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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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Fuzzy Output-Feedback Controller Design for PEMFC: Discrete-time Nonlinear Interconnected Systems with Common Inputs Approach
Koo, Geun-Bum ; Park, Jin-Bae ; Joo, Young-Hoon ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 851~856
DOI : 10.5302/J.ICROS.2011.17.9.851
In this paper, the fuzzy output-feedback controller is addressed for a discrete-time nonlinear interconnected systems with common input. The nonlinear interconnected system is represented by a T-S (Takagi-Sugeno) fuzzy model. Based on T-S fuzzy interconnected system, the fuzzy output-feedback controller is designed with common input. The stability condition of the closed-loop system is represented to the LMI (Linear Matrix Inequality) form. PEMFC model is given to show the verification of the controller discussed throughout the paper.
Output Consensus of Non-identical and Stabilizable Linear Systems Having the Same Transfer Matrix
Kim, Ji-Su ; Kim, Hong-Keun ; Shim, Hyung-Bo ; Back, Ju-Hoon ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 857~862
DOI : 10.5302/J.ICROS.2011.17.9.857
This paper studies the output consensus problem for a class of heterogeneous linear multi-agent systems under a fixed directed communication network. The dynamics, as well as its dimension, of each agent can widely differ from the others, but all the agents are assumed to have the same transfer matrix. In addition, only the system outputs are constrained to be delivered through the network. Under these conditions, we show that the output consensus is reached by a group of identical controllers, which is designed to achieve the state consensus for the homogeneous multi-agent system obtained from the minimal realization of the transfer matrix. Finally, an example is given to demonstrate the proposed result.
Motion Synchronization of Control for Multi Electro-Hydraulic Actuators
Kim, Seong-Hoon ; Seo, Jeong-Uk ; Yoon, Young-Won ; Park, Myeong-Kwan ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 863~868
DOI : 10.5302/J.ICROS.2011.17.9.863
This paper presents a method to achieve a synchronous positioning objective for a dual-cylinder electro-hydraulic system with friction characteristics. The control system consists of a VSC (Variable Structure Controller) for each of the hydraulic cylinders and a PID (Proportional-Integral-Derivative) feedback controller. The PID controller is used for controlling the non-synchronous error generated by both cylinders when motion synchronization is carried out. To enhance the position-tracking performance of the individual cylinders friction characteristics is modeled in model, based on the estimated friction force. The simulation and experimental results show that the proposed method can effectively achieve the objective of position synchronization in the dualcylinder electro-hydraulic system, with maximum synchronization error with
Design of Sliding Mode Controller for Ship Position Control
Bui, Van Phuoc ; Kim, Young-Bok ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 869~874
DOI : 10.5302/J.ICROS.2011.17.9.869
This paper addresses the trajectory tracking problem for ship berthing by using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and robust performance with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.
Perturbation/Correlation based Optimization
Lee, Soo-Yong ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 875~881
DOI : 10.5302/J.ICROS.2011.17.9.875
This paper describes a new method of estimating the gradient of a function with perturbation and correlation. We impose a known periodic perturbation to the input variable and observe the output of the function in order to obtain much richer and more reliable information. By taking the correlation between the input perturbation and the resultant function outputs, we can determine the gradient of the function. The computation of the correlation does not require derivatives; therefore the gradient can be estimated reliably. Robust estimation of the gradient using perturbation/correlation, which is very effective when an analytical solution is not available, is described. To verify the effectiveness of perturbation/correlation based estimation, the results of gradient estimation are compared with the analytical solutions of an example function. The effects of amplitude of the perturbation and number of samplings in a period are investigated. A minimization of a function with the gradient estimation method is performed.
Screw Motion and Control of Conductive Rod by Rotating a Spiral Electrodynamic Wheel
Jung, Kwang-Suk ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 882~887
DOI : 10.5302/J.ICROS.2011.17.9.882
A spiral electrodynamic wheel is proposed as an actuator for the contactless conveyance of a conductive rod. When rotating the wheel around the rod, a radial force, a tangential force, and an axial force are generated on the rod and cause a screw motion of the rod. The rotation of the rod is the inevitable result due to traction torque of the wheel and the unintended motion to be excluded. However, the rotating speed of the rod should be measured without mechanical contact to be cancelled out through the controller, so the electrodynamic wheel is used as a sensor measuring the rotating speed of the rod indirectly as well as an actuator. In this paper, we model the magnetic forces by the proposed wheel theoretically and compare the derived model with simulation result by Maxwell, and analyze influences on the magnetic forces by key parameters constituting the wheel. The feasibility of the conveyance system is verified experimentally.
