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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 20, Issue 12 - Dec 2014
Volume 20, Issue 11 - Nov 2014
Volume 20, Issue 10 - Oct 2014
Volume 20, Issue 9 - Sep 2014
Volume 20, Issue 8 - Aug 2014
Volume 20, Issue 7 - Jul 2014
Volume 20, Issue 6 - Jun 2014
Volume 20, Issue 5 - May 2014
Volume 20, Issue 4 - Apr 2014
Volume 20, Issue 3 - Mar 2014
Volume 20, Issue 2 - Feb 2014
Volume 20, Issue 1 - Jan 2014
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Design of a Wideband Substrate-Integrated Waveguide (SIW) Frequency Selective Surface
Oh, Semyoung ; Lee, Hanjun ; Lee, Gil-Young ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 107~111
DOI : 10.5302/J.ICROS.2014.13.9001
An SIW cavity is a useful tool to design an FSS which shows a rapid roll-off rate and insensitivity to polarizations and incident angles of electromagnetic waves. However, due to its high Q-factor, the FSS also shows narrow bandwidth which is undesirable for high-capacity communication. To address this drawback, we propose a novel technique to enhance the bandwidth while maintaining similar frequency response characteristics and minimizing the increase of the overall thickness of the SIW cavity FSS. In order to verify the performance of the technique, simulated frequency responses will be provided. Also, a parameter which affects the bandwidth will be studied. Finally the stability to polarizations and incident angles will be observed through the simulated results.
A Study on Defense Technology Level Evaluation of Force Support Systems
Lee, Donghun ; Hong, Seongdon ; Kim, Young-Geon ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 112~119
DOI : 10.5302/J.ICROS.2014.13.9002
A force support system is composed of capital components such as combat equipments, supplies and so on to enable constant fighting power capability. Private technology level evaluation is on the rise as an important spin-on method in force support systems, which requires 92% of total munitions requirements, to obtain superior private technology. The evaluation of the private sector technology level on Korean force support systems has been conducted for the first time as follows: this research chose 38 items to be acquired within 2-3 years and grouped either identical or similar technology among those 38 items. A technology evaluating method was established based on the analysis of domestic and foreign technology level evaluations. Evaluation was performed by a Delphi survey from 180 private and military experts. To obtain an objective index and raise political availability, a technology system map and standard document were developed and applied to all 38 items.
Development of Hazardous Objects Detection Technology based on Metal/Non-Metal Detector
Yoo, Dong-Su ; Kim, Seok-Hwan ; Lee, Jeong-Yeob ; Lee, Seok-Jae ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 120~125
DOI : 10.5302/J.ICROS.2014.13.9003
Conventional handheld metal detectors use a single induction coil to detect the metallic parts of explosive objects, and the detector generates an acoustic signal from its magnetic response to a metallic object so that an operator can confirm the existence of mines. Though metal detectors have very useful detection mechanisms to find mines, it is easy to cause a high false alarm ratio due to the detection of non-explosive metallic items such as cans, nails and other pieces of metal, etc. Also, because of the physical characteristic of a metal detector it is hard to detect non-metallic objects such as mines made of wood or plastic. Furthermore, the operator must move it to the left and right slowly and repeatedly to attain enough sensor signals to confirm the existence of mines using only a monotonous acoustic signal. To resolve the disadvantages of handheld detectors, many new approaches have been attempted, such as an arrayed detector and a visualization algorithm based on metal/non-metal sensor. In this paper, we introduce a visualization algorithm with a metal/non-metal complex sensor, an arrayed metal/non-metal sensor and the their testing and evaluation.
Multi Sources Track Management Method for Naval Combat Systems
Lee, Ho Chul ; Kim, Tae Su ; Shin, Hyung Jo ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 126~131
DOI : 10.5302/J.ICROS.2014.13.9004
This paper is concerned with a track management method for a naval combat system which receives the tracks information from multi-sensors and multi-tactical datalinks. Since the track management of processing the track information from diverse sources can be formulated as a data fusion problem, this paper will deal with the data fusion architecture, track association and track information determination algorithm for the track management of naval combat systems.
An LQR Controller for Autonomous Underwater Vehicle
Bae, Seol B. ; Shin, Dong H. ; Kwon, Soon T. ; Joo, Moon G. ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 132~137
DOI : 10.5302/J.ICROS.2014.13.9005
In this paper, An LQR controller is proposed for way-point tracking of AUV (Autonomous Underwater Vehicle). The LQR controller aims at tracking a series of way-points which operator registers arbitrarily in advance. It consists of a depth controller and a steering controller and AUV`s surge speed is assumed varying to consider the dynamic environment of the underwater. In order to show the performance, a conventional state feedback controller is compared with the proposed controller by the simulation using Matlab/Simulink. The parameters of AUV developed by the author`s laboratory are used. In the simulation, we verify that the LQR controller can track all the way-points within 1 m error range under the varying surge speed, which proves the robustness of the LQR controller.
