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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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Control of Discrete Uncertain Systems with Time Delays in States and Control Inputs
Jong Hae Kim ; Hong Bae Park ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 689~694
Fault Isolation Filter Design Using Left Eigenstructure Assignment Scheme
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 695~702
In this paper, we propose a novel fault isolation filter design method using the left eigenstructure assignment scheme proposed by Choi et. al., The proposed filter shows good fault isolation performance with exact eigenstructure assignment. An eigenstructure assignment methodology which satisfies the required fault isolation conditions is also proposed. The proposed method guarantees that the corrupted m simultaneous faults can be isolated when the number of available output measurements are (m+1).
Numerical Solution of an Elliptic Type H-J-B Equation Arising from Stochastic Optimal Control Problem
Wan Sik Choi ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 703~706
A Pole Assignment in a Specified Disk by using Hamiltonian Properties
Van Giap Nguyen ; Hwan-Seong Kim ; Sang-Bong Kim ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 707~712
A New Model and Optimal Pole-Placement Control for the Suspension System of Macpherson Type
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 713~721
In this paper a new modeling and an optimal pole-placement control for the suspension system of Macpherson type are investigated. The rotational motion of the unsprung mass is emphasized in the new modeling. The two generalized coordinates selected in the new model are the vortical displacement of sprung mass and the angular displacement of control arm. Both variables are measured from their static equilibrium points. It is shown that the conventional model is a special case of the new model since the transfer function of the new model coincides with that of the conventional one if the lower support point of the shock absorber is located at the mass center of the unsprung mass. It is also shown that the resonance frequencies of the new model agree better with experimental results. Therefore, the new model is more general in the sense that it Provides an extra degree of freedom in determining the plant model for control system design. An optimal pole-placement control which combines LQ control and pole-placement technique is applied to the new model. Simulations are provided.
Estimation of Tire-Road Friction Coefficient using Observers
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 722~728
In this paper real-time estimation methods for identifying the tire-road friction coefficient are presented. Taking advantage of the Magic Formula Tire Model, the similarity technique and the specific model for the vehicle dynamics, a reduced order observer/filtered-regressor-based method is proposed. The Proposed method is evaluated on simulations of a full-vehicle model with an eight state nonlinear vehicle/transmission model and nonlinear suspension model. It has been shown through simulations that it is possible to estimate the tire-road friction from measurements of engine rpm, transmission output speed and wheel speeds using the proposed identification method. The proposed method can be used as a useful option as a part of vehicle collision warning/avoidance systems and will be useful in the implementation of a warning algorithm since the tire-road friction can be estimated only using RPM sensors.
Robust Control of Two Mass Spring System with Parameter Variations
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 729~737
In this paper, using
synthesis algorithm with structured uncertainty, we design controller and apply it for the Two-Inertia resonance(TMS: Two Mass Spring) system. The TMS system is one of the simplest models which generate a torsional vibration. In this system, it is required to design a controller achieving the control performance while suppressing the torsional vibration. Furthermore, when vibration frequency for the system is varying by reason of parameter variations, we should consider parameter variations in controller design. Then, we design two other controller schemes of the PI controller and the standard
controller and compare these controllers with the controller designed by the
synthesis robust control method by using simulations and experiments.
Experimental Evaluation of Neural Network Based Controllers for Tracking the Tip Position of Flexible-Link
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 738~746
This paper presents a neural network-based adaptive controller for a single flexible-link. The control for feedback-error loaming of neural network is designed by using the re-definition approach. The neural network controllers are implemented on an single flexible-link experimental test-bed. The tip response is significantly improved and the vibrations of the flexible modes are damped very fast. Experimental and simulation results are presented of the proposed tip position tracking controllers over the conventional PD-type, passive controllers.
Localization and Classification of Target Surfaces using Two fairs of Ultrasonic Sensors
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 747~752
Ultrasonic sensors have been widely used to recognize the working environment for a mobile robot. However, their intrinsic problems, such as specular reflection, wide beam angle, and slow propagation velocity, require an excessive number of sensors to be integrated for achieving the sensing goal. This paper proposes a new measurement scheme which uses only two sets of ultrasonic sensors to determine the location and the type of a target surface. By measuring the time difference between the returned signals from the target surface, which are generated by two transmitters with 1 ㎳ difference, it classifies the type and determines the size of the target surface. Since the proposed sensor system uses only two sets of ultrasonic sensors to recognize and localize the target surface, it significantly simplifies the sensing system and reduces the signal processing time so that the working environment can be recognized in real time.
An Image-Based Stereo visual Servoing Algorithm Robust to the Camera Extrinsic Parameters
Dong Min Kim ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 753~758
Lane Recognition Algorithm by an Image Processing
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 759~764
We propose a novel algorithm capable of recognizing the road lane by image processing. Considering the fact that the direction and location of road lane are maintained similarly in successive images we formulate a function to represent the property. However, as noises play the role of making a lot of similar patterns appear and disappear in the road image, keeping of robustness in the lane detection has been known a difficult work. To overcome this problem, we introduce the following three ideas: 1) design of a function based on an edge direction and magnitude, 2) construction of a recursive filter to estimate the function recursively for successive images, 3) principal axis-based line fitting. These concepts enhance the adaptability to cope with the random environment of traffic scene and eventually lead to the reliable detection of a road lane.
