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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 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
Selecting the target year
Recognition of Driving Patterns Using Accelerometers
Hhu, Gun-Sup ; Bae, Ki-Man ; Lee, Sang-Ryoung ; Lee, Choon-Young ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 517~523
DOI : 10.5302/J.ICROS.2010.16.6.517
In this paper, we proposed an algorithm to detect aggressive driving status by analysing six kinds of driving patterns, which was achieved by comparing for the feature vectors using mahalanobis distance. The first step is to construct feature matrix of
size using frequency response of the time-series accelerometer data. Singular value decomposition makes it possible to find the dominant eigenvalue and its corresponding eigenvector. We use the eigenvector as the feature vector of the driving pattern. We conducted real experiments using three drivers to see the effects of recognition. Although there exists differences from individual drivers, we showed that driving patterns can be recognized with about 80% accuracy. Further research topics will include the development of aggressive driving warning system by improving the proposed technique and combining with post-processing of accelerometer signals.
A CAN Signal Gateway Design for Car Body Networks
Han, Jun-Soo ; Kang, Ki-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 524~531
DOI : 10.5302/J.ICROS.2010.16.6.524
The automobile networks consist of the communication bus systems which become independent and heterogeneous each other. Most often, the CAN buses are implemented in a car in order to connect all the electronic control units in various ways. Thus, some gateways are necessary for exchanging the useful information between electronic control units on the buses. The automobile body networks group is divided into two kinds on a large scale, namely the low-speed bus and the high-speed bus. To interchange messages between the two, a CAN signal gateway is designed and implemented in a miniature scale. A network analyzer (called "Vehicle spy") and an oscilloscope monitor network situation to confirm the due operation of CAN signal gateway. The efficiency of the designed gateway is evaluated. The more message thread increased, the more efficiency decreased.
Power-Assisted Door for a Passenger Vehicle
Lee, Byoung-Soo ; Park, Min-Kyu ; Sung, Kum-Gil ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 532~538
DOI : 10.5302/J.ICROS.2010.16.6.532
SD (Smart Door) is a human friendly power-assisted door system initially targeted for passenger car doors. The Smart Door offers comfort and safety to passengers or/and drivers by supplying additional power. Amount of power supplied by the Smart Door system is depend on the environment where the automotive is situated. It realizes comfort, for example, when the force applied by the passenger to the door is expected to be abnormal, the SD system tries to compensate passenger`s effort by supplying additional force. In this study, to enhance the ease of opening and closing the doors of the passenger vehicle, a Smart Door with a power assist mechanism consisting of a motor was developed and analysed. A power assist mechanism mounted within the vehicle`s door is designed and modeled for simulation purpose. The required force necessary to control the designed mechanism during the vehicle`s roll, pitch and the opening angle of the door has been considered. To this end, we propose a power-assisting control strategy called "gravity cancellation". The system is analysed by numerical simulation with the gravity cancellation control algorithm.
Scheduling Design and Simulation of Software Components for EPS System based on AUTOSAR
Park, Gwang-Min ; Kum, Dae-Hyun ; Son, Byeong-Jeom ; Lee, Seong-Hun ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 539~545
DOI : 10.5302/J.ICROS.2010.16.6.539
Through the AUTOSAR methodology, the embedded software shall become more flexible, reusable, maintainable than ever. However, it is not mentioned about specific timing constraints of software components in AUTOSAR. There are a few basic principles for mapping runnable entities. At this point, AUTOSAR software design with optimal scheduling method is one of the enabling technologies in vehicle embedded system. This paper presents an approach based on mapping runnable entities and task scheduling design method for EPS (Electric Power Steering) software components, based on AUTOSAR. In addition, the experimental results of concurrent simulation show that the proposed scheduling technique and timing synchronization in the software component design can achieve the improved torque ripple performance and it well suited for EPS application software.