A UGV Hybrid Path Generation Method by using B-spline Curve`s Control Point Selection Algorithm
Lee, Hee-Mu ; Kim, Min-Ho ; Lee, Min-Cheol ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 138~142
DOI : 10.5302/J.ICROS.2014.13.9006
This research presents an A* based algorithm which can be applied to Unmanned Ground Vehicle self-navigation in order to make the driving path smoother. Based on the grid map, A* algorithm generated the path by using straight lines. However, in this situation, the knee points, which are the connection points when vehicle changed orientation, are created. These points make Unmanned Ground Vehicle continuous navigation unsuitable. Therefore, in this paper, B-spline curve function is applied to transform the path transfer into curve type. And because the location of the control point has influenced the B-spline curve, the optimal control selection algorithm is proposed. Also, the optimal path tracking speed can be calculated through the curvature radius of the B-spline curve. Finally, based on this algorithm, a path created program is applied to the path results of the A* algorithm and this B-spline curve algorithm. After that, the final path results are compared through the simulation.
Power Stage Design for a Surface Wireless Power Transmission System using a Coupled Electric Field
Choi, Sung-Jin ; Kim, Se-Yeong ; Choi, Byung-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 143~148
DOI : 10.5302/J.ICROS.2014.13.9007
Conventional wireless power transfer methods based on coupled magnetic fields need a complex winding structure on the surface of the energy transfer and shows poor efficiency near metal objects due to the eddy current effect. In this study, to mitigate these problems, we investigate an electric field-coupled power transmission system, which is less prone to metal object problems and EMI. Because of the fundamental physical limit in the size of link capacitances, a half-bridge converter with an impedance matching transformer is proposed and the design procedure is derived to provide a soft-switching scheme. Hardware implementation shows that the proposed scheme with a pair of 10cm by 10cm copper plate can power a 1.4W USB FAN in a separation of 0.2mm by using insulating paper when driven by 227 kHz gate pulse.
Biaxial Accelerometer-based Magnetic Compass Module Calibration and Analysis of Azimuth Computational Errors Caused by Accelerometer Errors
Cho, Seong Yun ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 149~156
DOI : 10.5302/J.ICROS.2014.13.9008
A magnetic compass module must be calibrated accurately before use. Moreover, the calibration process must be performed taking into account any magnetic dip if the magnetic compass module has tilt angles. For this, a calibration method for a magnetic compass module is explained. Tilt error of the magnetic compass module is compensated using a biaxial accelerometer generally. The accelerometer error causes a tilt angle calculation error that gives rise to an azimuth calculation error. For error property analysis, error equations are derived and simulations are performed. In the simulation results, the accuracy of derived error equations is verified. If a biaxial magnetic compass module is used instead of a triaxial one, the magnetic dip and z-axis magnetic compass data must be estimated for tilt compensation. Lastly, estimation equations for the magnetic dip and z-axis magnetic compass data are derived, and the performance of the equations is verified based on a simulation.
Secured Search and Rescue Signal using COSPAS-SARSAT
Baek, Yoojin ; Cho, Taenam ; Kim, Jaehyun ; Lee, Sanguk ; Ahn, Woo-Geun ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 157~162
DOI : 10.5302/J.ICROS.2014.13.9009
The international COSPAS-SARSAT program is a satellite-based search and rescue distress alert detection and information distribution system and best known as the system that detects and locates emergency beacons activated by aircraft, ships and so on. However, the current message format of the system is not encrypted so that, if the rescue signal can be intercepted by the unintended receivers, the subsequent rescue activities can be handled in a hostile environment. So, this article concerns how to deal with the rescue signals in a secure way and proposes some adequate encryption methods and the corresponding key management.
Model Predictive Control of Three-Phase Inverter for Uninterruptible Power Supply Applications under a Hexagonal Input Constraint Region
Kim, Seok-Kyoon ; Kim, Jung-Su ; Lee, Young Il ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 163~169
DOI : 10.5302/J.ICROS.2014.13.1986
Using the classical cascade voltage control strategy, this paper proposes an analytical solution to an MPC (Model Predictive Control) problem with a hexagonal input constraint set for the inner-loop to regulate the output voltage of the UPS (Uninterruptible Power Supply). Focus is placed on how to deal with the hexagonal input constraint set without any approximation. Following the conventional cascade voltage control strategy, the PI (Proportional-Integral) controller is used in the outer-loop in order to regulate the output voltage. The simulation results illustrate that the capacitor voltage rapidly goes to its reference in a satisfactory manner while keeping other state variables bounded under an unexpected load changes.
Unknown Input Estimation using the Optimal FIR Smoother
Kwon, Bo-Kyu ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 170~174
DOI : 10.5302/J.ICROS.2014.13.1980
In this paper, an unknown input estimation method via the optimal FIR smoother is proposed for linear discrete-time systems. The unknown inputs are represented by random walk processes and treated as auxiliary states in augmented state space models. In order to estimate augmented states which include unknown inputs, the optimal FIR smoother is applied to the augmented state space model. Since the optimal FIR smoother is unbiased and independent of any a priori information of the augmented state, the estimates of each unknown input are independent of the initial state and of other unknown inputs. Moreover, the proposed method can be applied to stochastic singular systems, since the optimal FIR smoother is derived without the assumption that the system matrix is nonsingular. A numerical example is given to show the performance of the proposed estimation method.
