stage Using Induction Principle
Jung, Kwang-Suk ; Park, Jun-Kyu ; Kim, Hyo-Jun ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 675~682
DOI : 10.5302/J.ICROS.2009.15.7.675
Instead of direct driving like BLDC, the induction principle is adopted as a driving one for planar stage. The stage composed of four linear induction motors put in square type is activated by two-axial forces; low-frequency attractive force and thrust force of the linear induction motors. Here, the modified vector control whose new inputs are q-axis current and dc current biased to three phase current instead of d-axis current or flux current is applied extensively to overall motion of the stage. For the developed system, the precision step test and the constant velocity test are tried to guarantee its feasibility for TFT-LCD pattern inspection. However, to exclude a discontinuity due to phase shift and minimize a force ripple synchronized with the command frequency, the initial system is revised to the antagonistic structure over the full degree of freedom. Concretely describing, the porous air bearings guide an air-gapping of the stage up and down and a pair of liner induction motors instead of single motor are activated in the opposite direction each other. The performances of the above systems are compared from trapezoid tracking test and sinusoidal test.
Enhanced Track Jump Stability in Optical Disc Drives
Ryoo, Jung-Rae ; Doh, Tae-Yong ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 683~687
DOI : 10.5302/J.ICROS.2009.15.7.683
Track jump control is a random access strategy for short distance movement. The most common track jump scheme is a bang-bang control of a kick and brake manner. In a conventional track jump scheme, a track-following compensator is turned off during kick and brake periods, and restarted at a target track for track pull-in. The inevitable controller switching with non-zero initial condition results in undesirable transient response, and excessive overshoot in the transient response causes track pull-in failure. In this paper, a new track jump scheme is proposed for enhancing track jump stability. Instead of control switching, internal states of a track-following controller are artificially manipulated for kick and brake actions in a digital control environment. Experimental results are provided in comparison with conventional track jumps.
Walk-by Meter Reading System of Digital Water Meter Based on Ubiquitous
Shin, Gang-Wook ; Hong, Sung-Taek ; Lee, Young-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 688~693
DOI : 10.5302/J.ICROS.2009.15.7.688
In terms of water meter reading, the majority of 16 million houses use mechanical water meter in korea. So, a member of the utility's staff needs to access periodically the water meter and the value of the metered volume. However, due to the use of mechanical water meter, many issues have been appeared as cost, time, errors, accessibility, and readability. To settle these issues, we developed the walk-by meter reading system of digital water meter and outside indicator based on ubiquitous. And we could get the characteristics and the economical efficiency for water meter reading system. Thus, this study shows that the system can be widely used to the block system and the meter reading system for stable water supply.
Neural Network Compensation for Improvement of Real-Time Moving Object Tracking Performance of the ROBOKER Head with a Virtual Link
Kim, Dong-Min ; Choi, Ho-Jin ; Lee, Geun-Hyung ; Jung, Seul ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 694~699
DOI : 10.5302/J.ICROS.2009.15.7.694
This paper presents the implementation of the real-time object tracking control of the ROBOKER head. The visual servoing technique is used to track the moving object, but suffers from ill-estimated Jacobian of the virtual link design. To improve the tracking performance, the RBF(Radial Basis Function) network is used to compensate for uncertainties in the kinematics of the robot head in on-line fashion. The reference compensation technique is employed as a neural network control scheme. Performances of three schemes, the kinematic based scheme, the Jacobian based scheme, and the neural network compensation scheme are verified by experimental studies. The neural compensation scheme performs best.
Localization of Unmanned Ground Vehicle using 3D Registration of DSM and Multiview Range Images: Application in Virtual Environment
Park, Soon-Yong ; Choi, Sung-In ; Jang, Jae-Seok ; Jung, Soon-Ki ; Kim, Jun ; Chae, Jeong-Sook ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 700~710
DOI : 10.5302/J.ICROS.2009.15.7.700
A computer vision technique of estimating the location of an unmanned ground vehicle is proposed. Identifying the location of the unmaned vehicle is very important task for automatic navigation of the vehicle. Conventional positioning sensors may fail to work properly in some real situations due to internal and external interferences. Given a DSM(Digital Surface Map), location of the vehicle can be estimated by the registration of the DSM and multiview range images obtained at the vehicle. Registration of the DSM and range images yields the 3D transformation from the coordinates of the range sensor to the reference coordinates of the DSM. To estimate the vehicle position, we first register a range image to the DSM coarsely and then refine the result. For coarse registration, we employ a fast random sample matching method. After the initial position is estimated and refined, all subsequent range images are registered by applying a pair-wise registration technique between range images. To reduce the accumulation error of pair-wise registration, we periodically refine the registration between range images and the DSM. Virtual environment is established to perform several experiments using a virtual vehicle. Range images are created based on the DSM by modeling a real 3D sensor. The vehicle moves along three different path while acquiring range images. Experimental results show that registration error is about under 1.3m in average.
A Trajectory Tracking Control of Wheeled Mobile Robot Using a Model Reference Adaptive Fuzzy Controller
Kim, Seung-Woo ; Seo, Ki-Sung ; Cho, Young-Wan ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 711~719
DOI : 10.5302/J.ICROS.2009.15.7.711
This paper presents a design scheme of torque control for wheeled mobile robot(WMR) to asymptotically track the target reference trajectory. By considering the kinematic model of WMR, trajectory tracking control generates the desired tracking trajectory, which is transformed into the command velocity vector for the real WMR to track the target reference trajectory. The dynamic equation of the state error between the target reference trajectory and the desired tracking trajectory is represented by Takagi-Sugeno fuzzy model, and this model is used as the reference model for the real mobile robot error dynamics to follow. The control parameters are updated by adaptive laws that are designed for the error states of the real WMR to asymptotically follow the states of reference error model for the desired tracking trajectory. The proposed control is applied to a typical wheeled mobile robot and simulation studies are carried out to verify the validity and effectiveness of the control scheme.
