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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
Editor in Chief :
Volume & Issues
Volume 5, Issue 8 - Nov 1999
Volume 5, Issue 7 - Oct 1999
Volume 5, Issue 6 - Aug 1999
Volume 5, Issue 5 - Jul 1999
Volume 5, Issue 4 - May 1999
Volume 5, Issue 3 - Apr 1999
Volume 5, Issue 2 - Feb 1999
Volume 5, Issue 1 - Jan 1999
Selecting the target year
Synthesis of Sector-Bounded Control : General Approach of
Control and Positive Real Control
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 1~10
We consider the problem of synthesizing an internally stabilizing linear time-invariant controller for a linear tune-Invariant plant such that a given closed loop transfer function is strictly sector bounded. We show that the standard
control problem and the
-positive real control problem are special cases of sector bounded control problem. Necessary and sufficient conditions for the existence of a controller are obtained. The state-space representation for strictly proper controllers are given in terms of solutions to ARIs or AREs.
Robust Pole Placement for Structured Uncertain Systems
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 11~15
In this paper, a robust pole placement controller for time invariant linear systems with polytopic uncertainties is presented. The proposed controller is a fixed order output feedback controller which stabilizes the uncertain systems and satisfies the constraints on the closed-loop pole location. The proposed controller can be obtained by minimizing a certain nonlinear object function subject to linear matrix inequality constraints. An algorithm for solving the nonlinear optimization problem is also proposed.
Robust On-Line Fault Detection Method for Boiler Systems
Oh-Kyu Kwon ; Dae-Woo Kim ; You-Soong Kim ;
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 16~24
An IM Driving Power Electronic System Simulation using DNT and Simulink
Moon-Ho Kang ;
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 25~32
A Translation Method of Ladder Diagram for High-Speed Programmable Logic Controller
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 33~38
This paper proposes a translation approach for PLCs (Programmable logic controllers) converting ladder diagrams directly to native codes, and describes detailed steps of the method followed by performance evaluation. A general-purpose DSP (Digital signal processor) based implementation validates the approach as well. A benchmark test shows that the Proposed translation framework fairly speeds up execution in comparison with the existing interpretation approach.
Repetitive Control for the Track-Following Servo System of an Optical Disk Drive
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 39~46
Disturbances acting on the track-following servo system of an optical disk drive inherently contain significant periodic components that cause tracking errors of a periodic nature. Such disturbances can be effectively rejected by employing a repetitive controller, which must be implemented carefully in consideration of system stability. Plant uncertainty makes it difficult to design a repetitive controller that will improve tracking performance yet preserve system stability. In this paper, we examine the problem of designing a repetitive controller for an optical disk drive track-following servo system with uncertain plant coefficients. We propose a graphical design technique based on the frequency domain analysis of linear interval systems. This design method results in a repetitive controller that will maintain system stability against all admissible plant uncertainties. We show simulation and experimental results to verify the validity of the proposed design method.
Modeling of Digital Servo System for Optical Pickup Tuner
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 47~53
CD-ROM(Compact Disk-Read Only Memory) is very attractive storage media because it has much storage space but is small size and portable. Optical pickup, one of the most important parts for reading data on a CD-ROM, is not produced tuned up. For the use of goods, we must tune up the optical pickup by adjusting the screw for adjustment. First, we developed analog servo system for optical pickup tuners. For eliminating some problems in analog servo system, this paper designed the modeling of digital servo system for optical pickup tuner. Though the characteristics of optical pickup are changed, the digital servo system for optical pickup tuner can easily apply to all pickup, and can reduce the measurement error among the optical pickup tuners. For the purpose of confirming the designed digital servo system, we produced data that specify the disk vibration and the disk eccentricity, and simulated servo system with MATLAB.
Construction of Knowledge Base for Fault Tracking Expert System in Semiconductor Production Line
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 54~61
Objective of the research is to put the vast and complex fault tracking knowledge of human experts in semiconductor production line into the knowledge base of computer system. We mined the fault tracking knowledge of domain experts(engineers of production line) for the construction of knowledge base of the expert system. Object oriented fact models which increase the extensibility and reusability have been built. The rules are designed to perform the fault diagnosis of the items in production device. We have exploited the evidence accumulation method to assign check priority in rules. The major contribution is in the overall design and implementation of the nile base and related facts of the expert system in object oriented paradigm for the application of the system in fault diagnosis in semiconductor production line.
