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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 16, Issue 12 - Dec 2010
Volume 16, Issue 11 - Nov 2010
Volume 16, Issue 10 - Oct 2010
Volume 16, Issue 9 - Sep 2010
Volume 16, Issue 8 - Aug 2010
Volume 16, Issue 7 - Jul 2010
Volume 16, Issue 6 - Jun 2010
Volume 16, Issue 5 - May 2010
Volume 16, Issue 4 - Apr 2010
Volume 16, Issue 3 - Mar 2010
Volume 16, Issue 2 - Feb 2010
Volume 16, Issue 1 - Jan 2010
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Zeros and Step Response Characteristics in LTI SISO Systems with Complex Poles
Lee, Sang-Yong ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 313~318
DOI : 10.5302/J.ICROS.2010.16.4.313
This paper deals with the relationship between zeros and step response of the second and third order LTI (Linear Time Invariant) SISO (Single-Input and Single-Output) systems with complex poles. Although it has been known that the maximum number of local extrema is less than the number of zeros in the system with only real poles, some cases with complex poles are shown in this paper to have many local extrema. This paper proposes monotone nondecreasing conditions and describes the relationship between the transient response and the number of local extrema in step response with each region of zeros.
Robust Adaptive Fuzzy Tracking Control Using a FBFN for a Mobile Robot with Actuator Dynamics
Shin, Jin-Ho ; Kim, Won-Ho ; Lee, Moon-Noh ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 319~328
DOI : 10.5302/J.ICROS.2010.16.4.319
This paper proposes a robust adaptive fuzzy tracking control scheme for a nonholonomic mobile robot with external disturbances as well as parameter uncertainties in the robot kinematics, the robot dynamics, and the actuator dynamics. In modeling a mobile robot, the actuator dynamics is integrated with the robot kinematics and dynamics so that the actuator input voltages are the control inputs. The presented controller is designed based on a FBFN (Fuzzy Basis Function Network) to approximate an unknown nonlinear dynamic function with the uncertainties, and a robust adaptive input to overcome the uncertainties. When the controller is designed, the different parameters for two actuator models in the actuator dynamics are taken into account. The proposed control scheme does not require the kinematic and dynamic parameters of the robot and actuators accurately. It can also alleviate the input chattering and overcome the unknown friction force. The stability of the closed-loop control system including the kinematic control system is guaranteed by using the Lyapunov stability theory and the presented adaptive laws. The validity and robustness of the proposed control scheme are shown through a computer simulation.
Simulation Analysis of the Neural Network Based Missile Adaptive Control with Respect to the Model Uncertainty
Sung, Jae-Min ; Kim, Byoung-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 329~334
DOI : 10.5302/J.ICROS.2010.16.4.329
This paper presents the design of a neural network based adaptive control for missile. Acceleration of missile by tail fin control cannot be controllable by DMI (Dynamic Model Inversion) directly because it is non-minimum phase system. To avoid the non-minimum phase system, dynamic model inversion is applied with output-redefinition method. In order to evaluate performance of the suggested controllers we selected the three cases such as control surface fail, control surface loss and wing loss for model uncertainty. The corresponding aerodynamic databases to the failure cases were calculated by using the Missile DATACOM. Using a high fidelity 6DOF simulation program of the missile the performance was evaluates.
Large Scale Voice Dialling using Speaker Adaptation
Kim, Weon-Goo ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 335~338
DOI : 10.5302/J.ICROS.2010.16.4.335
A new method that improves the performance of large scale voice dialling system is presented using speaker adaptation. Since SI (Speaker Independent) based speech recognition system with phoneme HMM uses only the phoneme string of the input sentence, the storage space could be reduced greatly. However, the performance of the system is worse than that of the speaker dependent system due to the mismatch between the input utterance and the SI models. A new method that estimates the phonetic string and adaptation vectors iteratively is presented to reduce the mismatch between the training utterances and a set of SI models using speaker adaptation techniques. For speaker adaptation the stochastic matching methods are used to estimate the adaptation vectors. The experiments performed over actual telephone line shows that proposed method shows better performance as compared to the conventional method. with the SI phonetic recognizer.