A Method of Improving Accuracy of Histogram Specification
Huh, Kyung Moo ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 175~179
DOI : 10.5302/J.ICROS.2014.13.8002
The histogram specification turns the shape of a histogram into that we want to specify. This technique can be applied usefully in various image processing fields such as machine vision. However, the histogram specification technique has its basic limits. For instance, the histogram does not have location information of pixels. Also, the accuracy of the specification drops because of quantization errors of the digitized image. In this paper, we proposed a multiresolution histogram specification method in order to improve the accuracy of specification in terms of resemblance between destination and source image. The experimental results show that the proposed method enhances the accuracy of the specification compared to the conventional methods.
Static Friction Compensation for Enhancing Motor Control Precision
Ryoo, Jung Rae ; Doh, Tae-Yong ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 180~185
DOI : 10.5302/J.ICROS.2014.13.1974
DC motor is a representative electric motor commonly utilized in various motion control fields. However, DC motor-based motion control systems suffer from degradation of position precision due to nonlinear static friction. In order to enhance control precision, friction model-based compensators have been introduced in previous researches, where friction models are identified and counter inputs are added to control inputs for cancelling out the identified friction forces. In this paper, a static friction compensator is proposed without use of a friction model. The proposed compensation algorithm utilizes internal state manipulation to generate compensation pulses, and related parameters are easily tuned experimentally. The proposed friction compensator is applied to a DC motor-based motion control system, and results are presented in comparison with those without a friction compensator.
A Design for a Fuzzy Logic based Frequency Controller for Efficient wind Farm Operation
Kim, Se Yoon ; Kim, Sung Ho ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 186~192
DOI : 10.5302/J.ICROS.2014.13.8003
Recently wind energy penetration into power systems has increased. Wind power, as a renewable energy source, plays a different role in the power system compared to conventional power generation units. As long as only single and small wind power units are installed in the power system, wind power does not influence power system operation and can easily be integrated. However, when wind power penetration reaches a significantly high level and conventional power production units are substituted, the impact of wind power on the power system becomes noticeable and must be handled. The connection of large wind turbines and wind farms to the grid has a large impact on grid stability. The electrical power system becomes more vulnerable to and dependent on wind energy production, and therefore there is an increased concern about the large wind turbines impact on grid stability. In this work, a new type of fuzzy logic controller for the frequency control of wind farms is proposed and its performance is verified using SimWindFarm toolbox which was developed as part of the Aeolus FP7 project.
Development of a Powered Knee Prosthesis using a DC Motor
Kim, Won-Sik ; Kim, Seuk-Yun ; Lee, Young-Sam ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 193~199
DOI : 10.5302/J.ICROS.2014.13.1977
In this paper, we present an overview of the structure of a lab-built powered knee prosthesis and the control of it. We build a powered prosthesis prototype on the basis of previous researches and aim at obtaining the essential technology related with its control. We adopt the slider-crank mechanism with a DC motor as an actuator to manipulate the knee joint. We also build an embedded control system for the prosthesis with a 32-bit DSP controller as a main computation unit. We divide the gait phase into five stages and use a FSM (Finite State Machine) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds on a tread mill in order to show the feature of the built powered prosthesis. The experimental results show that our prosthesis has the ability to provide a functional gait that is representative of normal gait biomechanics.
Obstacle Avoidance of a Moving Sound Following Robot using Active Virtual Impedance
Han, Jong-Ho ; Park, Sook-Hee ; Noh, Kyung-Wook ; Lee, Dong-Hyuk ; Lee, Jang-Myung ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 200~210
DOI : 10.5302/J.ICROS.2014.13.1944
An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.
Path Planning for Autonomous Navigation of a Driverless Ground Vehicle Based on Waypoints
Song, Gwang-Yul ; Lee, Joon-Woong ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 211~217
DOI : 10.5302/J.ICROS.2014.13.1961
This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.
Autonomous Calibration of a 2D Laser Displacement Sensor by Matching a Single Point on a Flat Structure
Joung, Ji Hoon ; Kang, Tae-Sun ; Shin, Hyeon-Ho ; Kim, SooJong ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 218~222
DOI : 10.5302/J.ICROS.2014.13.1950
In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot`s coordinates, and the geometric relation (i.e. rotation and translation) between the robot`s coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot`s TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.
Development of Android Application for Wireless Control of Omnidirectional Biped Walking of Humanoid Robot
Park, GyuYung ; Yun, JaeHun ; Choi, YoungLim ; Kim, Jong-Wook ;
Journal of Institute of Control, Robotics and Systems, volume 20, issue 2, 2014, Pages 223~231
DOI : 10.5302/J.ICROS.2014.13.8001
Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot`s forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.