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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 6, Issue 12 - Dec 2000
Volume 6, Issue 11 - Nov 2000
Volume 6, Issue 10 - Oct 2000
Volume 6, Issue 9 - Sep 2000
Volume 6, Issue 8 - Aug 2000
Volume 6, Issue 7 - Jul 2000
Volume 6, Issue 6 - Jun 2000
Volume 6, Issue 5 - May 2000
Volume 6, Issue 4 - Apr 2000
Volume 6, Issue 3 - Mar 2000
Volume 6, Issue 2 - Feb 2000
Volume 6, Issue 1 - Jan 2000
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Linear/Nonlinear Sliding Patch and Stuck Phenomena and Applications of Linear/Nonlinear Sliding Patch and Stuck
Kim, Jin-Wan ; Ham, Woon-Chul ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 523~528
In this short note the characteristics of a nonlinear system of which the state trajectories are oscillating in the phase plane are overviewed. The physical concept of stuck and sliding patch phenomena are also introduced by adding some switching functions and their stability on the sliding patches are analyzed by using the Lyapunov stability theory and Frobenius theorem.
Thickness Control of Tandem Cold Mills Using Preview and
Kim, Sung-Su ; Kim, Jong-Shik ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 529~536
A robust controller to attenuate the various disturbances of tandem cold mills (TCM) is synthesized by measurement-feedback
control techniques which can reflect the input direction of disturbances and the knowledge of entry thickness variation (disturbance) is synthesized by discrete-time measurement-feedback
control theory. It is demonstrated that the
preview control gain can be easily obtained by the seperation principle of the control and estimation problems in
control. Finally the effectiveness of the proposed control method for TCM is evaluated by the computer simulation and compared to the other control methods which have been previously studied.
Modeling and Control of a Hydraulic Brake Actuator for Vehcile Collision Avoidance Systems
Jo, Yeong-Ju ; Ha, Seong-Hyeon ; Lee, Gyeong-Su ; Heo, Seung-Jin ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 537~543
mathematical models for a hydraulic brake actuator and a brake control law for vehicle collision warning/collision avoidance (CW/CA) systems will be presented in this paper. The control law have been designed for optimzied safety and comfort. A solenoid-valve-controlled hydraulic brake actuator system for the CW/CA systems has been investigated, A nonlinear computer model and a linear model of the hydraulic brake actuator system have been developed. Both models were found to represent the actual system with good accuracy. Uncertainties in the brake actuator model have been considered in the design of the control law for the roubustness of the controller. The effects of brake control on CW/CA vehicle response has been investigated via simulations. The simulations were performed using the hydraulic brake system model and a complete nonlinear vehicle model. The results indicate that the proposed brake control law can provide the CW/CA vehicles with an opimized compromise between safety and comfort.
The Position Tracking Algorithm of Moving Viewer's Two-Eyes
Huh, Kyung-Moo ; Park, Young-Bin ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 544~550
Among the several types of 3D display methods the autostereoscopic method has an advantage that we can enjoy a 3D image without any additional device but the method has a disadvantage of a narrow viewing zone so that the moving viewer coannot see the 3D image continuously. This disadvantage can be overcome with the detectioni of viewer's positional movement by head tracking. In this paper we suggest a method of detecting the position of the moving viewer's two eyes by using images obtained through a color CCD camera, The suggested method consists of the preprocessing process and the eye-detection process. Through the experiment of applying the suggested method we were able to find the accurate two-eyes position for 78 images among 80 sample input images of 8 different men with the processing speed of 0.39 second/frame using a personal computer.
Automatic Classification of Power System Harmonic Disturbances
Kim, Byoung-Chul ; Kim, Hyun-Soo ; Nam, Sang-Won ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 551~558
In this paper a systematic approach to automatic classificationi of power system harmonic disturbances is proposed where the proposed approach consists of the following three steps:(i) detecting and localizing each harmonic disturbance by applying discrete wavelet transform(DWT) (ii) extracting an efficient feature vector from each detected disturbance waveform by utilizing FFT and principal component analysis (PCA) along with Fisher's criterion and (iii) classifying the corresponding type of each harmonic disturbance by recognizing the pattern of each feature vector. To demonstrate the performance and applicability of the proposed classification procedure some simulation results obtained by analyzing 8-class power system harmonic disturbances being generated with Matlab power system blockset are also provided.