Scale and Rotation Robust Genetic Programming-Based Corner Detectors
Seo, Ki-Sung ; Kim, Young-Kyun ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 339~345
DOI : 10.5302/J.ICROS.2010.16.4.339
This paper introduces GP(Genetic Programming) based robust corner detectors for scaled and rotated images. Various empirical algorithms have been studied to improve computational speed and accuracy including approaches, such as the Harris and SUSAN, FAST corner detectors. These techniques are highly efficient for well-defined corners, but are limited to corner-like edges which are often generated in rotated images. It is very difficult to detect correctly edges which have characteristics similar to corners. In this paper, we have focused the above challenging problem and proposed Genetic Programming-based automated generation of corner detectors which is robust to scaled and rotated images. The proposed method is compared to the existing corner detectors on test images and shows superior results.
A Maneuver Interface Scheme of a Hydraulic Backhoe Manipulator
Yoon, Jung-Won ; Auralius, Manurung ; Yoon, Jong-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 346~352
DOI : 10.5302/J.ICROS.2010.16.4.346
This paper presents an intuitive interface scheme for controlling a hydraulic backhoe, which is a piece of excavating equipment consisting of a digging bucket on the end of a two-part articulated arm, and typically mounted and rotated on the back of a tractor or front loader. The passive levers/joysticks for actuator operations of a hydraulic backhoe are replaced into electric joysticks with a robotic controller, which will generate the end-effecter command trajectories of the backhoe through joystick rate control in cylindrical coordinate. The developed backhoe with the hydraulic control system showed the maxim position error of 3 cm with intuitive coordinate operations, which would be helpful for conveniently performing various excavating tasks with natural and effective ways.
Behavior Analysis of In-wheel Drive Type 6WD/6WS Vehicle Based on System Modeling and Driving Simulation
Lee, Jung-Yeob ; Suh, Seung-Whan ; Shon, Woong-Hee ; Yu, Seung-Nam ; Han, Chang-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 353~360
DOI : 10.5302/J.ICROS.2010.16.4.353
A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle`s driving and wheel`s rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally.
Motion Control of an Outdoor Patrol Robot using a Single Laser Range Finder
Hong, Seung-Bohm ; Shin, You-Jin ; Chung, Woo-Jin ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 361~367
DOI : 10.5302/J.ICROS.2010.16.4.361
This paper reports the development of a mobile robot for patrol using a single laser range finder. A Laser range finder is useful for outdoor environment regardless of illumination change or various weather conditions. In this paper we combined the motion control of the mobile robot and the algorithm for detecting the outdoor environment. For obstacle avoidance, we adopted the Vector Field Histogram algorithm. A laser range finder is mounted on the mobile robot and looking down the road with a small tilt angle. We propose an algorithm for detecting the surface of the road. The outdoor patrol robot platform is equipped with a DGPS system, a gyro-compass sensor, and a laser range finder. The proposed obstacle avoidance and road detection algorithms were experimentally tested in success.
Mobile Robot Localization using Ceiling Landmark Positions and Edge Pixel Movement Vectors
Chen, Hong-Xin ; Adhikari, Shyam Prasad ; Kim, Sung-Woo ; Kim, Hyong-Suk ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 368~373
DOI : 10.5302/J.ICROS.2010.16.4.368
A new indoor mobile robot localization method is presented. Robot recognizes well designed single color landmarks on the ceiling by vision system, as reference to compute its precise position. The proposed likelihood prediction based method enables the robot to estimate its position based only on the orientation of landmark.The use of single color landmarks helps to reduce the complexity of the landmark structure and makes it easily detectable. Edge based optical flow is further used to compensate for some landmark recognition error. This technique is applicable for navigation in an unlimited sized indoor space. Prediction scheme and localization algorithm are proposed, and edge based optical flow and data fusing are presented. Experimental results show that the proposed method provides accurate estimation of the robot position with a localization error within a range of 5 cm and directional error less than 4 degrees.
A Wearable Interface for Tendon-driven Robotic Hand Prosthesis
Jung, Sung-Yoon ; Park, Chan-Young ; Bae, Ju-Hawn ; Moon, In-Hyuk ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 374~380
DOI : 10.5302/J.ICROS.2010.16.4.374
This paper proposes a wearable interface for a tendon-driven robotic hand prosthesis. The proposed interface is composed of a dataglove to measure finger and wrist joint angle, and a micro-control board with a wireless RF module. The interface is used for posture control of the robotic hand prosthesis. The measured joint angles by the dataglove are transferred to the main controller via the wireless module. The controller works for directly controlling the joint angle of the hand or for recognizing hand postures using a pattern recognition method such as LDA and k-NN. The recognized hand postures in this study are the paper, the rock, the scissors, the precision grasp, and the tip grasp. In experiments, we show the performances of the wearable interface including the pattern recognition method.