The Development of FlexRay Driver for Vehicle Network System
Koo, Yong-Je ; Kim, Jong-Chul ; Shin, Choong-Yup ; Park, Sang-Jong ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 546~552
DOI : 10.5302/J.ICROS.2010.16.6.546
As the demands for the safety and convenience applications of the vehicles increase, the data load for the In-vehicle Network has increased significantly. As a result, a deterministic and fault-tolerant communication system is required to implement the safety critical applications such as X-by-wire systems. FlexRay communication system is a new standard of network communication system which provides the high speed serial communication, time triggered bus and fault tolerant communication between electronic devices. In addition to time-triggered communication, as providing of the event-triggered communication such as CAN, FlexRay protocol is able to manage the restricted communication resource more effectively. This paper presents the development of FlexRay driver which will be applied to the future ECU`s communication system. To develop the FlexRay driver, the FlexRay requirement specification and FlexRay specification is analyzed. The developed FlexRay driver is implemented by using MPC5567 microprocessor of the Freescale semiconductor. To verify the developed FlexRay driver, the waveform of the FlexRay driver was measured and compared with the CAN communication system. As a result, the bus load is reduced about 13% compared with the CAN communication system.
A Study on the Teleoperation of the Unmanned Grounded Vehicle for Improving Telepresence
Lee, Tae-Gon ; Ryu, Jee-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 553~558
DOI : 10.5302/J.ICROS.2010.16.6.553
In this paper, we proposed a teleoperation scheme of unmanned grounded vehicle to improve telepresence. Especially, bilateral control architecture for transmitting realistic steering feeling to the remote driver is investigated. System architecture of the teleoperated remote vehicle is introduced with visual, auditory and kinesthetic haptic channel. Several bilateral control architectures are proposed for transmitting remote steering feeling, and subject tests are done to evaluate the performance. Position-force bilateral control architecture with returning torque compensation algorithm shows best performance.
A Transformation from POSIX Based Source Code to OSEK/VDX Source Code Based on API and OIL Translation
Song, Young-Ho ; Lee, Tae-Yang ; Lee, Jong-Deok ; Moon, Chan-Woo ; Jeong, Gu-Min ; Ahn, Hyun-Sik ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 559~565
DOI : 10.5302/J.ICROS.2010.16.6.559
In this paper, we present a transformation method of source code from a POSIX (Portable Operating System Interface) based source code into an OSEK/VDX (Offene Systeme und deren Schnittstellen fur die Elektronik in Kraftfahrzeugen/Vehicle Distributed eXecutive) source code. As the electronic parts of automobile systems increase, the use of embedded software in automobile systems is also growing. Accordingly, many electronic systems are designed in automobile system with OSEK/VDX. Otherwise, one of the major problems of embedded software would be portability to other OS`s. To enhance the portability and interoperability of embedded software, we propose a source code transformation method from POSIX to OSEK/VDX based on API (Application Programming Interface) translation method. Considering the characteristics of the OSEK/VDX which uses OIL (OSEK/VDX Implementation Language) standard, transformation process is performed with source code transformation and OIL code generation. For the validity of the proposed method, the transformation experiment is given using Micro-C OS II and OSEK/VDX with XC167CI micro-controller.
Design of C-EPS (Column type - Electric Power Steering) Simulator and Development of Control Algorithm
Park, Myung-Wook ; Moon, Hee-Chang ; Kim, Jung-Ha ; Crane III, Carl D. ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 566~571
DOI : 10.5302/J.ICROS.2010.16.6.566
EPS (Electric Power Steering) is important device for improving vehicle`s dynamics and static performances. This paper deals with simulator design for C-EPS (Colum type-EPS), development assist and returnability control algorithm. First, C-EPS system model was simply designed because EPS system is complex control system that has many unknown variables. These parameters were simplified through assumptions. Second, C-EPS simulator was designed for development of control algorithm. This simulator has SAS (Steering Angle Sensor), dual torque sensor, dual load cell for measuring rack force, dual linear actuator for generating tire force and Data Acquisition System. Using this simulator, control methods ware tested. Third, control algorithm was designed for torque assist and returnability. Assist torque map and returnability torque map were found by lots of simulation test. These torque maps were tuned for EPS actuator control. The simulation result was compared with non-EPS system result. In this research, the C-EPS simulator was designed for development of control algorithm about torque assistant and returnability. Using this simulator, control algorithm was improved.
Fitness Change of Mission Scheduling Algorithm Using Genetic Theory According to the Control Constants
Cho, Kyeum-Rae ; Baek, Seung-Woo ; Lee, Dae-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 572~578
DOI : 10.5302/J.ICROS.2010.16.6.572
In this paper, the final fitness results of the satellite mission scheduling algorithm, which is designed by using the genetic algorithm, are simulated and compared with respect to the control constants. Heuristic algorithms, including the genetic algorithm, are good to find global optima, however, we have to find the optimal control constants before its application to a problem, because the algorithm is strongly effected by the control constants. In this research, the satellite mission scheduling algorithm is simulated with different crossover probability and mutation probability, which is major control constant of the genetic algorithm.