Development of Flow Control Valve Using MR Fluid
Lee, Hyung-Don ; Bae, Hyung-Sub ; Lee, Yuk-Hyung ; Park, Myeong-Kwan ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 888~891
DOI : 10.5302/J.ICROS.2011.17.9.888
This paper presents development of flow control valve using MR fluid. Generally, since the apparent viscosity of MR fluids is adjusted by applying magnetic fields, the MR valves can control high level fluid power without any mechanical moving parts. In this paper, flow control valve using MR fluid on the behavior of the magnetic field influence on the numerical analysis of more accurate electromagnetic parameters were obtained, even if when magnetic field apply inside of surrounding MR fluid from electromagnet, more realistic designing way analysis of characteristic of whole magnetic field distribution is suggested by surrounding magnetic material. Also, comparison of flow rate inlet and outlet, behavior of MR fluid in experiments proposed. A new type of flow control valve using MR fluid is proposed by analysis of behavior of MR fluid in experiments.
Development of a Camera-based Position Measurement System for the RTGC with Environment Conditions
Kawai, Hideki ; Kim, Young-Bok ; Choi, Yong-Woon ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 892~896
DOI : 10.5302/J.ICROS.2011.17.9.892
This paper describes a camera-based position measurement system for automatic tracking control of a rubber Tired Gantry Crane (RTGC). An automatic tracking control of RTGC depends on the ability to measure its displacement and angle from a guide line that the RTGC has to follow. The measurement system proposed in this paper is composed of a camera and a PC that are mounted on the right upper between front and rear tires of the RTGC`s side. The measurement accuracy of the system is affected by disturbances such as cracks and stains of the guide line, shadows, and halation from the light fluctuation. To overcome the disturbances, both side edges of the guide line are detected as two straight lines from an input image taken by the camera, and parameters of the straight lines are determined by using Hough transform. The displacement and angle of the RTGC from the guide line can be obtained from these parameters with the robustness against the disturbances. From the experiments with the disturbances, we found the accurate displacement and the angle from the guide line that have the standard deviations of 0.95 pixels and 0.22 degrees, respectively.
Analysis of Steady State Error on Simple FLC
Lee, Kyoung-Woong ; Choi, Han-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 897~901
DOI : 10.5302/J.ICROS.2011.17.9.897
This paper presents a TS (Takagi-Sugeno) type FLC (Fuzzy Logic Controller) with only 3 rules. The choice of parameters of FLC is very difficult job on design FLC controller. Therefore, the choice of appropriate linguistic variable is an important part of the design of fuzzy controller. However, since fuzzy controller is nonlinear, it is difficult to analyze mathematically the affection of the linguistic variable. So this choice is depend on the expert`s experience and trial and error method. In the design of the system, we use a variety of response characteristics like stability, rising time, overshoot, settling time, steady-state error. In particular, it is important for a stable system design to predict the steady-state error because the system`s steady-state response of the system is related to the overall quality. In this paper, we propose the method to choose the consequence linear equation`s parameter of T-S type FLC in the view of steady-state error. The parameters of consequence linear equations of FLC are tuned according to the system error that is the input of FLC. The full equation of T-S type FLC is presented and using this equation, the relation between output and parameters can represented. As well as the FLC parameters of consequence linear equations affect the stability of the system, it also affects the steady-state error. In this study, The system according to the parameter of consequence linear equations of FLC predict the steady-state error and the method to remove the system`s steady-state error is proposed using the prediction error value. The simulation is carried out to determine the usefulness of the proposed method.
Performance Evaluation of Visual Path Following Algorithm
Choi, I-Sak ; Ha, Jong-Eun ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 902~907
DOI : 10.5302/J.ICROS.2011.17.9.902
In this paper, we deal with performance evaluation of visual path following using 2D and 3D information. Visual path follow first teaches driving path by selecting milestone images then follows the same route by comparing the milestone image and current image. We follow the visual path following algorithm of  and . In , a robot navigated with 2D image information only. But in , local 3D geometries are reconstructed between the milestone images in order to achieve fast feature prediction which allows the recovery from tracking failures. Experimental results including diverse indoor cases show performance of each algorithm.
Design and Implementation of Web-based Software Engineering Tool for Robot
Hong, Chang-Ho ; Park, Hong-Seong ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 908~915
DOI : 10.5302/J.ICROS.2011.17.9.908
As the requirement of user for robot functionality, the function and interface for controlling the robot system is more sophisticated and complicated. Accordingly development process of robot is more complicated and it takes much longer time to develop a robot system. Software development using project management tool is more important in software engineering because of the complexity of software, especially robot system. This paper proposes SEED (Software Engineering Equipment for Development), which is a web-based and integrated software engineering tool to provide independent tools for robot software development. SEED includes the document management tool, the software configuration management tool, the software testing tool on developing robot software and provide a functionality of collaborated and remote development due to WEB-based operations.
