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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 3, Issue 6 - Dec 1997
Volume 3, Issue 5 - Oct 1997
Volume 3, Issue 4 - Aug 1997
Volume 3, Issue 3 - Jun 1997
Volume 3, Issue 2 - Apr 1997
Volume 3, Issue 1 - Feb 1997
Selecting the target year
Design of PI observer for descriptor system
Kim, Hwan-Seong ; Kim, Sang-Bong ; Kawaji, Shigeyasu ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 332~337
Controller for State and Input Delayed Systems with Structured Uncertainties
Lee, Joon-Hwa ; Moon, Young-Soo ; Kwon, Wook-Hyun ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 338~342
Phase delay control of a cantilever beam using piezoelectric materials
Hwang, Jin-Gwon ; Choe, Jong-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 343~349
In a lightly damped cantilever beam, most of the vibration energy is found around natural frequencies. Based on this, a phase delay control for suppressing vibration of the beam is proposed in this paper. This controller is designed to behave like a velocity feedback controller at the frequencies of modes to be controlled. Also, this controller is designed in consideration with uncontrolled modes for robust stability and improving of the sensitivity function of the control system. This phase delay control is applied to vibration suppression of a cantilever beam with a pair of a piezoelectric actuator and a piezoelectric sensor. Experimental results showed that the phase delay control functions efficiently.
Region-based Q-learning for intelligent robot systems
Kim, Jae-Hyeon ; Seo, Il-Hong ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 350~356
It is desirable for autonomous robot systems to possess the ability to behave in a smooth and continuous fashion when interacting with an unknown environment. Although Q-learning requires a lot of memory and time to optimize a series of actions in a continuous state space, it may not be easy to apply the method to such a real environment. In this paper, for continuous state space applications, to solve problem and a triangular type Q-value model\ulcorner This sounds very ackward. What is it you want to solve about the Q-value model. Our learning method can estimate a current Q-value by its relationship with the neighboring states and has the ability to learn its actions similar to that of Q-learning. Thus, our method can enable robots to move smoothly in a real environment. To show the validity of our method, navigation comparison with Q-learning are given and visual tracking simulation results involving an 2-DOF SCARA robot are also presented.
An automatic calibration technique for piezoelectric pressure sensors
Choi, Ju-Ho ; Lyou, Joon ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 357~362
This paper suggests an automatic calibration technique for piezoelectric low pressure transducer measuring a pressure blow 500psi. The present calibration system embedded with error correction algorithm generates it's best you don't cut parts of wards like so dynamic pressure and compensates offset voltage and pressure error. It is shown via experimental results that the instrumentation accuracy has been improved and mean time between calibrations has been shortened.
Improvement of learning performance and control of a robot manipulator using neural network with adaptive learning rate
Lee, Bo-Hee ; Lee, Taek-Seung ; Kim, Jin-Geol ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 363~372
In this paper, the design and the implementation of the adaptive learning rate neural network controller for an articulate robot, which is being developed (or) has been developed in our Automatic Control Laboratory, are mainly discussed. The controller reduces software computational load via distributed processing method using multiple CPU's, and simplifies hardware structures by the time-division control with TMS32OC31 DSP chip. Proposed neural network controller with adaptive learning rate structure using expert's heuristics can improve learning speed. The proposed controller verifies its superiority by comparing response characteristics of conventional controller with those of the proposed controller that are obtained from the experiments for the 5 axis vertical articulated robot. We, also, present the generalization property of proposed controller for unlearned trajectory and the change of load through experimental data.
A design and implementation of DOS-based multitasking Kernel of the real-time operating systems for robot controller
Jang, Ho ; Lee, Ki-Dong ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 373~380
In order to implement the real-time operating systems for robot controller, this paper proposes a systematic method for implementing the real-time kernel under the DOS environment. So far, we designed the robot control software and its own operating system simultaneously. Though robot operating systems have simple structure, it allows the developer to have a surplus time and effort to implement complete robot systems. In addition to this, in most cases of this type, operating systems does not support multitasking function, thus, low level hardware interrupts are used for real-time execution. Subsequently, some kinds of real-time tasks are hard to implement under this environment. Nowadays, the operating systems for robot controller requires multitasking functions, intertask communication and task synchronization mechanism, and rigorous real-time responsiveness. Thus, we propose an effective and low costs real-time systems for robot controller satisfying the various real-time characteristics. The proposed real-time systems are verified through real implementation.
