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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 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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Design of a Robust Controller Using Genetic Algorithms and LMI Design Method
Lee, Moon-Noh ; Lee, Hong-Kyu ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 619~624
DOI : 10.5302/J.ICROS.2011.17.7.619
This paper presents a controller design method for a robust control problem with multiple constraints using genetic algorithms and LMI design method. A robust
constraint with loop shaping and pole placement is used to address disturbance attenuation with error limits and desired transient specifications, in spite of the plant uncertainties and disturbances. In addition, a loop gain constraint is considered so as not to enlarge the loop gain unnecessarily. The robust
constraint and pole placement constraint can be expressed in terms of two matrix inequalities and the loop gain constraint can be considered as an objective function so that genetic algorithms can be applied. Accordingly, a robust controller can be obtained by integrating genetic algorithms with LMI approach. The proposed controller design method is applied to a track-following system of an optical disk drive and is evaluated through simulation results.
Integral Sliding Mode Controller Design for Unmatched Uncertain Systems
Choi, Han-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 625~628
DOI : 10.5302/J.ICROS.2011.17.7.625
This paper presents an LMI-based method to design an integral sliding mode controller for a class of uncertain systems with unmatched uncertainties. The uncertain system under consideration may have unmatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs an existence condition of a sliding surface is derived. And a switching feedback control law is given. Finally, numerical examples are given to show that the proposed method can be better than the existing results for some cases.
Mono-rail for Communication Based Train Control System
Park, Gie-Soo ; Cho, Dong-Rae ; Ryou, Myung-Seon ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 629~633
DOI : 10.5302/J.ICROS.2011.17.7.629
The Wolmi Eunha-Rail in Incheon is connecting Wolmido and Incheon Station with an elevated monorail road supported by piers. This railroad system is characterized by driverless automatic operation and moving-block based control. The main technology applied to this signal-controlled system is CBTC (Communications-Based Train Control) which based on wireless communications. The CBTC system is simple in that composition so that can minimize field facilities and lowers costs of construction and maintenance. This CBTC system is emerging as a major signal-controlled system in the future metro market.
A Study on Current, Velocity, Position Gain Tuning Technique of Servo Position Controller using Simulation
Park, Ki-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 634~640
DOI : 10.5302/J.ICROS.2011.17.7.634
When a servo position controller of a robot or a driving units is composed of a PID controller, servomechanism which is modelled is composed of current, velocity and position control loops. After this model is simulated, the technique operating gain of each controller is suggested. The model consists of current, velocity and position controllers from the inside to the outside gradually. Also, to combine velocity and position controllers with 2 order system, simulation is performed after current controllers are composed, which are able for current loop to work ideally. If a current controller is treated with constant, it is possible for velocity and position controller to consist of controller into 2 order system. The technique is verified by applying T-company servo motor which is much more applied to current, velocity and position controller robots.
Gait Analysis System Using Infrared LED Landmarks
Nhut, Do-Tri ; Suh, Young-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 641~646
DOI : 10.5302/J.ICROS.2011.17.7.641
A low cost gait analysis system, which can measure stride length, walking speed, and ground reaction force, is proposed. A gait analysis system is used for medical evaluation of patients and rehabilitation assistance. Low cost cameras are attached to a shoe and movement of a shoe is estimated using infrared LED landmarks. Ground reaction force is measured from pressure sensors, which are installed inside a shoe. Through experiments, it is shown that the proposed system can be used to obtain stride length, walking speed, and ground reaction force.
Roll Replacing Robot Systems for Wire-rod Press Roll
Jin, Mao-Lin ; You, Ki-Sung ; Ryu, Hwang-Ryol ; Choi, Chin-Tae ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 647~650
DOI : 10.5302/J.ICROS.2011.17.7.647
This paper presents the development of roll replacement robot system for wire-rod press rolls. The roll replacement robot system consist of a palletized railway truck, a 6-DOF industrial robot manipulator, a roll changing tool and a hydraulic power system. Results of simulation and pilot experiment show the roll changing task can be successfully automated using proposed robot system.
Efficient Online Path Planning Algorithm for Mobile Robots in Dynamic Indoor Environments
Kang, Tae-Ho ; Kim, Byung-Kook ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 651~658
DOI : 10.5302/J.ICROS.2011.17.7.651
An efficient modified
lite algorithm is suggested, which can perform online path planning for mobile robots in dynamic indoor environment. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on
Lite algorithm, we improved representation of edge cost, heuristic function, and priority queue management, to build a modified
Lite algorithm. Performance of the proposed algorithm is revealed via extensive simulation study.
Kinesiology Based Human-like Walking Pattern Design for a Bipedal Robot
Park, Jin-Hee ; Kwon, Sang-Joo ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 659~667
DOI : 10.5302/J.ICROS.2011.17.7.659
The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.
