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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 19, Issue 12 - Dec 2013
Volume 19, Issue 11 - Nov 2013
Volume 19, Issue 10 - Oct 2013
Volume 19, Issue 9 - Sep 2013
Volume 19, Issue 8 - Aug 2013
Volume 19, Issue 7 - Jul 2013
Volume 19, Issue 6 - Jun 2013
Volume 19, Issue 5 - May 2013
Volume 19, Issue 4 - Apr 2013
Volume 19, Issue 3 - Mar 2013
Volume 19, Issue 2 - Feb 2013
Volume 19, Issue 1 - Jan 2013
Selecting the target year
Broad-Band Underwater Acoustic Transducer for Doppler Velocity Log
Yun, Cheol-Ho ; Lee, Yeoung-Pil ; Ko, Nak Yong ; Moon, Yong-Seon ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 755~759
DOI : 10.5302/J.ICROS.2013.13.9019
A broad-band underwater acoustic transducer that uses thickness vibration mode, derived from a disk type piezoelectric ceramic, has been proposed and designed for DVL (Doppler Velocity Log). Three different types of acoustic transducer were evaluated with respect to the transmitting voltage response, receiving voltage sensitivity and bandwidth of the transducer. The effect of the acoustic impedance matching layer and backing layer is discussed. The results demonstrated that three matching layer with lossy backing layer is the best configuration for underwater transducer. The trial underwater acoustic transducer with three matching layer has a frequency bandwidth of 55%, maximum transmitting voltage response of 200 dB and a maximum receiving voltage sensitivity of -187.3 dB.
Field Experiments for Dynamic Characteristics and Motion Control of a Manta-type Autonomous Underwater Vehicle
Kim, Dong Hee ; Park, Jong Hyeon ; Kim, Joon Young ; Choi, Hyeung Sik ; Ahn, Jin Hyeong ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 760~767
DOI : 10.5302/J.ICROS.2013.13.9020
In this paper, we developed a Manta-type AUV (Autonomous Underwater Vehicle) and analyzed its control performance as well as its dynamic characteristics underwater. The nonlinear motion of equations, which are expressed in terms of hydrodynamic coefficients obtained by various experiments, are used to simulate the motion of a Manta AUV underwater. We applied the sliding-mode theory to control the heading angle and depth of the vehicle, and confirmed the effectiveness of the control algorithm through simulations and sea-trials.
Decoupled Controller Design of an Autonomous Underwater Vehicle and Performance Test Results
Hyun, Chul ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 768~773
DOI : 10.5302/J.ICROS.2013.13.9021
In this paper, decoupled course, depth and roll controller design for an Autonomous Underwater Vehicle (AUV) and its performance test results are presented. Control system design is done using the PD control scheme based on a mathematical model of the AUV. Details of system implementation are given and the results of simulations and experiments using the prototype vehicle model are discussed. The designed controller was successfully applied to the nonlinear and coupled system under non-ideal actuator conditions.
DVL-RPM based Velocity Filter Design for a Performance Improvement Underwater Integrated Navigation System
Yoo, Tae Suk ; Yoon, Seon Il ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 774~781
DOI : 10.5302/J.ICROS.2013.13.9022
The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The proposed approach relies on a VKF, augmented by a altitude from Echo-sounder based switching architecture to yield robust performance, even when DVL (Doppler Velocity Log) exceeds the measurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) Indirect feedback navigation Kalman filter design, 2) VKF design. To evaluate proposed method, we compare the results of the VKF aided navigation system with simulation result from a PINS (Pure Inertial Navigation System) and conventional INS-DVL method. Simulations illustrate the effectiveness of the underwater navigation system assisted by the additional DVL-RPM based VKF in underwater environment.
Swimming Plans for a Bio-inspired Articulated Underwater Robot
Kim, Hee-Jong ; Lee, Jihong ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 782~790
DOI : 10.5302/J.ICROS.2013.13.9023
In this paper, we propose a better solution for swimming plans of an articulated underwater robot, Crabster, with a view point of biomimetics. As a biomimetic model of underwater organisms, we chose diving beetles structurally similar to Crabster. Various swimming locomotion of the diving beetle has been observed and sorted by robotics technology through experiments with a high-speed camera and image processing software Image J. Subsequently, coordinated patterns of rhythmic movements of the diving beetle are reproduced by simple control parameters in a parameter space which make it easy to control trajectories and velocities of legs. Furthermore, a simulation was implemented with an approximated model to predict the motion of the robot under development based on the classified forward and turning locomotion. Consequently, we confirmed the applicability of parameterized leg locomotion to the articulated underwater robot through the simulated results by the approximated model.
Depth Controller Design using Fuzzy Gain Scheduling Method of a Autonomous Underwater Vehicle - Verification by HILS
Hwang, Jong-Hyon ; Park, Sewon ; Kim, Moon-Hwan ; Lee, Sang-Young ; Hong, Sung Kyung ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 791~796
DOI : 10.5302/J.ICROS.2013.13.9024
This paper proposes a fuzzy logic gain scheduling method for depth controller of the AUV (Autonomous Underwater Vehicle). Gains of depth controller are calculated by using multi-loop root locus technique. Fuzzy logic based gain scheduling approach is used to modify multi-loop gains as control condition. It is illustrated by simulations that the proposed fuzzy logic gain scheduling method yields smaller rising time and overshoot compared to the fixed-gain controller. Finally, being implemented on real hardwares, all the proposed algorithms are validated with integrations of hardware and software altogether by HILS.
