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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 4, Issue 6 - Dec 1998
Volume 4, Issue 5 - Oct 1998
Volume 4, Issue 4 - Aug 1998
Volume 4, Issue 3 - Jun 1998
Volume 4, Issue 2 - Apr 1998
Volume 4, Issue 1 - Feb 1998
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LQR/Eigenstructure assignment design with an application to a flight control system
Park, Jae weon ; Seo, Young-Bong ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 280~288
In this paper, a novel relation between the weighting matrix Q in LQR and the eigenstructure of the desired closed-loop system is proposed. Thus, the state feedback gain with the desired eigenstructure in the LQR can be obtained. The proposed scheme is applied to design a simple 3rd-order system and a flight control system design to show the usefulness of the scheme.
Robust tracking control for uncertain linear systems using linear matrix inequlities
Lee, Jae-Won ; Kwon, Wook-Hyun ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 289~294
Design of an iterative learning controller for a class of linear dynamic systems with time-delay
Park, Kwang-Hyun ; Bien, Zeung-Nam ; Hwang, Dong-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 295~300
In this paper, we point out the possibility of the divergence of control input caused by the estimation error of delay-time when general iterative learning algorithms are applied to a class of linear dynamic systems with time-delay in which delay-time is not exactly measurable, and then propose a new type of iterative learning algorithm in order to solve this problem. To resolve the uncertainty of delay-time, we propose an algorithm using holding mechanism which has been used in digital control system and/or discrete-time control system. The control input is held as constant value during the time interval of which size is that of the delay-time uncertainty. The output of the system tracks a given desired trajectory at discrete points which are spaced auording to the size of uncertainty of delay-time with the robust property for estimation error of delay-time. Several numerical examples are given to illustrate the effeciency of the proposed algorithm.
State space representation of the general Wiener-Hopf controller
Park, Ki-Heon ; Choi, Goon-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 301~307
A study on the Hankel approximation of input delay systems
Hwang, Lee-Cheol ; Ha, Hui-Gwon ; Lee, Man-Hyeong ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 308~314
This paper studies the problem of computing the Hankel singular values and vectors in the input delay systems. It is shown that the Hankel singular values are solutions to a transcendental equation and the Hankel singular vectors are obtained from the kernel of the matrix. The computation is carried out in state space framework. Finally, Hankel approximation of a simple example shows the usefulness of this study.
PID control of left ventricular assist device
Jeong, Seong-Taek ; Kim, Hun-Mo ; Kim, Sang-Hyeon ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 315~320
In this paper, we present the PID control method for the controlling flow rate of highly complicated nonlinear Left Ventricular Assist Device(LVAD) with pneumatically driven mock circulatory system. Beat Rate (BR), Systole-Diastole Rate (SDR) and flow rate are used as the main variables of the LVAD system. System modeling is completed using the neural network with input variables (BR, SDR, their derivatives, actual flow) and an output valiable(actual flow). Then, as the basis of this model, we perform the simulation of PID control to predict the performance and tendency of the system and control the flow rate of LVAD system using the PID controller. The ability and effectiveness of identifying and controlling a LVAD system using the proposed algorithm will be demonstrated through computer simulation and experiments.
The level control of steam generator in nuclear power plant by neural network 2-DOF PID controller
Kim, Dong-Hwa ; Lee, Won-Kyu ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 321~328
When we control the level of the steam generator in the nuclear power plants, a swell and shrink arises from many disturbances such as feed water rate, feed water temperature, main steam flow rate, and coolant temperature. If we use the conventional type of PI controller in this system, we will not have stability during controlling at lower power, the removal function of disturbances, and a load follow-up control effectively. In this paper, we study the application of a 2-Degree of Freedom(2-DOF) PID controller to the level control of the steam. generator of nuclear power plants through the simulation and the experimental steam generator. We use the parameters
of the 2-DOF PID controller for the removal of disturbances and the parameters Kp,Ti,Td of the conventional type of PID controller for controlling setpoint. The back-propagation learning algorithm of neural network is used for tuning the 2-DOF PID controller. We can find satisfactory results of the removal of the disturbances and the tracking function in the change of setpoint through the simulation and experimental steam generator.
Design of real-time microvision for edge detection with vertical integration structure of LSIs
Yu, Kee-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 329~333
Estimation of time to contact and surface orientation of a leading vehicle using image deformation
Lee, Jun-Woong ; Park, Seong-Kee ; No, Kyoung-Sig ; Kweon, In-So ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 334~341
This paper proposes an algorithm to obtain the time-to-contact between an observer and a target and surface orientation of the target. These two physical elements are computed from the image deformation of a known shape, which is extracted by supervised classification of detected line segments based on MAP and Mahalanobis distance. The proposed algorithm was applied to the natural outdoor traffic scene and would contribute to the development for a collision avoidance system.
Joint disturbance torque analysis for independent joint controlled robots and its application in optimal path placement
Choi, Myung-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 342~348
A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.
Dynamic control approach of a robot manipulator for line-tracking applications
Park, Tae-Hyeong ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 349~359
A robot control scheme for specific application a line-tracking system is newly presented. To improve the performance of line-tracking, robot arm dynamics and torque constraints are incorporated into the control scheme. The tracking problem for the workpiece on a variable-speed conveyor is formulated as an optimal tracking problem with specific criteria. Dividing the conveyor speed into the nominal term and the perturbed term, a two-stage control strategy is employed to cope with the nonlinearity and uncertainty of the robot-conveyor system. Simulation results are given to verify good tracking performance with fast cycle time and high accuracy in a robotic workcell.