Functionally Classified Framework based Navigation System for Indoor Service Robots
Park, Joong-Tae ; Song, Jae-Bok ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 720~727
DOI : 10.5302/J.ICROS.2009.15.7.720
This paper proposes a new integrated navigation system for a mobile robot in indoor environments. This system consists of five frameworks which are classified by function. This architecture can make the navigation system scalable and flexible. The robot can recover from exceptional situations, such as environmental changes, failure of entering the narrow path, and path occupation by moving objects, using the exception recovery framework. The environmental change can be dealt with using the probabilistic approach, and the problems with the narrow path and path occupation are solved using the ray casting algorithm and the Bayesian update rule. The proposed navigation system was successfully applied to several robots and operated in various environments. Experimental results showed good performance in that the exception recovery framework significantly increased the success rate of navigation. The system architecture proposed in this paper can reduce the time for developing robot applications through its reusability and changeability.
Compensation Control of Mechanical Deflection Error on SCARA Robot with Constant Pay Load Using Neural Network
Lee, Jong-Shin ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 728~733
DOI : 10.5302/J.ICROS.2009.15.7.728
This paper presents the compensation of mechanical deflection error in SCARA robot. End of robot gripper is deflected by weight of arm and pay-load. If end of robot gripper is deflected constantly regardless of robot configuration, it is not necessary to consider above mechanical deflection error. However, deflection in end of gripper varies because that moment of each axis varies when robot moves, it affects the relative accuracy. I propose the compensation method of deflection error using neural network. FEM analysis to obtain the deflection of gripper end was carried out on various joint angle, the results is used in neural network teaming. The result by simulation showed that maximum relative accuracy reduced maximum 9.48% on a given working area.
Localization of a High-speed Mobile Robot Using Ultrasonic/RF Sensor and Global Features
Lee, Soo-Sung ; Choi, Mun-Gyu ; Park, Jae-Hyun ; Lee, Jang-Myung ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 734~741
DOI : 10.5302/J.ICROS.2009.15.7.734
A new localization algorithm is proposed for a fast moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors since the distance to the beacon is measured by the traveling time of the ultrasonic signal. When the mobile robot is moving slowly the measurement time does not yield a high error. At a higher mobile robot speed, however, the localization error becomes too large to locate the mobile robot. Therefore, in high-speed mobile robot operations, instead of using two or more active beacons for localization, only one active beacon and the global features of the mobile robot are used to localize the mobile robot in this research. The two global features are the radius and center of the rotational motion for the differential-driving mobile robot which generally describe motion of the mobile robot and are used for the trace prediction of the mobile robot. In high speed operations the localizer finds an intersection point of this predicted trace and a circle which is centered at the beacon and has the radius of the distance between the mobile robot and the beacon. This new approach resolves the large localization error caused by the high speed of the mobile robot. The performance of the new localization algorithm has been verified through the experiments with a high-speed mobile robot.
A Triangularization Algorithm Solving for the Complex Design with Precedence Constraints and IDEF3 Modeling in Concurrent Engineering
Cho, Moon-Soo ; Lim, Tae-Jin ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 742~752
DOI : 10.5302/J.ICROS.2009.15.7.742
Engineering design involves the specification of many variables that define a product, how it is made, and how it behaves applied to computer, communication and control fields. Before some variables can be determined, other variables must first be known or assumed. This fact implies a precedence order of the variables, and of the tasks of determining these variables consequently. Moreover, design of complex systems may involve a large number of design activities. In this paper, the activity-activity incidence matrix is considered as a representation of design activity analysis which mainly focuses on the precedence constraint with an object of doing IDEF3 in process-centered view. In order to analyze the activity-activity incidence matrix, a heuristic algorithm is proposed, which transforms an activity-activity, parameter-formula, and parameter-parameter incidence matrix into a lower triangular form. The analysis of the structured matrices can not only significantly reduce the overall project complexity by reorganizing few critical tasks in practice, but also aims at obtaining shorter times considering the solution structure by exploring concurrency.
Implementation of IEEE 1451 based Dual CAN Module for Fault Tolerance of In-Vehicle Networking System
Lee, Jong-Gap ; Kim, Man-Ho ; Park, Jee-Hun ; Lee, Suk ; Lee, Kyung-Chang ;
Journal of Institute of Control, Robotics and Systems, volume 15, issue 7, 2009, Pages 753~759
DOI : 10.5302/J.ICROS.2009.15.7.753
As many systems depend on electronics in an intelligent vehicle, concern for fault tolerance is growing rapidly. For example, a car with its braking controlled by electronics and no mechanical linkage from brake pedal to calipers of front tires(brake-by-wire system) should be fault tolerant because a failure can come without any warning and its effect is devastating. In general, fault tolerance is usually designed by placing redundant components that duplicate the functions of the original module. In this way a fault can be isolated, and safe operation is guaranteed by replacing the faulty module with its redundant and normal module within a predefined interval. In order to make in-vehicle network fault tolerant, this paper presents the concept and design methodology of an IEEE 1451 based dual CAN module. In addition, feasibility of the dual CAN network was evaluated by implementing the dual CAN module.