Hausdorff Distance Matching for Elevation Map-based Global Localization of an Outdoor Mobile Robot
Ji, Yong-Hoon ; Song, Jea-Bok ; Baek, Joo-Hyun ; Ryu, Jae-Kwan ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 916~921
DOI : 10.5302/J.ICROS.2011.17.9.916
Mobile robot localization is the task of estimating the robot pose in a given environment. This research deals with outdoor localization based on an elevation map. Since outdoor environments are large and contain many complex objects, it is difficult to robustly estimate the robot pose. This paper proposes a Hausdorff distance-based map matching method. The Hausdorff distance is exploited to measure the similarity between extracted features obtained from the robot and elevation map. The experiments and simulations show that the proposed Hausdorff distance-based map matching is useful for robust outdoor localization using an elevation map. Also, it can be easily applied to other probabilistic approaches such as a Markov localization method.
alibration of Infra-red Range Finder PBS-03JN Using Piecewise Linear Function Based on 2-D Grid Error
Kim, Jin-Baek ; Kim, Byung-Kook ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 922~931
DOI : 10.5302/J.ICROS.2011.17.9.922
An efficient calibration algorithm for mobile robot localization using infrared range finder is proposed. A calibration is important to guarantee the performance of other algorithms which use sensor data because it is pre-process. We experimentally found that the infrared range finder PBS-03JN has error characteristics depending on both distance and scan angle. After obtaining 2-D grid error characteristic data on distance and scan angle, we proposed a simple and efficient calibration algorithm with a 2-D piecewise linear function set. The performance of our proposed calibration algorithm is verified by experiments and simulation.
Optimal Design of Process-Inventory Network Considering Exchange Rates and Taxes in Multinational Corporations
Yi, Gyeong-Beom ; Suh, Kuen-Hack ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 932~940
DOI : 10.5302/J.ICROS.2011.17.9.932
This paper presents an integrated analysis of supply chain and financing decisions of multi-national corporation. We construct a model in which multiple currency storage units are installed to manage the currency flows associated with multi-national supply chain activities such as raw material procurement, process operation, inventory control, transportation and finished product sales. Core contribution of this study is to quantitatively investigate the influence of macroscopic economic factors such as exchange rates and taxes on operational decisions. The supply chain is modeled by the Process-Storage Network with recycle streams. The objective function of the optimization is minimizing the opportunity costs of annualized capital investments and currency/material inventories minus the benefit to stockholders interpreted by home currency. The major constraints of the optimization are that the material and currency storage units must not be depleted. A production and inventory analysis formulation, the periodic square wave (PSW) model, provides useful expressions for the upper/lower bounds and average levels of the currency and material inventory holdups. The expressions for the Kuhn-Tucker conditions of the optimization problem are reduced to a subproblem and analytical lot sizing equations. The procurement, production, transportation and financial transaction lot sizes can be determined by analytical expressions after the average flow rates are already known. We show that, when corporate income tax is taken into consideration, the optimal production lot and storage sizes are smaller than is the case when such factors are not considered typically by 20 %.
Verification of GPS Aided Error Compensation Method and Navigation Algorithm with Raw eLoran Measurements
Song, Se-Phil ; Choi, Heon-Ho ; Kim, Young-Baek ; Lee, Sang-Jeong ; Park, Chan-Sik ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 941~946
DOI : 10.5302/J.ICROS.2011.17.9.941
The Loran-C, a radio navigation system based on TDOA measurements is enhanced to eLoran using TOA measurements instead of TDOA measurements. Many error factors such as PF, SF, ASF, clock errors and unknown biases are included in eLoran TOA measurements. Because these error factors can cause failure in eLoran navigation algorithm, these errors must be compensated for high accuracy eLoran navigation results. Compensation of ASF and unknown biases are difficult to calculate, while the others such as PF and SF are relatively easy to eliminate. In order to compensate all errors in eLoran TOA measurements, a simple GPS aided bias compensation method is suggested in this paper. This method calculates the bias as the difference of TOA measurement and the range between eLoran transmitters and the receiver whose position is determined using GPS. The real data measured in Europe are used for verification of suggested method and navigation algorithm.
Adaptive Particle Filter Design for Radome Aberration Error Compensation
Han, Sang-Sul ; Lee, Sang-Jeong ;
Journal of Institute of Control, Robotics and Systems, volume 17, issue 9, 2011, Pages 947~953
DOI : 10.5302/J.ICROS.2011.17.9.947
Radome aberration error causes degradation of miss distance as well as stability of high maneuver missile system with RF seeker. A study about radome compensation method is important in this kind of missile system design. Several kinds of methods showed good compensation performance in their paper. Proposed adaptive Particle filter estimates line of sight rate excluding the radome induced error. This paper shows effectiveness of adaptive Particle filter as compensation method of radome aberration error. Robust performance of this filter depends on external aiding measurement, target acceleration. Tuning of system error covariance can make this filter unsensitive against the error of target acceleration information. This paper demonstrates practical usage of adaptive Particle filter for reducing miss distance and increasing stability against disturbance of radome aberration error through performance analysis.