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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 17, Issue 12 - Dec 2011
Volume 17, Issue 11 - Nov 2011
Volume 17, Issue 10 - Oct 2011
Volume 17, Issue 9 - Sep 2011
Volume 17, Issue 8 - Aug 2011
Volume 17, Issue 7 - Jul 2011
Volume 17, Issue 6 - Jun 2011
Volume 17, Issue 5 - May 2011
Volume 17, Issue 4 - Apr 2011
Volume 17, Issue 3 - Mar 2011
Volume 17, Issue 2 - Feb 2011
Volume 17, Issue 1 - Jan 2011
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A Study of the Circuit for CPS Signal Using Magnetic Pickup
Ju, Yong-Wan ; Cho, Bong-Su ; Baek, Kwang-Ryul ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 1~5
DOI : 10.5302/J.ICROS.2011.17.1.1
The basic signals for electronic engine control are velocity and degree of the engine cam shaft. The CPS sensor used for this signal and magnetic pick-up type CPS sensor is more popular. It is very important thing analyze this signal correctly. If there are some mistakes at the analysis, like a noise, The engine do not working at the best status, it will generate some noise, emit exhaust fumes and waste more gases. In general way to analysis this signal, you use zero-level detector circuit and in order to reduce the error you must use another sensor like a TDC sensor. In this paper, We proposed the analysis method using electronics circuits for magnetic pick-up type CPS sensor. We designed Comparison level detector circuit, Differential circuit and Full-rectifier circuit for detected the Long tooth and Short tooth level correctly without another sensor. We expected it is useful for more reliable engine control.
Collision Risk Assessment for Pedestrians` Safety Using Neural Network
Kim, Beom-Seong ; Park, Seong-Keun ; Choi, Bae-Hoon ; Kim, Eun-Tai ; Lee, Hee-Jin ; Kang, Hyung-Jin ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 6~11
DOI : 10.5302/J.ICROS.2011.17.1.6
This paper proposes a new collision risk assessment system for pedestrians`s safety. Monte Carlo Simulation (MCS) method is a one of the most popular method that rely on repeated random sampling to compute their result, and this method is also proper to get the results when it is unfeasible or impossible to compute an exact result. Nevertheless its advantages, it spends much time to calculate the result of some situation, we apply not only MCS but also Neural Networks in this problem. By Monte carlo method, we make some sample data for input of neural networks and by using this data, neural networks can be trained for computing collision probability of whole area where can be measured by sensors. By using this trained networks, we can estimate the collision probability at each positions and velocities with high speed and low error rate. Computer simulations will be shown the validity of our proposed method.
The Method of 3D Information Display for Automobile HUD
Ryu, Ji-Hyoung ; Choi, Sung-Won ; Lee, Chang-Goo ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 12~16
DOI : 10.5302/J.ICROS.2011.17.1.12
Most car accidents occur when the driver does not look at the lane. Specially When the driver needs to find the path through the navigation, the driver have to look the other site. The number of such accidents can be prevented, if the driver receives the information without gazing other spot during the car is running. HUD (Head-Up Display) Technology, developed for enhancing the combat effectiveness and pilot`s visibility in fighter, is applied to luxury cars for the safe operation of the driver. In recent years, the simple speed, lubrication status etc., as well as navigation information also shows through HUD. HUD is expected to increase in the future. But these HUD show the information elsewhere in the driver`s eye focus. It is necessary to focus on the windshield for a few msec to check the information. In this paper, Introduced method display the HUD information in 3D as well as in similar distance the driver`s eye focus so that the driver can operate the car more safely.
Real Time On-Road Vehicle Detection with Low-Level Visual Features and Boosted Cascade of Haar-Like Features
Adhikari, Shyam Prasad ; Yoo, Hyeon-Joong ; Kim, Hyong-Suk ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 17~21
DOI : 10.5302/J.ICROS.2011.17.1.17
This paper presents a real- time detection of on-road succeeding vehicles based on low level edge features and a boosted cascade of Haar-like features. At first, the candidate vehicle location in an image is found by low level horizontal edge and symmetry characteristic of vehicle. Then a boosted cascade of the Haar-like features is applied to the initial hypothesized vehicle location to extract the refined vehicle location. The initial hypothesis generation using simple edge features speeds up the whole detection process and the application of a trained cascade on the hypothesized location increases the accuracy of the detection process. Experimental results on real world road scenario with processing speed of up to 27 frames per second for
pixel images are presented.