Design of a line balancing algorithm for the PCB assembly line including multiple surface mounters
Kim, Jin-Cheol ; Lee, Sung-Han ; Kim, Dae-Won ; Lee, Bum-Hee ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 381~388
This paper proposes a heuristic algorithm to efficiently perform line balancing in the PCB assembly line including multiple surface mounters efficiently. Generally, the problems in line balancing are classified into two kinds. Firstly, is the determining of the minimum number of machines required for achieving the desired production rate. Secondly, is the assign of jobs to multiple machines in order to minimize the cycle time which is defined as a maximum among the working times of machines when the number of machines is fixed. In this paper, we deal with the latter. We consider a PCB assembly line, including the multiple surface mounters arranged serially as a target system. Also, the conveyor is assumed to move at a constant speed and have no buffer. Considering that the minimum number of machines required for the desired production rate is a discrete nonincreasing function which is inversely proportional to the cycle time, we propose an optimization algorithm for line balancing by using the binary search method. The algorithm is validated through computer simulation, the results of which show that their shapes coincide nearly with those of optimal line balancing efficiency graphs regardless of the number of components, the performance of surface mounters, and the structure of assembly line.
A new method of contour error modeling for cross-coupled control of CNC machines
Joo, Jeong-Hong ; Lee, Hyun-Chul ; Lee, Yun-Jung ; Jeon, Gi-Joon ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 389~397
In this paper, we propose a new method of contour error modeling for cross-coupled control of CNC machines. This modeling method is based on the information that the interpolator of a CNC machine generates knot points per each sampling time in order to approximate a given curved path as a series of small straight-line segments. The merits of the proposed method are : (1) its applicability for arbitrary curved contours and (2) its ability to calculate contour errors more accurately than the other conventional methods. The proposed method is evaluated and compared with the conventional methods using the three typical curved trajectories by computer simulations. Furthermore, it is shown that the cross-coupled controller based on this proposed error model improves contouring accuracy more effectively than the other methods.
Optimal design of batch-storage serial trains considering setup and inventory holding cost
Lee, Gyeong-Beom ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 398~405
This article presents a new model which is called Periodic Square-Wave(PSW) to describe the material flow of the periodic processes involving intermediate buffer. The material flows incoming into and outgoing from the intermediate buffer are assumed to be periodic square shaped. PSW model gives the same result as that of Economic Production Quantity(EPQ) model for determining optimal lot size of single stage batch storage system. However, for batch storage serial train system, PSW model gives a different optimal solution of about 6 % reduced total cost. PSW model provides the more accurate information on inventory and production system than the classical approach by maintaining simplicity and increasing computational burden.
Development of improved image processing algorithms for an automated inspection system using line scan cameras
Jang, Dong-Sik ; Lee, Man-Hee ; Bou, Chang-Wan ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 406~414
A real-time inspection system is developed using line scan cameras. Several improved algorithms are proposed for real-time detection of defects in this automated inspection system. The major improved algorithms include the preprocessing, the threshold decision, and the clustering algorithms. The preprocessing algorithms are for exact binarization and the threshold decision algorithm is for fast detection of defects in 1-D binary images. The clustering algorithm is also developed for fast classifying of the defects. The system is applied to PCBs(Printed Circuit Boards) inspection. The typical defects in PCBs are pits, dent, wrinkle, scratch, and black spots. The results show that most defects are detected and classified successfully.
Development of car driving trainer under PC environment
Lee, Seung-Ho ; Kim, Sung-Duck ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 415~421
A car driving trainer for beginners developed under PC-based environment is described in this paper. For this trainer, a hardware is implemented as a practice car, and a trainer program is designed by computer image generation method to display 3-dimensional images on a CRT monitor. The trainer program consists of 3 main parts, that is, a speed estimate part, a wheel trace calculation part and a driving image generation part. Furthermore, a map editor is also installed for taking any test drive. After comparing this driving trainer to specify it was verified that the developed car driving trainer showed has good performances, such as lower cost, higher resolution and better image display speed.
Kinematic optimal design and analysis of kinematic/dynamic performances of a 3 degree-of-freedom excavator subsystem
Kim, Whee-Kuk ; Han, Dong-Young ; Yi, Byung-Ju ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 4, 1997, Pages 422~434
In this paper, a two-stage kinematic optimal design for a 3 degree of-freedom (DOF) excavator subsystem, which consists of boom, arm and bucket, is performed. The objective of the first stage is to find the optimal parameters of the joint-actuating mechanisms which maximize the force-torque transmission ratio between the hydraulic actuator and the rotating joint. The objective of the second stage is to find the optimal link parameters which maximize the isotropic characteristic of the excavator subsystem throughout the workspace. It is illustrated that kinematic/dynamic performances of the kinematically optimized excavator subsystem have improved compared to those of original HE280 excavator, with respect to three performance indices such as maximum load handling capacity, maximum velocity capability, and acceleration capability.