A study on the control-in-the-small characteristics of a planar parallel mechanism
Kim, Hui-Guk ; Jo, Hwang ; Kim, Jae-Seop ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 360~371
In this paper, output precision characteristics of a planar 6 degree-of-freedom parallel mechanisms are investigated, where the 6 degree-of-freedom mechanism is formed by adding an additional link along with an actuated joint in each serial subchain of the planar 3 degree-of-freedom parallel mechanism. Kinematic analysis for the parallel mechanism is performed, and its first-order kinematic characteristics are examined via kinematic isotropic index, maximum and minimum input-output velocity transmission ratios of the mechanisms. Based on this analysis, two types of planar 6 degrees-of-freedom parallel manipulators are selected. Then, dynamic characteristics of the two selected planar 6 degree-of-freedom parallel mechanisms, via Frobenius norms of inertia matrix and power modeling array, are investigated to compare the magnitudes of required control efforts of both three large actuators and three small actuators when the link lengths of three additional links are changed. It can be concluded from the analysis results that each of these two planar 6 degrees-of-freedom parallel mechanisms has an excellent control-in-the-small characteristics and therefore, it can be very effectively employed as a high-precision macro-micro manipulator when both its link lengths and locations of small and large actuators are properly chosen.
Visual inspection algorithm of cold rolled strips by wavelet frame transform
Lee, Chang-Su ; Choi, Jong-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 372~377
This paper deals with the detection, feature extraction and classification of surface defects in cold rolled strips. Inspection systems are one of the most important fields in factory automation. Defects such as slipmark and dullmark can be effectively detected with a Gaussian matched filter because their shapes are similar to Gaussian. It is justified that the proposed WF(Wavelet Frame) method could be regarded as multiscale Gaussian matched filter which can be applied to the inspection of cold rolled strip. After a wavelet frame transform, the entropies and moments are computed for each subband which pass through both local low pass filter and nonlinear operator. With these features as input, a MLP(Multi Layer Perceptron) is used as a classifier. The proposed inspection method was applied to the real images with defects, and hence showed good performance. The role of each extracted feature is analyzed by KLT(Karhunen-Loeve Transform).
A study on inspection area using neural network for vision systems
Oh, Je-Hui ; Cha, Young-Youp ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 378~383
A FOV, that stands for "Field Of View", refers to the maximum area where a camera could be wholly seen. If a FOV of CCD camera cannot the cover overall inspection area, the overall inspection area should be divided into sub-areas of size FOV. In this paper, we propose a new neural network-based FOV generation method by using a newly modified self-organizing map(SOM) which has multiple structure based on a self-organizing map, and uses new training rule that is composed of the movement, creation and deletion terms. Then, experiment results using real PCB indicate the superiority of the method developed in this study to the existing sequential method.al method.
A study on the inspection algorithm of FIC device in chip mounter
Ryu, Gyeong ; Mun, Yun-Sik ; Kim, Gyeong-Min ; Park, Gwi-Tae ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 384~391
When a device is mounted on the PCB, it is impossible to have zero defects due to many unpredictable problems. Among these problems, devices with bent corner leads due to mis-handling and which are not placed at a given point measured along the axis are principal problem in SMT(Surface Mounting Technology). It is obvious that given the complexity of the inspection task, the efficiency of a human inspection is questionable. Thus, new technologies for inspection of SMD(Surface Mounting Device) should be explored. An example of such technologies is the Automated Visual Inspection(AVI), wherein the vision system plays a key role to correct this problem. In implementing vision system, high-speed and high-precision are indispensable for practical purposes. In this paper, a new algorithm based on the Radon transform which uses a projection technique to inspect the FIC(Flat Integrated Circuit) device is proposed. The proposed algorithm is compared with other algorithms by measuring the position error(center and angle) and the processing time for the device image, characterized by line scan camera.
The development of full-scope replica simulator for variable supercritical pressure once-through fossil power plants
Lee, Jung-Kun ; Ahn, Yeon-Shik ; Jung, Hoon ; Lee, Yong-Kwan ; Han, Byoung-Sung ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 392~399
A full-scope replica type simulator whose MCR(main control room) has the same features and operation functions as MCR of the reference power plant has been developed for a fossil power plant. This simulator was developed with the model of Poryung Fossil Power Plant #3,4 which is the standard model of the Korean fossil power plant. It is the first localized simulator for the supercritical, variable boiler pressure type fossil power plant. The simulator provides various kinds of accidents which are in normal plant operation and thus enables operators to recover or reduce possible damages. To design and develop this kind of simulator, we need to integrate high technologies such as system analysis, plant operation and system integration of mechanics, physics, computer science. CASE(Computer Aided Software Engineering) tools were used to develop the dynamic model. This simulator will greatly contribute to the improvement of the safety and efficiency of the fossil power plant by implementing operator training. In this paper, the outline of software and hardware configuration and characteristics of the simulator are described, and the results of 30%, 50%, 75%, 100% load operation test will be discussed.
Modeling of CPC/COLSS for YGN#3,4 simulator
Kim, Dong-Uk ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 400~405
Pointing position detection of capacitive touch screen panel using phase-difference method
Jo, Yeong-Cheol ; Jang, Rae-Hyeok ; Gwon, Uk-Hyeon ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 3, 1998, Pages 406~412
This paper describes a contact position detection method of a capacitive touch screen panel. The proposed method is composed of a circuited compensating algorithm generating an output signal having phase difference to an input signal associated with contact position, converts both input and output signals into digital waveform (5V logic), and calculates the phase difference. Finally, position information with the phase difference is obtained by using a low-cost microprocessor, which is convenient to compensate non-linearity error. The proposed method, that computes phase difference directly, has advantages in feasibility and cost because it minimizes the use of analog devices; rather, it utilizes, cost effective digital circuit. Analytical results are also given.