Design and Experiment of an Assistive Device for a Knee Joint of a Disabled Person Using an MR Damper
Jeon, Hyeong-Jin ; Jung, Seul ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 579~585
DOI : 10.5302/J.ICROS.2010.16.6.579
In this paper, an assistive device for a knee joint to help a disabled person to stand up by supporting power is presented. The device is designed and controlled by using damping characteristics of the MR (Magneto-Rheological) damper. The MR damper helps the person to sit slowly and safely. A DC motor supports muscle power in the case of standing motion. Thus the device helps the disabled person to sit down and stand up. Through the experiments, it is feasible that an assistive device can help the disabled person to standup according to the foot pressure change.
Analysis of High Luminance LED Beam Degradation using Color CCD Image
Cho, Jai-Wan ; Choi, Young-Soo ; Lee, Jae-Chul ; Koo, In-Soo ; Hong, Seok-Boong ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 586~591
DOI : 10.5302/J.ICROS.2010.16.6.586
VLC (Visible Light Communication) is a wireless communication method using light that is visible to the human eye. It has a major advantage that it causes no interference to RF-based devices. This makes wireless communication possible in RF hazardous areas such as nuclear facilities. In order to apply VLC communication in harsh environment of nuclear power plant, the high luminance LEDs, which are key components of the VLC communication, have been gamma-ray irradiated at the dose rate of 4kGy/h during 72 hours up to a total dose of 288 kGy. The radiation induced color-center was formed in the LED housing cap made of transparent plastic or acryl material. The beam degradations of high luminance LEDs by high dose-rate gammaray irradiation are analyzed using color CCD image processing technology.
Motion Control of an AUV (Autonomous Underwater Vehicle) Using Fuzzy Gain Scheduling
Park, Rang-Eun ; Hwang, Eun-Ju ; Lee, Hee-Jin ; Park, Mignon ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 592~600
DOI : 10.5302/J.ICROS.2010.16.6.592
The problem of motion control for AUV (Autonomous Underwater Vehicles) is addressed. The utilization of such robotic vehicles has gained an increasing importance in many marine activities. In this paper the objective is to describe how to design and apply FGS (Fuzzy Gain Scheduling) PD (Proportional Derivative) controller for an AUV (Autonomous Underwater Vehicle) to control the yaw and depth of the vehicle by keeping the path of the navigation to a desired point, and/or changing the path according to a set point.
OPRoS based Fault Tolerance Support for Reliability of Service Robots
Ahn, Hee-June ; Lee, Dong-Su ; Ahn, Sang-Chul ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 601~607
DOI : 10.5302/J.ICROS.2010.16.6.601
For commercial success of emerging service robots, the fault tolerant technology for system reliability and human safety is crucial. Traditionally fault tolerance methods have been implemented in application level. However, from our studies on the common design patterns in fault tolerance, we argue that a framework-based approach provides many benefits in providing reliability for system development. To demonstrate the benefits, we build a framework-based fault tolerant engine for OPRoS (Open Platform for Robotic Services) standards. The fault manager in framework provides a set of fault tolerant measures of detection, isolation, and recovery. The system integrators choose the appropriate fault handling tools by declaring XML configuration descriptors, considering the constraints of components and operating environment. By building a fault tolerant navigation application from the non-faulttolerant components, we demonstrate the usability and benefits of the proposed framework-based approach.
SITAT: Simulation-based Interface Testing Automation Tool for Robot Software Component
Kang, Jeong-Seok ; Choi, Hyeong-Seob ; Maeng, Sang-Woo ; Kim, Si-Wan ; Park, Hong-Seong ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 6, 2010, Pages 608~616
DOI : 10.5302/J.ICROS.2010.16.6.608
Robot software components can be categorized into two types; the pure S/W component and the H/W-related one. Since interface testing of the robot software component is the labour-intensive and complicated work, an effective automated testing tool is necessary. Especially it is difficult to test all types of H/W-related components because it is hard work to prepare all H/W modules related to them. This paper proposes a new simulation-based interface testing automation tool(SITAT) which generates automatically test cases for interface testing of the robot software component and executes the interface test with the generated test cases where the simulator is used for simulation of the activity of a H/W module instead of the real H/W module. This paper verifies the effectiveness of the suggested SITAT with testing of the real H/W-related robot software component.