Design and Control of 6 D.O.F(Degrees of Freedom) Hovering AUV
Jeong, Sang-Ki ; Choi, Hyeung-Sik ; Seo, Jung-Min ; Tran, Ngoc Huy ; Kim, Joon-Young ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 797~804
DOI : 10.5302/J.ICROS.2013.13.9025
In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown.
Design, Control and Localization of Underwater Mine Disposal Robots
Moon, Yong Seon ; Ko, Nak Yong ; Sur, Joono ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 805~812
DOI : 10.5302/J.ICROS.2013.13.9026
This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.
Development of P-SURO II Hybrid Autonomous Underwater Vehicle and its Experimental Studies
Li, Ji-Hong ; Lee, Mun-Jik ; Park, Sang-Heon ; Kim, Jung-Tae ; Kim, Jong-Geol ; Suh, Jin-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 813~821
DOI : 10.5302/J.ICROS.2013.13.9027
In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms.
Design of Sliding Mode Controller Based on Adaptive Fault Diagnosis Observer for Nonlinear Continuous-Time Systems
Chang, Seung Jin ; Choi, Yoon Ho ; Park, Jin Bae ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 822~826
DOI : 10.5302/J.ICROS.2013.13.1888
In this paper, we propose an AFDO (Adaptive Fault Diagnosis Observer) and a fault tolerant controller for a class of nonlinear continuous-time system under the nonlinear abrupt actuator faults. Together with its estimation laws, the AFDO which estimates that the actuator faults is designed by using the Lyapunov analysis. Then, based on the designed AFDO, an adaptive sliding mode controller is proposed as the fault tolerant controller. Using Lyapunov stability analysis, we also prove the uniform boundedness of the state, the output and the fault estimation errors, and the asymptotic stability of the tracking error under the nonlinear time-varying faults. Finally, we illustrate the effectiveness of the proposed diagnosis method and the control scheme thorough computer simulations.
Numerical Method for the Analysis of Bilinear Systems via Legendre Wavelets
Kim, Beomsoo ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 827~833
DOI : 10.5302/J.ICROS.2013.13.1911
In this paper, an efficient computational method is presented for state space analysis of bilinear systems via Legendre wavelets. The differential matrix equation is converted to a generalized Sylvester matrix equation by using Legendre wavelets as a basis. First, an explicit expression for the inverse of the integral operational matrix of the Legendre wavelets is presented. Then using it, we propose a preorder traversal algorithm to solve the generalized Sylvester matrix equation, which greatly reduces the computation time. Finally the efficiency of the proposed method is discussed using numerical examples.
Balancing Control of a Ball Robot Based on an Inverted Pendulum
Kang, Seok-Won ; Park, Chan-Ik ; Byun, Gyu-Ho ; Lee, Jang-Myung ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 834~838
DOI : 10.5302/J.ICROS.2013.13.1903
This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non-model-based controller to control simply without complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed ball robot.
Temperature Control of a CSTR using Fuzzy Gain Scheduling
Kim, Jong-Hwa ; Ko, Kang-Young ; Jin, Gang-Gyoo ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 839~845
DOI : 10.5302/J.ICROS.2013.13.1889
A CSTR (Continuous Stirred Tank Reactor) is a highly nonlinear process with varying parameters during operation. Therefore, tuning of the controller and determining the transition policy of controller parameters are required to guarantee the best performance of the CSTR for overall operating regions. In this paper, a methodology employing the 2DOF (Two-Degree-of-Freedom) PID controller, the anti-windup technique and a fuzzy gain scheduler is presented for the temperature control of the CSTR. First, both a local model and an EA (Evolutionary Algorithm) are used to tune the optimal controller parameters at each operating region by minimizing the IAE (Integral of Absolute Error). Then, a set of controller parameters are expressed as functions of the gain scheduling variable. Those functions are implemented using a set of "if-then" fuzzy rules, which is of Sugeno`s form. Simulation works for reference tracking, disturbance rejecting and noise rejecting performances show the feasibility of using the proposed method.
Control System Design for Marine Vessel Satisfying Mixed H
Kang, Chang-Nam ; Kim, Young-Bok ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 846~852
DOI : 10.5302/J.ICROS.2013.13.1895
In this paper, the authors propose a new approach to control problem of the marine vessels which are moored or controlled by actuators. The vessel control problem in the specified area is called a DPS (Dynamic Positioning System). The main objective of this paper is to obtain more useful control design method for DPS. In this problem, a complicate fact is control allocation which is a numerical method for distributing the control signal to the controlled system. For this, many results have been given and verified by other researchers using two individual processes. It means that the controller design and control allocation design process are carried out individually. In this paper, the authors give more sophisticated design solution on this issue. In which the controller design and control allocation problem are unified by a robust controller design problem. In other word, the stability of the closed-loop system, control performance and allocation problem are unified by an LMI (Linear Matrix Inequality) constraint based on
mixed design framework. The usefulness of proposed approach is verified by simulation with a supply vessel model and found works well.
Study on the Correlation between Grip Strength and EEG
Kim, Dong-Eun ; Park, Seung-Min ; Sim, Kwee-Bo ;
Journal of Institute of Control, Robotics and Systems, volume 19, issue 9, 2013, Pages 853~859
DOI : 10.5302/J.ICROS.2013.13.1916
The purpose of this study was to identify the correlation between electroencephalography (EEG) and strength, using grip strength. 64-channel EEG data were recorded from five healthy subjects in tasks requiring handgrip contractions of nine levels of MVC (Maximal Voluntary Contraction). We found the ERS (Event-Related Synchronization)/ERD (Event-Related Desynchronization) at the measured EEG data using STFT (Short-Time Furier Transform) and spectral power in the EEG of each frequency range displayed in the graph. In this paper, we identified that the stronger we contracted, the greater the spectral power was increased in the