Multiple Plane Area Detection Using Self Organizing Map
Kim, Jeong-Hyun ; Teng, Zhu ; Kang, Dong-Joong ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 22~30
DOI : 10.5302/J.ICROS.2011.17.1.22
Plane detection is very important information for mission-critical of robot in 3D environment. A representative method of plane detection is Hough-transformation. Hough-transformation is robust to noise and makes the accurate plane detection possible. But it demands excessive memory and takes too much processing time. Iterative randomized Hough-transformation has been proposed to overcome these shortcomings. This method doesn`t vote all data. It votes only one value of the randomly selected data into the Hough parameter space. This value calculated the value of the parameter of the shape that we want to extract. In Hough parameters space, it is possible to detect accurate plane through detection of repetitive maximum value. A common problem in these methods is that it requires too much computational cost and large number of memory space to find the distribution of mixed multiple planes in parameter space. In this paper, we detect multiple planes only via data sampling using Self Organizing Map method. It does not use conventional methods that include transforming to Hough parameter space, voting and repetitive plane extraction. And it improves the reliability of plane detection through division area searching and planarity evaluation. The proposed method is more accurate and faster than the conventional methods which is demonstrated the experiments in various conditions.
A Study on the Motion Analysis and Lead-Filter Design for High Speed/Accuracy Movement of Gantry Robot
Kim, Jin-Dae ; Cho, Che-Seung ; Lee, Hyuk-Jin ; Shin, Chan-Bai ; Park, Chul-Hu ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 31~37
DOI : 10.5302/J.ICROS.2011.17.1.31
Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot`s head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.
Real-Time Characteristics Analysis and Improvement for OPRoS Component Scheduler on Windows NT Operating System
Lee, Dong-Su ; Ahn, Hee-June ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 38~46
DOI : 10.5302/J.ICROS.2011.17.1.38
The OPRoS (Open Platform for Robotic Service) framework provides uniform operating environment for service robots. As an OPRoS-based service robot has to support real-time as well as non-real-time applications, application of Windows NT kernel based operating system can be restrictive. On the other hand, various benefits such as rich library and device support and abundant developer pool can be enjoyed when service robots are built on Windows NT. The paper presents a user-mode component scheduler of OPRoS, which can provide near real-time scheduling service on Windows NT based on the restricted real-time features of Windows NT kernel. The component scheduler thread with the highest real-time priority in Windows NT system acquires CPU control. And then the component scheduler suspends and resumes each periodic component executors based on its priority and precedence dependency so that the component executors are scheduled in the preemptive manner. We show experiment analysis on the performance limitations of the proposed scheduling technique. The analysis and experimental results show that the proposed scheduler guarantees highly reliable timing down to the resolution of 10ms.
A Study on the Performane Requirement of Precise Digital Map for Road Lane Recognition
Kang, Woo-Yong ; Lee, Eun-Sung ; Lee, Geon-Woo ; Park, Jae-Ik ; Choi, Kwang-Sik ; Heo, Moon-Beom ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 47~53
DOI : 10.5302/J.ICROS.2011.17.1.47
To enable the efficient operation of ITS, it is necessary to collect location data for vehicles on the road. In the case of futuristic transportation systems like ubiquitous transportation and smart highway, a method of data collection that is advanced enough to incorporate road lane recognition is required. To meet this requirement, technology based on radio frequency identification (RFID) has been researched. However, RFID may fail to yield accurate location information during high-speed driving because of the time required for communication between the tag and the reader. Moreover, installing tags across all roads necessarily incurs an enormous cost. One cost-saving alternative currently being researched is to utilize GNSS (global navigation satellite system) carrierbased location information where available. For lane recognition using GNSS, a precise digital map for determining vehicle position by lane is needed in addition to the carrier-based GNSS location data. A "precise digital map" is a map containing the location information of each road lane to enable lane recognition. At present, precise digital maps are being created for lane recognition experiments by measuring the lanes in the test area. However, such work is being carried out through comparison with vehicle driving information, without definitions being established for detailed performance specifications. Therefore, this study analyzes the performance requirements of a precise digital map capable of lane recognition based on the accuracy of GNSS location information and the accuracy of the precise digital map. To analyze the performance of the precise digital map, simulations are carried out. The results show that to have high performance of this system, we need under 0.5m accuracy of the precise digital map.