Parity Space and Pattern Recognition Approach for Hardware Redundant System Signal Validation using Artificial Neural Networks
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 765~771
An artificial neural network(NN) technique is developed for hardware redundant sensor validation. Since the measurement space is a continuous space with many operating regions, it is difficult to train a NN to correctly detect failure in an accurate measurement system. A conventional backpropagation NN is modified to include an additional preprocessing layer that extracts classification features from scalar measurements. This feature extraction means transform the measurement space to parity space. The NN is independent of the state variable being measured, the instrument range, and the signal tolerance. This NN resembles the parity space approach to signal validation, except that analytical parity equations are unneeded and the NN pattern recognition capability is utilized for decision making.
Robust Nonlinear Predictive Control of Underwater Wall-Climbing Robot
Ghee Yong Park ; Ji Sup Yoon ; Young Soo Park ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 772~779
A Damping Distribution Method for Inverse Kinematics Problem Near Singular Configurations
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 780~785
In this paper, it is shown that the conventional methods for dealing with the singularity problem of a manipulator can be generalized as a local minimization problem with differently weighted objective functions. A new damping method proposed in this article automatically determines the damping amounts for singular values, which are inversely proportional to the magnitude of the singular values. Furthermore, this can be done without explicitly computing the singular values. The proposed method can be applied to all the manipulators with revolute joints.
A Study on Flexible Automation of a Laser Semicutting System using the Path Control of Manipulator
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 786~794
This paper proposes an automatic microshaping technology using laser and applies it to implementation of semicutting control system of the panel inside which a car air bag is equipped. Since it is impossible to project laser directly onto the desired working point of a target panel due to fixedness of laser generator, we reflect the generated laser, using reflection mirrors and focusing lenses, to project onto the desired working point. Also, in order to conduct an uniform semicutting control with constant width and depth, we control the end-effector of manipulator, which grasp the laser reflection mirror, to track working path with constant speed and orientation. The validity and effectiveness of the proposed methods are checked through experiments tracking a path formatted with straight lines and arcs.
A Machine Vision Algorithm for the Automatic Inspection of Inserts
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 795~801
In this paper, we propose a machine vision algorithm for inspecting inserts which are used for milling and turning operations. Major defects of the inserts are breakage and crack on insert surfaces. Among the defects, breakages on the face of the inserts can be detected through three stages of the algorithm developed in this paper. In the first stage, a multi-layer perceptron is used to recognize the inserts being inspected. Edge detection of the insert image is performed in the second stage. Finally, in the third stage breakages on the insert face are identified using Hough transform. The overall algorithm is tested on real specimens and the results show that the algorithm works fairly well.
Optimal Design of Batch-Storage Network
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 802~810
The purpose of this study is to find the analytic solution of determining the optimal capacity of processes and storages to meet the product demand. Recent trend to reduce product delivery time and to provide high quality product to customer requires the increasing capacity of storage facilities. However, the cost of constructing and operating storage facilities is becoming substantial because of increasing land value, environmental and safety concern. Therefore, reasonable decision making about the capacity of processes and storages is important subject for industries. The industrial solution for this subject is to use the classical economic lot sizing method, EOQ(Economic Order Quantity) model, trimmed with practical experience but the unrealistic assumption of EOQ model is not suitable for the chemical plant design with highly interlinked processes and storages. This study, a first systematic attempt for this subject, clearly overcomes the limitation of classical lot sizing method. The superstructure of the plant consists of the network of serially and/or parallelly interlinked processes and storages. A novel production and inventory analysis method, PSW(Periodic Square Wave) model, is applied. The objective function of optimization is minimizing the total cost composed of setup and inventory holding cost. The advantage of PSW model comes from the fact that the model provide a set of simple analytic solution in spite of realistic description of material flow between process and storage. The resulting simple analytic solution can greatly enhance the proper and quick investment decision for the preliminary plant design confronting diverse economic situation.
A New Scheduling Algorithm for Semiconductor Manufacturing Process
Journal of Institute of Control, Robotics and Systems, volume 4, issue 6, 1998, Pages 811~821
A new scheduling algorithm for large scale semiconductor processes is addressed. The difficulties of scheduling for semiconductor fabrication processes are mainly due from repeating production of wafers that experience reentrant flows. Sequence branch algorithm (SBA) is proposed for large real scheduling problems when all processing times are deterministic. The SBA is based on the reachability graph of Petri net of which the several defects such as memory consumption and system deadlock are complemented. Though the SBA shows the solution deviating a little from the optimal solution of mixed integer programming, it is adjustable for large size scheduling problems. Especially, it shows a potential that is capable of handling commercial size problems that are intractable with mathematical programming.