An Integer Ambiguity Resolution Method for GPS Attitude Determination
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 62~68
The attitude of a vehicle can be precisely determined using GPS carrier phase measurements from more than two antennas attached to a vehicle and an efficient integer ambiguity resolution technique. Many methods utilizing the known baseline length as a constraint of independent elements of integer ambiguities are proposed to resolve integer ambiguity at real time. Three-dimensional search space is reduced to two-dimensional search space with this constraint. Thus the true integer ambiguity can be easily determined with less computational burden and fewer number of measurements. But there are still strong requirements for the real time integer ambiguity resolution, which uses single epoch measurement of long baseline. In this paper, a new constraint from the geometry of multiple baselines is derived. With this new constraint, two-dimensional search space is further reduced to one-dimensional search space. It makes possible to determine integer ambiguity with single epoch measurement. The proposed method is applied to real data to show its effectiveness.
Attitude Determination System using Low Cost GPS Engine Boards
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 69~78
The attitude determination system is indispensable for navigation, guidance and control tasks. In order to construct this system some special products that use dual frequencies or have on receiver engine with multiple antennas are used. But they are so expensive. Thus there are still strong requirements for the conventional low cost single frequency off-the-shelf receiver. This paper will propose a new technique to resolve integer ambiguity with single frequency GPS receiver and will show the problems of the attitude applications in which low cost receiver are being used. Also, based on this new technique precise attitude determination is presented.
Multi-Reference Inverted DGPS System for Automatic Vehicle Location System
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 79~87
For its simplicity and cost effectiveness in implementation, the Inverted DGPS is well suited for some specific applications like automatic vehicle location systems, where the monitoring station needs accurate position of the vehicles in the street. In the Inverted DGPS, the user sends its GPS position and associated satellite informations to the reference station, and the corrections are made at the reference station to get differentially corrected user position. A fundamental requirement in IDGPS is that the user and the reference station must use the same satellites when the corrections are made. But in practice, it is not often satisfied. Inverted DGPS is also suffered from performance degradation as the baseline become large like DGPS. IDGPS system using multi-reference station can resolve this problem. In this paper a simple multi-reference IDGPS algorithm is proposed and some experiments and analysis are peformed. Experiment results show that IDGPS can achieve the positioning performance as accurate as the DGPS can provide.
An Analysis of the Accuracy of Muzzle Velocity Measurement System
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 88~94
This paper presents an accuracy evaluation method for muzzle velocity measurement systems. Among various measuring techniques, the solenoid coil scheme and the doppler radar scheme are considered due to their popularity in applications. The error sources are first identified and their effects on the accuracy of the measuring systems are quantified using mathmatical equations. The theoritic accuracy limits are then verified through comparison with experimental results. From the accuracy point of view, they turn out to be standard velocity measuring systems.
High Speed Precision Control of Mobile Robot using Neural Network in Real Time
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 95~104
In this paper we propose a fast and precise control algorithm for a mobile robot, which aims at the self-tuning control applying two multi-layered neural networks to the structure of computed torque method. Through this algorithm, the nonlinear terms of external disturbance caused by variable task environments and dynamic model errors are estimated and compensated in real time by a long term neural network which has long learning period to extract the non-linearity globally. A short term neural network which has short teaming period is also used for determining optimal gains of PID compensator in order to come over the high frequency disturbance which is not known a priori, as well as to maintain the stability. To justify the global effectiveness of this algorithm where each of the long term and short term neural networks has its own functions, simulations are peformed. This algorithm can also be utilized to come over the serious shortcoming of neural networks, i.e., inefficiency in real time.
A Real-Time Collision-Free Trajectory Planning and Control for a Car-Like Mobile Robot
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 105~114
By using the conceptual impedance and the elasticity of a serial chain of spring-damper system, a real-time collision-free trajectory generation algorithm is proposed. The reference points on a trajectory connected by the spring-damper system have a mechanism for self-Position adjustment to avoid a collision by the impedance, and the local adjustment of each reference point is propagated through the elasticity to a real robot at the end of the spring-damper system. As a result, the overall trajectory consisting of the reference points becomes free of collision with environmental obstacles and efficient having the shortest distance as possible. In this process, the reference points connected by the spring-damper system take role of virtual robot as global guidance for a real robot, and a cooperative optimization is carried out by the system of virtual robots. A control algorithm is proposed to implement the impedance for a car-like mobile robot.
Development of Real-Time Distributed Simulator and Controller Based on Virtual Machine
Journal of Institute of Control, Robotics and Systems, volume 5, issue 1, 1999, Pages 115~121
Advanced digital computer technology enables the computer-based controllers to replace the traditional analog controllers used in factory automations. This replacement, however, brings up the side effects caused by the quantization error and non-real-time execution of control software. This paper describes the structure of real-time simulator and controller that can be used for design and verification of real-time digital controllers. The virtual machine concept adopted by the proposed real-time simulator makes the proposed simulator be independent from the specific hardware platforms. The proposed system can also be used in the loosely coupled distributed environments connected through local area network using real-time message passing algorithm and virtual data table based on the shared memory mechanism.