Design and Control of a Wheel-Chair Robot for Handicapped or Elderly Persons
Kim, Hu-Seop ; Song, He-Su ; Jung, Seul ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 668~673
DOI : 10.5302/J.ICROS.2011.17.7.668
This paper presents design and control of a wheelchair robot for handicapped or elderly persons. Novel multi-functional design concepts are introduced. The first function is to balance the chair always parallel to the flat ground so that the driver feels comfortable when he/she drives on the slope. The second function is to help the driver to stand up by pushing the chair so that the driver can get out from the chair with ease. The third design is to make it foldable for easy carrying for automobiles. The last function is an immediate stop and start protection. Experimental studies are conducted to demonstrate the feasibility and functionality of each mechanical design.
Development of a DGPS-Based Localization and Semi-Autonomous Path Following System for Electric Scooters
Song, Ui-Kyu ; Kim, Byung-Kook ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 674~684
DOI : 10.5302/J.ICROS.2011.17.7.674
More and more elderly and disabled people are using electric scooters instead of electric wheelchairs because of higher mobility. However, people with high levels of impairment or the elderly still have difficulties in driving the electric scooters safely. Semi-autonomous electric scooter system is one of the solutions for the safety: Either manual driving or autonomous driving can be used selectively. In this paper, we implement a semi-autonomous electric scooter system with functions of localization and path following. In order to recognize the pose of electric scooter in outdoor environments, we design an outdoor localization system based on the extended Kalman filter using DGPS (Differential Global Positioning System) and wheel encoders. We added an accelerometer to make the localization system adaptable to road condition. Also we propose a path following algorithm using two arcs with current pose of the electric scooter and a given path in the map. Simulation results are described to show that the proposed algorithms provide the ability to drive an electric scooter semi-autonomously. Finally, we conduct outdoor experiments to reveal the practicality of the proposed system.
Laparoscope Manipulator Control for Minimally Invasive Surgery
Kim, Soo-Hyun ; Kim, Kwang-Gi ; Jo, Yung-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 685~696
DOI : 10.5302/J.ICROS.2011.17.7.685
An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.
Development of a Snake Robot with 2-DOF Actuator Modules
Shin, Ho-Cheol ; Jeong, Kyung-Min ; Kwon, Jeong-Joo ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 697~703
DOI : 10.5302/J.ICROS.2011.17.7.697
This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.
Development of Gravity-induced Loss of Consciousness(GLOC) Monitoring System and Automatic Recovery System
Kim, Chong-Sup ; Hwang, Byung-Moon ; Kang, Im-Ju ; Jang, Soon-Ryong ; Kim, Kwang-Yun ; Park, Myung-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 704~713
DOI : 10.5302/J.ICROS.2011.17.7.704
For many years, many pilots lost their lives and aircrafts due to GLOC(Gravity-induced Loss Of Consciousness). Due to the emergence of high-gravity maneuvering aircraft such as the F-16, F-15 and T-50, the automatic GLOC detection and recovery systems are necessary to increase the aircraft safeties even when the pilot loses his consciousness due to high-G maneuvering. This paper addresses the design of GLOC detection, warning and recovery algorithm based on a model of supersonic jet trainer. The system is solely controlled by the pilot's control input (i.e., control stick force) and aircraft status such as attitude, airspeed, altitude and so forth. And, moreover, it does not depend upon any pilot physiological condition. The test evaluation results show that the developed system supports the recovery of an aircraft from the unusual aircraft attitude and improves the aircraft safeties even when the pilot loses his consciousness due to high-G maneuvering.
Distributed Load Balancing with Handovers over Mobile Cellular Networks Using Supervisory Control
Byun, Hee-Jung ; Yang, Yoon-Gi ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 714~719
DOI : 10.5302/J.ICROS.2011.17.7.714
This paper proposes a scheme for distributed load balancing in mobile communication networks based on supervisory control framework. Using load information exchanged with neighboring cells, the "supervisors" that reside in the base stations distribute load among cells by controlling handover parameters in a distributed manner. The supervisors are designed so that the load difference among neighboring cells are kept under a pre-defined value. Results from systematic analysis and simulation indicate that our scheme effectively balances traffic load among cells and reduces call blocking rate of the overloaded cells.
Design and Implementation of KNX-ZigBee Gateway
Lee, Woo-Suk ; Hong, Seung-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 7, 2011, Pages 720~729
DOI : 10.5302/J.ICROS.2011.17.7.720
The demand for wireless technology in home automation systems has recently been increasing due to several advantages such as installation cost reduction, easy placement, easy extension, aesthetic benefits, and mobile device connectivity. Among the many wireless technologies, ZigBee is one of the most useful for home automation; a wireless home networking system can be configured using ZigBee alone. Compatibility with conventional home networking systems that are based on wired media, however, is not supported. KNX is a mature protocol for wired media that is recognized as an international standard. This paper proposes a KNX-ZigBee gateway to interface between KNX and ZigBee systems and thereby enable integration of wired and wireless home automation systems.