Bayesian Sensor Fusion of Monocular Vision and Laser Structured Light Sensor for Robust Localization of a Mobile Robot
Kim, Min-Young ; Ahn, Sang-Tae ; Cho, Hyung-Suck ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 381~390
DOI : 10.5302/J.ICROS.2010.16.4.381
This paper describes a procedure of the map-based localization for mobile robots by using a sensor fusion technique in structured environments. A combination of various sensors with different characteristics and limited sensibility has advantages in view of complementariness and cooperation to obtain better information on the environment. In this paper, for robust self-localization of a mobile robot with a monocular camera and a laser structured light sensor, environment information acquired from two sensors is combined and fused by a Bayesian sensor fusion technique based on the probabilistic reliability function of each sensor predefined through experiments. For the self-localization using the monocular vision, the robot utilizes image features consisting of vertical edge lines from input camera images, and they are used as natural landmark points in self-localization process. However, in case of using the laser structured light sensor, it utilizes geometrical features composed of corners and planes as natural landmark shapes during this process, which are extracted from range data at a constant height from the navigation floor. Although only each feature group of them is sometimes useful to localize mobile robots, all features from the two sensors are simultaneously used and fused in term of information for reliable localization under various environment conditions. To verify the advantage of using multi-sensor fusion, a series of experiments are performed, and experimental results are discussed in detail.
Study of a Variable Single-tracked Crawler for Overcoming Obstacles
Kim, Jee-Hong ; Lee, Chang-Goo ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 391~395
DOI : 10.5302/J.ICROS.2010.16.4.391
In our paper, we propose an asymmetric single-tracked wheel system, and describe its structure and the method for maintaining the length of a transformable track system. And the method is reducing the gap of lengths. Therefore, we propose an efficient structure for transforming and explain motions with kinematics. Our transformable shape single-tracked mobile system has an advantage to overcome an obstacle or stairs by the variable arms in the single unity track system. But we will make the variable shape of tracked system get a drive that has a force to stand against a wall. In this case, we can consider this system to a rigid body and have a notice that this single tracked system is able to get vary shape with the variable arm angle. Considering forces balance along x-axis and y-axis, and moments balance around the center of the mass we have. If this rigid body is standing against a wall and doesn`t put in motion, the force of flat ground and the rigid body sets an equal by a friction. In the same way, the force of a wall and the rigid sets an equal by a friction.
Development of Matlab-based Variable Torque Simulator for wind Turbine Systems
Kim, Su-Jin ; Kim, Sung-Ho ; Joo, Young-Hoon ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 396~402
DOI : 10.5302/J.ICROS.2010.16.4.396
In this paper the principles and structure of a WTS (Wind Turbine Simulator) are described. The proposed WTS is a versatile system specially designed for the purpose of developing and testing new control strategies for wind energy conversion systems. The simulator includes two sub-systems; a torque controller which controls a 3-phase induction motor in order to simulate the wind turbine and wind speed generator which can simulate an actual wind speed. In order to make the proposed system working in real-time, two sub-systems are incorporated into one simulink block by using Real-time workshop. The performance of the proposed system is verified by considering various wind speeds.
A Feasible Condition for EDF-based Scheduling of Periodic Messages on a Synchronized Switched Ethernet
Kim, Myung-Kyun ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 4, 2010, Pages 403~410
DOI : 10.5302/J.ICROS.2010.16.4.403
The switched Ethernet has many features for real-time communications such as providing traffic isolation, large bandwidth, and full-duplex links, and so on. The switched Ethernet, however, cannot guarantee the timely delivery of a real-time message because message delay increases when collisions occurs at the output ports and message loss can even occur due to the overflow at the output buffer. Recently, many research efforts have been done to use the switched Ethernet as an industrial control network. In the industrial control network, sensors periodically sense the physical environment and transmit the sensed data to an actuator, and the periodic messages from sensors to actuators have typically real-time requirements such that those messages must be transmitted within their deadlines. This paper first suggests a feasible condition for EDF (Earliest Deadline First)-based scheduling of periodic messages on a synchronized switched Ethernet and a message scheduling algorithm which satisfies the proposed feasible condition. Pedreiras, et al.  suggested a feasible condition for message scheduling on the Ethernet (shared media Ethernet), but there has been no research result on the scheduling condition on the switched Ethernet until now. We compared the real-time message scheduling capacity between the Ethernet and the switched Ethernet by simulation. The simulation result shows that the message scheduling capacity of the Ethernet has almost remained constant as the number of nodes on the network increases, but, in the case of the switched Ethernet, the message scheduling capacity has increased linearly according to the number of nodes on the network.