A Study on the Design and Validation of Switching Control Law
Kim, Chong-Sup ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 54~60
DOI : 10.5302/J.ICROS.2011.17.1.54
The flight control law designed for prototype aircraft often leads to degraded stability and performance, although developed control law verify by non-real time simulation and pilot based evaluations. Therefore, the proper evaluation methods should be applied such that flight control law designed can be verified in real flight environment. The one proposed in this paper is IFS (In-Flight Simulator). Currently, this system has been implemented into the F-18 HARV (High Angle of Attack Research Vehicle), SU-27 and F-16 VISTA (Variable stability In flight Simulation Test Aircraft) programs. The IFS necessary switching control law such as fader logic and integrator stand-by mode to reduce abrupt transient and minimize the integrator effect for each flight control laws switching. This paper addresses the concept of switching mechanism with fader logic of "TFS (Transient Free Switch)" and stand-by mode of "feedback type" based on SSWM (Software Switching Mechanism). And the result of real-time pilot evaluation reveals that the aircraft is stable for inter-conversion of flight control laws and transient response is minimized.
Performance Analysis of Signal Acquisition in L2C Assisted GPS Receivers
Song, Seung-Hun ; Park, Ji-Won ; Park, Ji-Hee ; Sung, Tae-Kyung ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 61~67
DOI : 10.5302/J.ICROS.2011.17.1.61
The GPS new civil signal is modulated on the L2 carrier at a frequency of 1227.6MHz. The L2C signal is composed of two multiplexed code signals, which include CM code with a 10,230 chip sequency repeating every 20ms, and CL code which has a 767,250 chip sequency repeating every 1.5 seconds. Thus, the new civil signal have much improved cross correlation properties so that the position fixing can be possible even with very weak signals. However, it requires very long acquisition time because of its long code length. This paper presents an efficient signal acquisition method for L2C AGPS receiver. Snapshot mode and coarse time assistance are assumed and total integration time is given by 1.5 sec. By SNR worksheet and computer simulation, it is proven that L2C signal can be acquired with very weak power less than -150dBm. Considering the acquisition time and the sensitivity, it is recommended that the highest power signal is acquired with CM code first to reduce TTFF. By the timing synchronization, at this time, search space of the code phase for other signals can be greatly reduced so that CL code can be used in signal acquisition to maximize sensitivity with small computation.
Relationship Between Readers` Arrangement and DOP in the TDOA Based Position Tracking System
Kang, Hee-Won ; Lim, Deok-Won ; Hwang, Dong-Hwan ; Lee, Sang-Jeong ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 68~71
DOI : 10.5302/J.ICROS.2011.17.1.68
A relationship between reader arrangement and DOP is derived from the geometry matrix of the TDOA-based position tracking system. It is shown that the minimum value of the DOP is affected by the number of readers, arrangement of readers and position of the tag. The relationship is verified through computer simulations for two cases of reader arrangement.
An Adaptive Checkpointing Scheme for Fault Tolerance of Real-Time Control Systems with Concurrent Fault Detection
Ryu, Sang-Moon ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 1, 2011, Pages 72~77
DOI : 10.5302/J.ICROS.2011.17.1.72
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 with concurrent fault detection capability. With concurrent fault detection capability the effect of transient faults are assumed to be detected with no latency. The proposed adaptive checkpointing scheme is based on the reliability analysis of an equidistant checkpointing scheme. Numerical data show the proposed adaptive scheme outperforms the equidistant scheme from a reliability point of view.