Simplex Analysis of the Forward Kinematics of 6-Degree-of-Freedom Parallel Manipulators Using Constraints with the Closed-loop Kinematics(Tetrahedron)
Song, Se-Kyong ; Kwon, Dong-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 559~567
This paper proposes simple and practical methods in order to overcome complex formulation and heavy computational burden of the forward kinematics of 6 앨 3-6 type parallel manipulators. Three ap-proaches for the forward kinematics are presented : one extra sensor a modified structure and novel numerical method. The proposed methods are applied to the forward kinematics of a new 6 앨 parallel manipulator with special geometry that has three internal links three external links and a moving platform of a cone shape. The proposed methods use three tetrahedrons for finding the position and orientation vector of the moving platform. The main advantages of the appraches using tetrahedrons are to abbreviate the formulation to easily find so-lutions of the forward kinematics and to be able to practically control of the manipulator in real time.
A Compliance Control Method for Robot Hands with Consideration of Decoupling among Fingers/Joints
Kim, Byoung-Ho ; Yi, Byung-Ju ; Suh, Il-Hong ; Oh, Sang-Rok ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 568~577
In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.
Teleoperation Controller Design for an Underwater Manipulator Using an
Control Scheme Based on Disturbance Observer
Ryu, Jee-Hwan ; Kwon, Dong-Soo ; Lee, Pan-Moon ; Hong, Seok-Won ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 578~585
This paper presents a robust and systematic bilateral controller design method for a teleoperation of an underwater manipulator. Disturbance observer is used as a local controller of the master and underwater slave manipulator to set up the teleoperation system as a nominal model by compensating coupled nonlinear terms model uncertainties and external disturbances in the water. Using the linearized master/slave model a
optimal control scheme is applied to systematically construct a force reflecting bilateral controller.
Algorithm for Autonomous Wall-Following of Wheeled Mobile Robots Using Reference Motion Synthesis and Generation of Hybrid System
Lim, Mee-Seub ; Im, Jun-Hong ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 586~593
In this paper we propose a new approach to the autonomous wall-following of wheeled mobile robots using hybrid system reference motion synthesis and generation. The hybrid system approach is in-troduced to the motion control of nonholonomic mobile robots for the indoor navigation problems. In the dis-crete event system the discrete states are defined by the user-defined constraints and the reference mo-tion commands are specified in the abstracted motions. The hybrid control system applied for the non-holonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoid-ance for the indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation in indoor environments
Implementation of a Fieldbus System Based on EIA-709.1 Control Network Protocol
Park, Byoung-Wook ; Kim, Jung-Sub ; Lee, Chang-Hee ; Kim, Jong-Bae ; Lim, Kye-Young ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 594~601
EIA-709.1 Control Network Protocol is the basic protocol of LonWorks systems that is emerg-ing as a fieldbus device. In this paper the protocol is implemented by using VHDL with FPGA and C program on an Intel 8051 processor. The protocol from the physical layer to the network layer of EIA-709.1 is im-plemented in a hardware level,. So it decreases the load of the CPU for implementing the protocol. We verify the commercial feasibility of the hardware through the communication test with Neuron Chip. based on EIA-709.1 protocol which is used in industrial fields. The developed protocol based on FPGA becomes one of IP can be applicable to various industrial field because it is implemented by VHDL.
Tramsmission Method of Periodic and Aperiodic Real-Time Data on a Timer-Controlled Network for Distributed Control Systems
Moon, Hong-ju ; Park, Hong-Seong ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 602~610
In communication networks used in safety-critical systems such as control systems in nuclear power plants there exist three types of data traffic : urgent or asynchronous hard real-time data hard real-time periodic data and soft real-time periodic data. it is necessary to allocate a suitable bandwidth to each data traffic in order to meet their real-time constraints. This paper proposes a method to meet the real-time constraints for the three types of data traffic simultaneously under a timer-controlled token bus protocol or the IEEE 802.4 token bus protocol and verifies the validity of the presented method by an example. This paper derives the proper region of the high priority token hold time and the target token rotation time for each station within which the real-time constraints for the three types of data traffic are met, Since the scheduling of the data traffic may reduce the possibility of the abrupt increase of the network load this paper proposes a brief heuristic method to make a scheduling table to satisfy their real-time constraints.
LMI-Based Robust Flight Control of an Aircraft Subject to C.G Variation
Hong, Sung-Kyung ; Kim, Byungsoo ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 7, 2000, Pages 611~616
This paper presents a design method for the robust flight controller of a hyghly maneuvering aircraft subject to C.G variation. This method is based on LMI(Linear Matrix ZInequality) pole-placement design methodology for the polytopic models. Simulation results show that the proposed LMI-based pole-placement design methodology robustly yields uniform performance with adequate Flying Qualities (FQ) over the entire CG variation range.